+ python -m lidar_slam --no-model /working/e36e6bab-e09d-499a-ac98-32247f293872 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/e36e6bab-e09d-499a-ac98-32247f293872 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False 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 end_distance from 9.223372036854776e+18 to 371.350302058 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.0 meters Centerline goodness : 0.291310 Centerline is valid? [0, False] SLAMing on 0.03 meters Centerline goodness : 0.250344 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:0.01 [[ 0.99943891 0.0334306 0.00206547 0.17573019] [-0.03339908 0.99934724 -0.01376931 0.07914569] [-0.00252444 0.0136926 0.99990307 0.006121 ] [ 0. 0. 0. 1. ]] SLAMing on 0.06 meters Centerline goodness : 0.254965 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:0.01 [[ 0.99944861 0.03315542 0.00178648 0.17624792] [-0.03312883 0.9993628 -0.0132845 0.07717522] [-0.0022258 0.01321799 0.99991016 0.006008 ] [ 0. 0. 0. 1. ]] SLAMing on 0.09 meters Centerline goodness : 0.217974 Centerline is valid? [False, False] Translation: X:0.22, Y:0.10, Z:0.03 [[ 0.99953504 0.00187357 0.03043347 0.21974819] [-0.00173623 0.99998819 -0.00453844 0.10080411] [-0.03044162 0.00448349 0.99952649 0.02624304] [ 0. 0. 0. 1. ]] SLAMing on 0.12 meters Centerline goodness : 0.216767 Centerline is valid? [False, False] Translation: X:0.22, Y:0.10, Z:0.03 [[ 0.99954024 0.00125351 0.03029419 0.2189893 ] [-0.00109644 0.99998587 -0.00520079 0.10140566] [-0.03030028 0.00516518 0.9995275 0.0281469 ] [ 0. 0. 0. 1. ]] SLAMing on 0.15 meters Centerline goodness : 0.217734 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:0.03 [[ 0.99947617 -0.00228154 0.03228287 0.2134004 ] [ 0.00256521 0.99995844 -0.00874818 0.10162418] [-0.03226157 0.00882641 0.99944049 0.03390898] [ 0. 0. 0. 1. ]] SLAMing on 0.18 meters Centerline goodness : 0.215176 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:0.04 [[ 0.99942048 -0.00858294 0.03293982 0.20942702] [ 0.00908419 0.99984476 -0.01509756 0.10084475] [-0.03280512 0.01538804 0.9993433 0.03823003] [ 0. 0. 0. 1. ]] SLAMing on 0.21 meters Centerline goodness : 0.211937 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:0.04 [[ 0.99931823 -0.01549121 0.03351258 0.20581691] [ 0.01621766 0.99963699 -0.02151478 0.0990002 ] [-0.03316712 0.0220436 0.9992067 0.04181908] [ 0. 0. 0. 1. ]] SLAMing on 0.24 meters Centerline goodness : 0.210837 Centerline is valid? [False, False] Translation: X:0.20, Y:0.10, Z:0.04 [[ 0.99917562 -0.02177055 0.03426553 0.20234895] [ 0.02270475 0.99937444 -0.02711484 0.09610778] [-0.03365379 0.02787048 0.99904487 0.04471733] [ 0. 0. 0. 1. ]] SLAMing on 0.27 meters Centerline goodness : 0.210731 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.05 [[ 0.99902457 -0.02644206 0.03536571 0.19762597] [ 0.02753945 0.99914266 -0.03091146 0.09245027] [-0.03451803 0.03185526 0.99889626 0.04835445] [ 0. 0. 0. 1. ]] SLAMing on 0.3 meters Centerline goodness : 0.209997 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.05 [[ 0.99890139 -0.02987404 0.0361047 0.19638313] [ 0.03108113 0.99896042 -0.03334744 0.08798912] [-0.03507095 0.03443298 0.99879147 0.04750324] [ 0. 0. 0. 1. ]] SLAMing on 0.32999999999999996 meters Centerline goodness : 0.209997 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:0.05 [[ 0.99890139 -0.02987404 0.0361047 0.19638313] [ 0.03108113 0.99896042 -0.03334744 0.08798912] [-0.03507095 0.03443298 0.99879147 0.04750324] [ 0. 0. 0. 1. ]] SLAMing on 0.36 meters Centerline goodness : 0.216394 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:0.03 [[ 0.99921703 -0.0371741 0.01354316 0.17556214] [ 0.03752869 0.99893227 -0.02694299 0.07330097] [-0.01252711 0.02743015 0.99954523 0.03365705] [ 0. 0. 0. 1. ]] SLAMing on 0.39 meters Centerline goodness : 0.220866 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:0.03 [[ 0.99934936 -0.03546484 0.00656482 0.16634944] [ 0.03561726 0.99905838 -0.02477445 0.06693111] [-0.00568001 0.02499215 0.99967151 0.02703303] [ 0. 0. 0. 1. ]] SLAMing on 0.42 meters Centerline goodness : 0.224033 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.03 [[ 0.99953646 -0.02957597 0.00721951 0.16555561] [ 0.02970045 0.99940049 -0.01779149 0.06037048] [-0.00668898 0.01799766 0.99981565 0.02542481] [ 0. 0. 0. 1. ]] SLAMing on 0.44999999999999996 meters Centerline goodness : 0.226939 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:0.02 [[ 0.99969833 -0.02330283 0.00776095 0.16443172] [ 0.023387 0.99966665 -0.01093745 0.05466843] [-0.00750349 0.01111566 0.99991007 0.02452355] [ 0. 0. 0. 1. ]] SLAMing on 0.48 meters Centerline goodness : 0.228562 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.02 [[ 0.99983593 -0.01699916 0.006256 0.16731132] [ 0.01702513 0.99984657 -0.00412075 0.04523726] [-0.00618499 0.00422658 0.99997194 0.02118438] [ 0. 0. 0. 1. ]] SLAMing on 0.51 meters Centerline goodness : 0.228856 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.01 [[ 9.99926789e-01 -9.91620248e-03 -6.93442824e-03 1.71109875e-01] [ 9.90946545e-03 9.99950395e-01 -1.00521983e-03 3.57831762e-02] [ 6.94405222e-03 9.36429756e-04 9.99975451e-01 1.10159784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54 meters Centerline goodness : 0.473380 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.00 [[ 0.99961395 -0.00172858 -0.02773014 0.17214637] [ 0.0016683 0.9999962 -0.0021968 0.03238341] [ 0.02773383 0.00214969 0.99961303 0.00109358] [ 0. 0. 0. 1. ]] SLAMing on 0.57 meters Centerline goodness : 0.456537 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.01 [[ 0.99919764 0.00825755 -0.03919034 0.18252628] [-0.00812758 0.99996093 0.00347461 0.02550729] [ 0.03921751 -0.0031533 0.99922572 -0.01123343] [ 0. 0. 0. 1. ]] SLAMing on 0.6 meters Centerline goodness : 0.461390 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.01 [[ 0.99914496 0.00905258 -0.04034101 0.18509465] [-0.00889775 0.99995235 0.00401594 0.02493294] [ 0.04037544 -0.00365356 0.9991779 -0.01141855] [ 0. 0. 0. 1. ]] SLAMing on 0.63 meters Centerline goodness : 0.408915 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.01 [[ 0.99943207 0.01182053 -0.0315564 0.19306446] [-0.01176755 0.99992902 0.00186405 0.02238071] [ 0.0315762 -0.00149165 0.99950023 -0.01100126] [ 0. 0. 0. 1. ]] SLAMing on 0.6599999999999999 meters Centerline goodness : 0.263954 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.01 [[ 0.99938375 0.01338655 -0.03244864 0.1934445 ] [-0.01329933 0.99990735 0.00290227 0.02305287] [ 0.03248449 -0.00246893 0.99946919 -0.0085792 ] [ 0. 0. 0. 1. ]] SLAMing on 0.69 meters Centerline goodness : 0.260639 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.01 [[ 9.99325345e-01 2.23870718e-02 -2.91148292e-02 2.04953226e-01] [-2.23974355e-02 9.99749146e-01 -2.98500816e-05 2.84584363e-02] [ 2.91068573e-02 6.81927452e-04 9.99576073e-01 -9.41488117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.72 meters Centerline goodness : 0.383813 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.01 [[ 0.9990004 0.03483098 -0.02801805 0.21853857] [-0.03491724 0.99938684 -0.00259523 0.03475943] [ 0.02791048 0.00357094 0.99960405 -0.00782729] [ 0. 0. 0. 1. ]] SLAMing on 0.75 meters Centerline goodness : 0.241025 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.01 [[ 0.99770711 0.0607979 -0.02973461 0.2559284 ] [-0.06123009 0.99802763 -0.01384626 0.0473959 ] [ 0.02883414 0.01563516 0.99946192 -0.00668355] [ 0. 0. 0. 1. ]] SLAMing on 0.78 meters Centerline goodness : 0.241025 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.01 [[ 0.99770711 0.0607979 -0.02973461 0.2559284 ] [-0.06123009 0.99802763 -0.01384626 0.0473959 ] [ 0.02883414 0.01563516 0.99946192 -0.00668355] [ 0. 0. 0. 1. ]] SLAMing on 0.8099999999999999 meters Centerline goodness : 0.193291 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.01 [[ 0.99714261 0.06899098 -0.0307711 0.2610308 ] [-0.06927311 0.99756405 -0.00819778 0.05319956] [ 0.03013057 0.01030596 0.99949284 -0.00854749] [ 0. 0. 0. 1. ]] SLAMing on 0.84 meters Centerline goodness : 0.389723 Centerline is valid? [False, False] Translation: X:0.30, Y:0.08, Z:-0.01 [[ 0.99523974 0.09345833 -0.0276297 0.29741416] [-0.09392624 0.99544817 -0.01614939 0.07600105] [ 0.02599464 0.01866767 0.99948777 -0.00743446] [ 0. 0. 0. 1. ]] SLAMing on 0.87 meters Centerline goodness : 0.231796 Centerline is valid? [False, False] Translation: X:0.31, Y:0.08, Z:-0.01 [[ 0.994447 0.10083231 -0.03013307 0.30631894] [-0.10106602 0.99485957 -0.00633214 0.08455361] [ 0.02933969 0.00934241 0.99952584 -0.0050834 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8999999999999999 meters Centerline goodness : 0.385626 Centerline is valid? [False, False] Translation: X:0.31, Y:0.09, Z:-0.01 [[ 0.99374396 0.10736402 -0.03075559 0.31012756] [-0.10747373 0.99420605 -0.00193155 0.0937831 ] [ 0.03037001 0.00522488 0.99952507 -0.00559723] [ 0. 0. 0. 1. ]] SLAMing on 0.9299999999999999 meters Centerline goodness : 0.137205 Centerline is valid? [False, False] Translation: X:0.32, Y:0.10, Z:-0.01 [[ 0.99342653 0.10986942 -0.03213173 0.31541936] [-0.10997154 0.99393372 -0.00142291 0.10341176] [ 0.03178047 0.00494713 0.99948263 -0.00712981] [ 0. 0. 0. 1. ]] SLAMing on 0.96 meters Centerline goodness : 0.159060 Centerline is valid? [False, False] Translation: X:0.33, Y:0.11, Z:-0.01 [[ 9.93531686e-01 1.07645752e-01 -3.61549552e-02 3.26750332e-01] [-1.07694120e-01 9.94183887e-01 6.12666358e-04 1.10698185e-01] [ 3.60106248e-02 3.28497265e-03 9.99346008e-01 -5.97071817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99 meters Centerline goodness : 0.141991 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:-0.00 [[ 0.99386362 0.10315769 -0.03991984 0.33765212] [-0.10314106 0.99466364 0.00248139 0.11467455] [ 0.03996279 0.00165121 0.9991998 -0.00395144] [ 0. 0. 0. 1. ]] SLAMing on 1.02 meters Centerline goodness : 0.170927 Centerline is valid? [False, False] Translation: X:0.35, Y:0.12, Z:-0.00 [[ 9.94342971e-01 9.67748181e-02 -4.37800153e-02 3.47839439e-01] [-9.67305979e-02 9.95305671e-01 3.13236870e-03 1.16919551e-01] [ 4.38776319e-02 1.12021825e-03 9.99036285e-01 -8.48125840e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.05 meters Centerline goodness : 0.166196 Centerline is valid? [False, False] Translation: X:0.36, Y:0.12, Z:0.00 [[ 0.9950713 0.08947962 -0.04273762 0.35502432] [-0.08928906 0.99598551 0.00635102 0.11728182] [ 0.04313434 -0.00250372 0.99906614 0.0020822 ] [ 0. 0. 0. 1. ]] SLAMing on 1.08 meters Centerline goodness : 0.838735 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:-0.00 [[ 0.99591356 0.08181673 -0.03823885 0.36883918] [-0.08158145 0.99663712 0.00767605 0.12352814] [ 0.03873829 -0.00452511 0.99923914 -0.00103094] [ 0. 0. 0. 1. ]] SLAMing on 1.1099999999999999 meters Centerline goodness : 0.163551 Centerline is valid? [False, False] Translation: X:0.38, Y:0.13, Z:-0.00 [[ 9.96295097e-01 7.68880768e-02 -3.85266694e-02 3.80371500e-01] [-7.64726269e-02 9.96997703e-01 1.21456849e-02 1.27846439e-01] [ 3.93448593e-02 -9.15445071e-03 9.99183756e-01 -9.48355657e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.14 meters Centerline goodness : 0.164860 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:-0.00 [[ 0.99672482 0.07045386 -0.03969736 0.39300076] [-0.06991038 0.99744172 0.01491808 0.13161582] [ 0.04064684 -0.01209397 0.99910038 -0.00115496] [ 0. 0. 0. 1. ]] SLAMing on 1.17 meters Centerline goodness : 0.159544 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.00 [[ 0.99735446 0.06293599 -0.03637503 0.404801 ] [-0.06232194 0.99789778 0.01777634 0.13159523] [ 0.03741734 -0.01546235 0.99918009 -0.00337677] [ 0. 0. 0. 1. ]] SLAMing on 1.2 meters Centerline goodness : 0.867810 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:-0.01 [[ 0.9978381 0.05517045 -0.0357119 0.42274577] [-0.05459288 0.99836479 0.01695179 0.12949054] [ 0.03658874 -0.01496553 0.99921834 -0.00788692] [ 0. 0. 0. 1. ]] SLAMing on 1.23 meters Centerline goodness : 0.160568 Centerline is valid? [False, False] Translation: X:0.45, Y:0.13, Z:-0.01 [[ 0.99787284 0.0493347 -0.04261321 0.4523945 ] [-0.04895493 0.99875182 0.00991061 0.12794611] [ 0.04304896 -0.0078034 0.99904249 -0.00938788] [ 0. 0. 0. 1. ]] SLAMing on 1.26 meters Centerline goodness : 0.880788 Centerline is valid? [False, False] Translation: X:0.46, Y:0.12, Z:-0.01 [[ 0.99847146 0.03602755 -0.0419137 0.46416817] [-0.03566729 0.99932034 0.00931173 0.12366046] [ 0.0422207 -0.00780255 0.99907784 -0.00889534] [ 0. 0. 0. 1. ]] SLAMing on 1.29 meters Centerline goodness : 0.162298 Centerline is valid? [False, False] Translation: X:0.49, Y:0.12, Z:-0.01 [[ 9.98643166e-01 2.51763515e-02 -4.55848376e-02 4.88192000e-01] [-2.51963404e-02 9.99682513e-01 1.36122376e-04 1.22460548e-01] [ 4.55737921e-02 1.01263341e-03 9.98960462e-01 -7.53617752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3199999999999998 meters Centerline goodness : 0.151685 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:-0.01 [[ 0.99854732 0.00899398 -0.05312578 0.52912521] [-0.00918462 0.99995222 -0.00334549 0.12177049] [ 0.05309315 0.00382857 0.99858222 -0.00774616] [ 0. 0. 0. 1. ]] SLAMing on 1.3499999999999999 meters Centerline goodness : 0.148835 Centerline is valid? [False, False] Translation: X:0.54, Y:0.12, Z:-0.01 [[ 0.99846501 0.00823817 -0.05476996 0.53635495] [-0.0084602 0.9999569 -0.00382331 0.12396903] [ 0.0547361 0.0042808 0.99849168 -0.01163351] [ 0. 0. 0. 1. ]] SLAMing on 1.38 meters Centerline goodness : 0.147468 Centerline is valid? [False, False] Translation: X:0.54, Y:0.13, Z:-0.01 [[ 0.99837579 0.00977227 -0.05612735 0.54180918] [-0.00990918 0.99994857 -0.00216146 0.12549968] [ 0.05610334 0.00271413 0.99842128 -0.01432008] [ 0. 0. 0. 1. ]] SLAMing on 1.41 meters Centerline goodness : 0.142951 Centerline is valid? [False, False] Translation: X:0.55, Y:0.13, Z:-0.02 [[ 0.99823413 0.01565162 -0.05730312 0.54793014] [-0.01550081 0.99987513 0.00307535 0.12758699] [ 0.0573441 -0.00218167 0.99835209 -0.01716561] [ 0. 0. 0. 1. ]] SLAMing on 1.44 meters Centerline goodness : 0.140473 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:-0.02 [[ 0.99838841 0.02127734 -0.05261037 0.56035248] [-0.02138314 0.9997703 -0.00144888 0.13170068] [ 0.05256746 0.00257152 0.99861406 -0.02035418] [ 0. 0. 0. 1. ]] SLAMing on 1.47 meters Centerline goodness : 0.141395 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:-0.02 [[ 0.99842526 0.02550594 -0.04996454 0.57039638] [-0.02488706 0.99960613 0.01296969 0.13051471] [ 0.05027567 -0.01170579 0.99866678 -0.02119525] [ 0. 0. 0. 1. ]] SLAMing on 1.5 meters Centerline goodness : 0.141603 Centerline is valid? [False, False] Translation: X:0.58, Y:0.14, Z:-0.02 [[ 0.99842771 0.03144992 -0.04640048 0.58400709] [-0.03110967 0.99948366 0.00803706 0.13664496] [ 0.04662928 -0.00658092 0.99889059 -0.02430525] [ 0. 0. 0. 1. ]] SLAMing on 1.53 meters Centerline goodness : 0.936731 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:-0.03 [[ 0.99824726 0.03537472 -0.04744518 0.58779823] [-0.03490805 0.999334 0.01062906 0.140687 ] [ 0.04778958 -0.00895421 0.99881729 -0.02591291] [ 0. 0. 0. 1. ]] SLAMing on 1.56 meters Centerline goodness : 0.136951 Centerline is valid? [False, False] Translation: X:0.60, Y:0.15, Z:-0.03 [[ 0.99816087 0.04023245 -0.04534565 0.60270853] [-0.04006391 0.99918644 0.00461993 0.14643954] [ 0.04549463 -0.00279471 0.99896067 -0.02920169] [ 0. 0. 0. 1. ]] SLAMing on 1.5899999999999999 meters Centerline goodness : 0.136245 Centerline is valid? [False, False] Translation: X:0.61, Y:0.15, Z:-0.03 [[ 0.99798376 0.04324478 -0.04645765 0.6070286 ] [-0.0429698 0.99905253 0.00690192 0.14852336] [ 0.0467121 -0.00489173 0.99889642 -0.03107796] [ 0. 0. 0. 1. ]] SLAMing on 1.6199999999999999 meters Centerline goodness : 0.136207 Centerline is valid? [False, False] Translation: X:0.62, Y:0.15, Z:-0.03 [[ 9.97991428e-01 4.66585349e-02 -4.28496389e-02 6.19794741e-01] [-4.66965240e-02 9.98909116e-01 1.14473035e-04 1.52048226e-01] [ 4.28082360e-02 1.88668608e-03 9.99081526e-01 -3.31603912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.65 meters Centerline goodness : 0.135018 Centerline is valid? [False, False] Translation: X:0.63, Y:0.15, Z:-0.03 [[ 0.99813081 0.04746994 -0.03849021 0.62920137] [-0.04705904 0.99882576 0.01151254 0.14965435] [ 0.03899151 -0.00967971 0.99919266 -0.03378239] [ 0. 0. 0. 1. ]] SLAMing on 1.68 meters Centerline goodness : 0.957475 Centerline is valid? [False, True] Translation: X:0.64, Y:0.15, Z:-0.03 [[ 0.99826851 0.04949881 -0.03177808 0.63770474] [-0.04940216 0.99877166 0.00382 0.15479718] [ 0.03192813 -0.00224348 0.99948765 -0.0345714 ] [ 0. 0. 0. 1. ]] SLAMing on 1.71 meters Centerline goodness : 0.964618 Centerline is valid? [True, True] Translation: X:0.67, Y:0.16, Z:-0.03 [[ 9.98237739e-01 5.13325542e-02 -2.97722077e-02 6.65356176e-01] [-5.13393188e-02 9.98681123e-01 5.37660840e-04 1.57004295e-01] [ 2.97605413e-02 9.91771523e-04 9.99556565e-01 -3.07639071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74 meters Centerline goodness : 0.150456 Centerline is valid? [True, False] Translation: X:0.68, Y:0.16, Z:-0.03 [[ 9.98486001e-01 4.97422974e-02 -2.34820948e-02 6.77382133e-01] [-4.97548913e-02 9.98761457e-01 4.79916987e-05 1.57252468e-01] [ 2.34553984e-02 1.12043003e-03 9.99724256e-01 -2.59425135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.77 meters Centerline goodness : 0.150456 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.03 [[ 9.98486001e-01 4.97422974e-02 -2.34820948e-02 6.77382133e-01] [-4.97548913e-02 9.98761457e-01 4.79916987e-05 1.57252468e-01] [ 2.34553984e-02 1.12043003e-03 9.99724256e-01 -2.59425135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7999999999999998 meters Centerline goodness : 0.146485 Centerline is valid? [False, False] Translation: X:0.70, Y:0.15, Z:-0.02 [[ 0.99896836 0.04076686 -0.02000705 0.70467465] [-0.04063312 0.99914929 0.00704609 0.14575742] [ 0.02027728 -0.00622587 0.99977501 -0.02493233] [ 0. 0. 0. 1. ]] SLAMing on 1.8299999999999998 meters Centerline goodness : 0.973913 Centerline is valid? [False, True] Translation: X:0.72, Y:0.14, Z:-0.03 [[ 0.99932447 0.0331767 -0.01580885 0.71917665] [-0.03304353 0.99941681 0.00861165 0.13706384] [ 0.01608533 -0.00808345 0.99983795 -0.02804223] [ 0. 0. 0. 1. ]] SLAMing on 1.8599999999999999 meters Centerline goodness : 0.973913 Centerline is valid? [True, True] Translation: X:0.75, Y:0.14, Z:-0.03 [[ 9.99330674e-01 3.29181624e-02 -1.59561503e-02 7.47713028e-01] [-3.29178700e-02 9.99458021e-01 2.81035814e-04 1.40016271e-01] [ 1.59567536e-02 2.44394772e-04 9.99872653e-01 -2.72421562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89 meters Centerline goodness : 0.142565 Centerline is valid? [True, False] Translation: X:0.80, Y:0.12, Z:-0.02 [[ 0.99956665 0.01666803 -0.02426276 0.8010201 ] [-0.01623506 0.99970736 0.01793393 0.12026643] [ 0.02455459 -0.01753225 0.99954474 -0.02429887] [ 0. 0. 0. 1. ]] SLAMing on 1.92 meters Centerline goodness : 0.142565 Centerline is valid? [False, False] Translation: X:0.80, Y:0.12, Z:-0.02 [[ 0.99956665 0.01666803 -0.02426276 0.8010201 ] [-0.01623506 0.99970736 0.01793393 0.12026643] [ 0.02455459 -0.01753225 0.99954474 -0.02429887] [ 0. 0. 0. 1. ]] SLAMing on 1.95 meters Centerline goodness : 0.143559 Centerline is valid? [False, False] Translation: X:0.86, Y:0.11, Z:-0.02 [[ 9.99136935e-01 1.59882967e-03 -4.15069705e-02 8.58926845e-01] [-2.53218851e-04 9.99474822e-01 3.24039474e-02 1.13362419e-01] [ 4.15369804e-02 -3.23654704e-02 9.98612615e-01 -1.97175108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.98 meters Centerline goodness : 0.145755 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.02 [[ 0.99887051 -0.0045358 -0.0472984 0.87505973] [ 0.00524143 0.99987666 0.01480535 0.11742048] [ 0.04722541 -0.01503654 0.99877108 -0.01779068] [ 0. 0. 0. 1. ]] SLAMing on 2.01 meters Centerline goodness : 0.153872 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.02 [[ 0.99874858 -0.01188347 -0.04858042 0.87768476] [ 0.01226751 0.99989576 0.0076149 0.11615252] [ 0.04848486 -0.00820133 0.99879025 -0.01773181] [ 0. 0. 0. 1. ]] SLAMing on 2.04 meters Centerline goodness : 0.157211 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.02 [[ 0.9990554 -0.01561832 -0.04055085 0.8866586 ] [ 0.01551599 0.99987559 -0.00283711 0.1136895 ] [ 0.04059011 0.00220525 0.99917345 -0.01993233] [ 0. 0. 0. 1. ]] SLAMing on 2.07 meters Centerline goodness : 0.151900 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:-0.02 [[ 0.99927546 -0.01992237 -0.03242907 0.89349278] [ 0.0199954 0.99979821 0.00192936 0.10473446] [ 0.03238409 -0.00257639 0.99947218 -0.02003142] [ 0. 0. 0. 1. ]] SLAMing on 2.1 meters Centerline goodness : 0.250475 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.02 [[ 0.99943759 -0.02376105 -0.02366247 0.90163876] [ 0.02384869 0.9997097 0.0034285 0.09798745] [ 0.02357414 -0.00399089 0.99971413 -0.01946925] [ 0. 0. 0. 1. ]] SLAMing on 2.13 meters Centerline goodness : 0.560653 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:-0.02 [[ 0.9994705 -0.02434027 -0.02159337 0.91985895] [ 0.0240512 0.99961893 -0.01354717 0.09690528] [ 0.02191489 0.01302065 0.99967505 -0.01773481] [ 0. 0. 0. 1. ]] SLAMing on 2.16 meters Centerline goodness : 0.865878 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:-0.02 [[ 0.99942618 -0.02500863 -0.02284474 0.92470288] [ 0.02468833 0.99959438 -0.01419697 0.09692484] [ 0.02319052 0.01362483 0.99963822 -0.02052456] [ 0. 0. 0. 1. ]] SLAMing on 2.19 meters Centerline goodness : 0.646361 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.02 [[ 0.9995103 -0.02011739 -0.02396766 0.92816521] [ 0.01993227 0.99976982 -0.00793794 0.09350579] [ 0.02412183 0.00745633 0.99968122 -0.02338428] [ 0. 0. 0. 1. ]] SLAMing on 2.2199999999999998 meters Centerline goodness : 0.646361 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.02 [[ 0.9995103 -0.02011739 -0.02396766 0.92816521] [ 0.01993227 0.99976982 -0.00793794 0.09350579] [ 0.02412183 0.00745633 0.99968122 -0.02338428] [ 0. 0. 0. 1. ]] SLAMing on 2.25 meters Centerline goodness : 0.138211 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.03 [[ 0.99954081 -0.01680114 -0.02521684 0.93273775] [ 0.01671084 0.99985319 -0.00378753 0.09086164] [ 0.02527677 0.0033644 0.99967483 -0.0267652 ] [ 0. 0. 0. 1. ]] SLAMing on 2.28 meters Centerline goodness : 0.138211 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.03 [[ 0.99954081 -0.01680114 -0.02521684 0.93273775] [ 0.01671084 0.99985319 -0.00378753 0.09086164] [ 0.02527677 0.0033644 0.99967483 -0.0267652 ] [ 0. 0. 0. 1. ]] SLAMing on 2.31 meters Centerline goodness : 0.611322 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.03 [[ 0.99954353 -0.01531828 -0.02604019 0.93417461] [ 0.01527072 0.99988135 -0.00202427 0.08632388] [ 0.02606811 0.00162569 0.99965885 -0.02619907] [ 0. 0. 0. 1. ]] SLAMing on 2.34 meters Centerline goodness : 0.135750 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:-0.02 [[ 0.99975496 -0.0108716 -0.01928309 0.94536298] [ 0.01098759 0.99992211 0.00591934 0.08069187] [ 0.01921723 -0.00612976 0.99979654 -0.02474344] [ 0. 0. 0. 1. ]] SLAMing on 2.37 meters Centerline goodness : 0.999215 Centerline is valid? [False, True] Translation: X:0.64, Y:-0.41, Z:0.53 [[ 9.97855990e-01 -5.68410634e-04 6.54453941e-02 6.41810982e-01] [-5.85050720e-02 4.40465128e-01 8.95861389e-01 -4.11413818e-01] [-2.93356310e-02 -8.97769541e-01 4.39487511e-01 5.34313264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.37, Z:-0.02 [[ 9.98163629e-01 6.01310682e-02 7.32285192e-03 6.75734518e-01] [-6.01296111e-02 9.98190490e-01 -4.19183216e-04 -3.69820640e-01] [-7.33480708e-03 -2.19067987e-05 9.99973100e-01 -2.00261542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4299999999999997 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.38, Z:-0.02 [[ 9.99443243e-01 3.23333905e-02 8.23145484e-03 7.06975445e-01] [-3.23305926e-02 9.99477118e-01 -4.72778252e-04 -3.82400648e-01] [-8.24243728e-03 2.06387216e-04 9.99966009e-01 -2.16882177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.38, Z:-0.02 [[ 9.99460148e-01 3.16850434e-02 8.68737402e-03 7.39930846e-01] [-3.16818832e-02 9.99497877e-01 -5.01185247e-04 -3.83789051e-01] [-8.69889197e-03 2.25682312e-04 9.99962138e-01 -1.87930901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4899999999999998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.38, Z:-0.02 [[ 9.98909685e-01 4.61339756e-02 7.14831968e-03 7.73049047e-01] [-4.61321922e-02 9.98935258e-01 -4.14261397e-04 -3.80555464e-01] [-7.15982008e-03 8.40420646e-05 9.99974365e-01 -1.89571565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.38, Z:-0.02 [[ 9.98763181e-01 4.94945455e-02 4.73271096e-03 8.06322397e-01] [-4.94937960e-02 9.98774393e-01 -2.75418322e-04 -3.77950117e-01] [-4.74054222e-03 4.08378488e-05 9.99988763e-01 -2.19281706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.38, Z:-0.02 [[ 9.98820794e-01 4.83930778e-02 3.88998773e-03 8.39575552e-01] [-4.83925593e-02 9.98828368e-01 -2.27357465e-04 -3.80822460e-01] [-3.89643262e-03 3.88429017e-05 9.99992408e-01 -2.08357247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.38, Z:-0.02 [[ 9.98739064e-01 5.01295377e-02 2.70410154e-03 8.71929625e-01] [-5.01292919e-02 9.98742724e-01 -1.58654404e-04 -3.82537218e-01] [-2.70865501e-03 2.28996558e-05 9.99996331e-01 -2.10748581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.38, Z:-0.02 [[ 9.98396572e-01 5.65253228e-02 3.02863831e-03 9.03748172e-01] [-5.65250413e-02 9.98401166e-01 -1.78533305e-04 -3.83642564e-01] [-3.03388767e-03 7.05313422e-06 9.99995398e-01 -2.13736256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6399999999999997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.39, Z:-0.02 [[ 9.98001223e-01 6.29897580e-02 5.08415492e-03 9.36183787e-01] [-6.29890404e-02 9.98014173e-01 -3.01297801e-04 -3.85058502e-01] [-5.09303735e-03 -1.95504660e-05 9.99987030e-01 -2.00806305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.67 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.39, Z:-0.02 [[ 9.97701720e-01 6.75646400e-02 5.12810856e-03 9.68582740e-01] [-6.75639633e-02 9.97714898e-01 -3.05281600e-04 -3.87629794e-01] [-5.13701655e-03 -4.18953611e-05 9.99986805e-01 -2.04562500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6999999999999997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.39, Z:-0.02 [[ 9.97303959e-01 7.32195021e-02 4.87019022e-03 1.00020225e+00] [-7.32189532e-02 9.97315848e-01 -2.91150435e-04 -3.91684215e-01] [-4.87843577e-03 -6.62247479e-05 9.99988098e-01 -1.91262712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.39, Z:-0.02 [[ 9.97322139e-01 7.29986181e-02 4.44442996e-03 1.03296049e+00] [-7.29981536e-02 9.97332040e-01 -2.66866584e-04 -3.94256511e-01] [-4.45205330e-03 -5.82832289e-05 9.99990088e-01 -1.95406108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.40, Z:-0.02 [[ 9.97450509e-01 7.13427215e-02 1.64265762e-03 1.06527795e+00] [-7.13426554e-02 9.97451861e-01 -9.88316618e-05 -3.97991263e-01] [-1.64552282e-03 -1.86118655e-05 9.99998646e-01 -2.09133049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.40, Z:-0.02 [[ 9.97836559e-01 6.57414789e-02 5.09751817e-04 1.09656003e+00] [-6.57414718e-02 9.97836689e-01 -3.05430353e-05 -4.03321290e-01] [-5.10657010e-04 -3.03487753e-06 9.99999870e-01 -2.27728350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.41, Z:-0.02 [[ 9.98462116e-01 5.54355885e-02 5.46118153e-04 1.12896571e+00] [-5.54355788e-02 9.98462265e-01 -3.28822130e-05 -4.09648113e-01] [-5.47101213e-04 2.55726800e-06 9.99999850e-01 -2.30469083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.41, Z:-0.02 [[ 9.98720378e-01 5.04986414e-02 2.73736611e-03 1.16114433e+00] [-5.04983729e-02 9.98724129e-01 -1.67179021e-04 -4.12067996e-01] [-2.74231590e-03 2.87325606e-05 9.99996239e-01 -2.21575902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.41, Z:-0.02 [[ 9.98919570e-01 4.61391947e-02 5.55591028e-03 1.19349060e+00] [-4.61380104e-02 9.98935017e-01 -3.41197771e-04 -4.13995645e-01] [-5.56573592e-03 8.44904837e-05 9.99984508e-01 -2.04985108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9099999999999997 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.42, Z:-0.02 [[ 9.99135337e-01 4.07884418e-02 8.05493064e-03 1.22601944e+00] [-4.07857589e-02 9.99167791e-01 -4.97129039e-04 -4.15558046e-01] [-8.06850437e-03 1.68172731e-04 9.99967435e-01 -2.03003076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.42, Z:-0.02 [[ 9.99237432e-01 3.83428121e-02 7.37443306e-03 1.25772133e+00] [-3.83404824e-02 9.99264629e-01 -4.57079252e-04 -4.16920782e-01] [-7.38653582e-03 1.73991377e-04 9.99972704e-01 -2.18655427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9699999999999998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.42, Z:-0.02 [[ 9.99250518e-01 3.81934487e-02 6.29782115e-03 1.29058813e+00] [-3.81917359e-02 9.99270353e-01 -3.92051305e-04 -4.17044118e-01] [-6.30819975e-03 1.51232747e-04 9.99980092e-01 -2.28370887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.36, Z:-0.10 [[ 0.99937152 0.02624371 0.02382933 1.3115427 ] [-0.02394611 0.99546576 -0.09205704 -0.35873427] [-0.0261372 0.09142856 0.99546857 -0.09737751] [ 0. 0. 0. 1. ]] SLAMing on 3.03 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.40, Z:-0.06 [[ 0.99918953 0.03012452 0.02669818 1.34397652] [-0.03004166 0.99954252 -0.00349942 -0.39854038] [-0.02679138 0.00269453 0.99963741 -0.05656147] [ 0. 0. 0. 1. ]] SLAMing on 3.06 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.45, Z:0.02 [[ 0.99885755 0.04709137 0.00812376 1.38402553] [-0.04763692 0.99468822 0.09124734 -0.44556432] [-0.00378364 -0.09153009 0.99579512 0.0219478 ] [ 0. 0. 0. 1. ]] SLAMing on 3.09 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.41, Z:-0.02 [[ 9.98658559e-01 5.17079032e-02 2.71589217e-03 1.41859236e+00] [-5.17076226e-02 9.98662251e-01 -1.73504783e-04 -4.09068975e-01] [-2.72123056e-03 3.28397090e-05 9.99996297e-01 -2.22407739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.41, Z:-0.02 [[ 9.98370833e-01 5.69860503e-02 2.87573739e-03 1.45149279e+00] [-5.69857551e-02 9.98374974e-01 -1.84536678e-04 -4.06705629e-01] [-2.88158026e-03 2.03599707e-05 9.99995848e-01 -2.27016292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.40, Z:-0.02 [[ 9.97934771e-01 6.42281601e-02 9.67523714e-04 1.48412932e+00] [-6.42281299e-02 9.97935240e-01 -6.23021624e-05 -4.03378833e-01] [-9.69527563e-04 3.12554337e-08 9.99999530e-01 -2.33375062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1799999999999997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.40, Z:-0.02 [[ 9.97545251e-01 7.00068278e-02 1.58651035e-03 1.51737927e+00] [-7.00067531e-02 9.97546512e-01 -1.02601208e-04 -4.01240686e-01] [-1.58980066e-03 -8.71709085e-06 9.99998736e-01 -2.25491854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.21 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.40, Z:-0.02 [[ 9.97380652e-01 7.23239873e-02 1.03733491e-03 1.54908154e+00] [-7.23239564e-02 9.97381191e-01 -6.72605841e-05 -4.00821876e-01] [-1.03948288e-03 -7.93975969e-06 9.99999460e-01 -2.30395164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2399999999999998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.40, Z:-0.02 [[ 9.97287361e-01 7.36064164e-02 -1.23259359e-04 1.58155561e+00] [-7.36064159e-02 9.97287369e-01 7.86333114e-06 -4.01162679e-01] [ 1.23503793e-04 1.23067885e-06 9.99999992e-01 -2.30234499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.27 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.40, Z:-0.02 [[ 9.97188003e-01 7.49314085e-02 -1.17081530e-03 1.61324788e+00] [-7.49313706e-02 9.97188690e-01 7.62952114e-05 -4.02475540e-01] [ 1.17324068e-03 1.16501254e-05 9.99999312e-01 -2.29318619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.40, Z:-0.02 [[ 9.97143315e-01 7.55255392e-02 -1.05000089e-03 1.64598893e+00] [-7.55255087e-02 9.97143868e-01 6.86922701e-05 -4.04091185e-01] [ 1.05218997e-03 1.08058131e-05 9.99999446e-01 -2.24231370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.41, Z:-0.02 [[ 9.97240924e-01 7.42186479e-02 -1.46004048e-03 1.67804743e+00] [-7.42185869e-02 9.97241993e-01 9.59743333e-05 -4.06155931e-01] [ 1.46313677e-03 1.26526086e-05 9.99998930e-01 -2.41114793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.41, Z:-0.02 [[ 9.97787614e-01 6.64624847e-02 -1.61741888e-03 1.71082983e+00] [-6.64623989e-02 9.97788925e-01 1.06782986e-04 -4.13660454e-01] [ 1.62093970e-03 9.50798257e-07 9.99998686e-01 -2.30782793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3899999999999997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.42, Z:-0.02 [[ 9.98301635e-01 5.82566817e-02 -6.33205900e-05 1.74307861e+00] [-5.82566816e-02 9.98301637e-01 4.04896877e-06 -4.20822219e-01] [ 6.34489282e-05 -3.53244694e-07 9.99999998e-01 -2.17245121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.43, Z:-0.02 [[ 9.98765602e-01 4.96494878e-02 1.48326974e-03 1.77469189e+00] [-4.96493955e-02 9.98766703e-01 -9.90285750e-05 -4.27101584e-01] [-1.48635715e-03 2.52628883e-05 9.99998895e-01 -2.12773554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4499999999999997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.44, Z:-0.02 [[ 9.99223260e-01 3.93699537e-02 1.69788142e-03 1.80738838e+00] [-3.93698171e-02 9.99224702e-01 -1.13839672e-04 -4.36887643e-01] [-1.70104692e-03 4.69059671e-05 9.99998552e-01 -2.14506803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.44, Z:-0.02 [[ 9.99319238e-01 3.68449539e-02 1.87351413e-03 1.83856576e+00] [-3.68447822e-02 9.99320993e-01 -1.26090181e-04 -4.42683994e-01] [-1.87688779e-03 5.69751238e-05 9.99998237e-01 -2.01662079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.45, Z:-0.02 [[ 9.99287158e-01 3.76763083e-02 2.38143168e-03 1.87102009e+00] [-3.76760317e-02 9.99289993e-01 -1.60916740e-04 -4.46632072e-01] [-2.38580360e-03 7.10791368e-05 9.99997151e-01 -2.21556381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.45, Z:-0.02 [[ 9.99054306e-01 4.32456971e-02 4.50590046e-03 1.90390833e+00] [-4.32447584e-02 9.99064461e-01 -3.05599470e-04 -4.49047196e-01] [-4.51490087e-03 1.10453890e-04 9.99989802e-01 -2.15684743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.45, Z:-0.02 [[ 9.98742302e-01 4.97347639e-02 6.34574247e-03 1.93582885e+00] [-4.97330266e-02 9.98762454e-01 -4.31370460e-04 -4.51109960e-01] [-6.35934343e-03 1.15234947e-04 9.99979773e-01 -1.94940128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5999999999999996 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.45, Z:-0.02 [[ 9.98388482e-01 5.61978915e-02 7.88896619e-03 1.96831925e+00] [-5.61953907e-02 9.98419645e-01 -5.38492557e-04 -4.51979652e-01] [-7.90676098e-03 9.43012290e-05 9.99968737e-01 -2.03093908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.44, Z:-0.03 [[ 0.9977976 0.06583909 0.00807297 2.00343636] [-0.06568351 0.99767409 -0.01822313 -0.44406787] [-0.00925399 0.01765273 0.99980135 -0.03281473] [ 0. 0. 0. 1. ]] SLAMing on 3.6599999999999997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.46, Z:-0.01 [[ 0.9973911 0.0718922 0.00651911 2.03239553] [-0.07199538 0.99725516 0.01728618 -0.45761786] [-0.00525847 -0.01771042 0.99982933 -0.01333744] [ 0. 0. 0. 1. ]] SLAMing on 3.69 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.45, Z:-0.02 [[ 9.97136934e-01 7.55626551e-02 2.86702324e-03 2.06617790e+00] [-7.55623989e-02 9.97141056e-01 -1.97723792e-04 -4.51565968e-01] [-2.87376711e-03 -1.94814574e-05 9.99995871e-01 -2.37696575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7199999999999998 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.45, Z:-0.03 [[ 9.97037504e-01 7.69169322e-02 4.28327569e-05 2.09923827e+00] [-7.69169322e-02 9.97037505e-01 -3.12247278e-06 -4.53451678e-01] [-4.29460361e-05 -1.81341792e-07 9.99999999e-01 -2.55230613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.75 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.46, Z:-0.03 [[ 9.97249603e-01 7.40670931e-02 -2.70097015e-03 2.13090861e+00] [-7.40668570e-02 9.97253260e-01 1.87461504e-04 -4.59166999e-01] [ 2.70743602e-03 1.31064593e-05 9.99996335e-01 -2.65545386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.44, Z:-0.05 [[ 0.99784093 0.06544882 0.00547049 2.16014038] [-0.06520546 0.99719718 -0.03668831 -0.44463748] [-0.00785636 0.03625239 0.99931178 -0.05459508] [ 0. 0. 0. 1. ]] SLAMing on 3.81 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.48, Z:-0.01 [[ 9.97642588e-01 6.85985845e-02 1.87083544e-03 2.19203182e+00] [-6.86210479e-02 9.96970841e-01 3.66100280e-02 -4.83422130e-01] [ 6.46227720e-04 -3.66521017e-02 9.99327877e-01 -8.17333652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.48, Z:-0.02 [[ 9.97846150e-01 6.55970267e-02 -3.03133005e-04 2.22576924e+00] [-6.55970234e-02 9.97846196e-01 2.09793361e-05 -4.78100740e-01] [ 3.03856298e-04 -1.04952692e-06 9.99999954e-01 -2.47010118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8699999999999997 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.48, Z:-0.02 [[ 9.97823008e-01 6.59469395e-02 -4.95265078e-04 2.25739595e+00] [-6.59469304e-02 9.97823131e-01 3.45922035e-05 -4.82309945e-01] [ 4.96468200e-04 -1.85568499e-06 9.99999877e-01 -2.48804557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.47, Z:-0.05 [[ 0.99789834 0.064553 0.00563994 2.28675361] [-0.06434621 0.99743658 -0.03130223 -0.46889511] [-0.00764614 0.03087353 0.99949405 -0.048221 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9299999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.48, Z:-0.04 [[ 0.99774158 0.0666379 0.00843359 2.31879537] [-0.06658034 0.99775699 -0.00693189 -0.47730902] [-0.0088766 0.00635472 0.99994041 -0.03619706] [ 0. 0. 0. 1. ]] SLAMing on 3.96 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.48, Z:-0.04 [[ 9.97787046e-01 6.61666848e-02 6.55601262e-03 2.35076315e+00] [-6.61543136e-02 9.97807223e-01 -2.08645002e-03 -4.76243879e-01] [-6.67969023e-03 1.64812429e-03 9.99976332e-01 -3.90925227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9899999999999998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.48, Z:-0.04 [[ 9.97866857e-01 6.50658415e-02 5.30773509e-03 2.38225902e+00] [-6.50765075e-02 9.97878540e-01 1.86200107e-03 -4.78182327e-01] [-5.17532228e-03 -2.20343802e-03 9.99984180e-01 -3.81965604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.48, Z:-0.04 [[ 9.97877789e-01 6.48051184e-02 6.34156142e-03 2.41434408e+00] [-6.48087142e-02 9.97897639e-01 3.62971019e-04 -4.81301681e-01] [-6.30470679e-03 -7.73189160e-04 9.99979826e-01 -3.50641756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.48, Z:-0.04 [[ 0.99789491 0.06468418 0.00465849 2.44510948] [-0.06465401 0.99788747 -0.00636001 -0.48093513] [-0.00506004 0.00604543 0.99996892 -0.03920701] [ 0. 0. 0. 1. ]] SLAMing on 4.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.48, Z:-0.04 [[ 9.97864552e-01 6.52353255e-02 3.26932430e-03 2.47851648e+00] [-6.52300352e-02 9.97868806e-01 -1.69958407e-03 -4.83808662e-01] [-3.37322966e-03 1.48269655e-03 9.99993211e-01 -3.68534838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.51, Z:-0.00 [[ 9.97569355e-01 6.93284919e-02 -6.99580289e-03 2.51216062e+00] [-6.89409777e-02 9.96583265e-01 4.54855728e-02 -5.09838390e-01] [ 1.01253462e-02 -4.48927160e-02 9.98940499e-01 -2.39967285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.50, Z:-0.02 [[ 9.97540417e-01 6.93333614e-02 -1.02957015e-02 2.54688141e+00] [-6.93292193e-02 9.97593546e-01 7.59112102e-04 -4.95106889e-01] [ 1.03235571e-02 -4.34520575e-05 9.99946710e-01 -2.33378627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.48, Z:-0.05 [[ 9.98139925e-01 6.08164713e-02 -4.24807206e-03 2.57496375e+00] [-6.09348075e-02 9.97406484e-01 -3.83047709e-02 -4.75966950e-01] [ 1.90749361e-03 3.84923767e-02 9.99257073e-01 -5.45782897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.50, Z:-0.04 [[ 9.98428920e-01 5.60305430e-02 -5.19538399e-04 2.60555030e+00] [-5.60322365e-02 9.98420103e-01 -4.20558169e-03 -4.96408989e-01] [ 2.83076556e-04 4.22808528e-03 9.99991022e-01 -3.60054271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2299999999999995 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.50, Z:-0.03 [[ 9.98664267e-01 5.16002817e-02 2.66308324e-03 2.63621506e+00] [-5.15986471e-02 9.98667672e-01 -6.78942879e-04 -5.00613061e-01] [-2.69456878e-03 5.40624500e-04 9.99996224e-01 -3.26519767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.53, Z:0.00 [[ 0.99854635 0.05363756 -0.00531018 2.67060786] [-0.05335054 0.99759152 0.04432704 -0.52815507] [ 0.00767498 -0.0439793 0.99900296 0.00358826] [ 0. 0. 0. 1. ]] SLAMing on 4.29 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.49, Z:-0.05 [[ 9.99022139e-01 4.41958151e-02 1.22280347e-03 2.70084935e+00] [-4.41119401e-02 9.98229876e-01 -3.98904970e-02 -4.90427288e-01] [-2.98363199e-03 3.97975494e-02 9.99203309e-01 -4.80459581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.50, Z:-0.04 [[ 0.99903133 0.04347532 0.00680397 2.73091479] [-0.0433949 0.99899122 -0.01155125 -0.50359781] [-0.0072993 0.0112448 0.99991013 -0.03604926] [ 0. 0. 0. 1. ]] SLAMing on 4.35 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.53, Z:0.01 [[ 9.98616015e-01 5.25908890e-02 -5.02837719e-04 2.76596306e+00] [-5.25239402e-02 9.97744432e-01 4.18005166e-02 -5.31828239e-01] [ 2.70002986e-03 -4.17162543e-02 9.99125850e-01 5.43704536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.52, Z:-0.01 [[ 9.98333923e-01 5.76497396e-02 -2.42585467e-03 2.79823965e+00] [-5.76355528e-02 9.98322207e-01 5.55997679e-03 -5.17525596e-01] [ 2.74231581e-03 -5.41089796e-03 9.99981601e-01 -1.48845466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.51, Z:-0.02 [[ 9.97912790e-01 6.45382189e-02 -2.20968133e-03 2.83176047e+00] [-6.45380120e-02 9.97915236e-01 1.64882558e-04 -5.14368234e-01] [ 2.21571589e-03 -2.19299733e-05 9.99997545e-01 -1.56689828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4399999999999995 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.51, Z:-0.02 [[ 9.97513714e-01 7.03708097e-02 -3.78671700e-03 2.86509749e+00] [-7.03702357e-02 9.97520901e-01 2.84775023e-04 -5.13948963e-01] [ 3.79736921e-03 -1.75948228e-05 9.99992790e-01 -1.68539461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.47 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.49, Z:-0.05 [[ 0.99743053 0.07153249 0.00392846 2.89368381] [-0.07132433 0.99668185 -0.03921896 -0.49110263] [-0.00672085 0.03883799 0.99922292 -0.04634635] [ 0. 0. 0. 1. ]] SLAMing on 4.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.51, Z:-0.03 [[ 9.96864081e-01 7.88714340e-02 6.42664884e-03 2.92470779e+00] [-7.88850549e-02 9.96881919e-01 1.89386526e-03 -5.06574173e-01] [-6.25723816e-03 -2.39489280e-03 9.99977555e-01 -2.84380224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.53, Z:0.00 [[ 9.95899797e-01 9.03751468e-02 -3.99076266e-03 2.95977691e+00] [-9.01504375e-02 9.95155536e-01 3.92218989e-02 -5.26086818e-01] [ 7.51611443e-03 -3.87013121e-02 9.99222556e-01 2.04310938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.51, Z:-0.02 [[ 9.95525931e-01 9.40302743e-02 -9.29668312e-03 2.99357064e+00] [-9.40277696e-02 9.95569324e-01 7.07107723e-04 -5.11236968e-01] [ 9.32198206e-03 1.70202304e-04 9.99956535e-01 -1.56544257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.51, Z:-0.02 [[ 9.95447167e-01 9.46995774e-02 -1.08133439e-02 3.02649827e+00] [-9.46961921e-02 9.95505876e-01 8.25801205e-04 -5.13435250e-01] [ 1.08429504e-02 2.01941018e-04 9.99941193e-01 -1.64841047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.52, Z:-0.02 [[ 9.95668636e-01 9.22688923e-02 -1.14200913e-02 3.05922660e+00] [-9.22649183e-02 9.95734110e-01 8.75474546e-04 -5.16884392e-01] [ 1.14521535e-02 1.81991242e-04 9.99934405e-01 -1.63363245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6499999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.50, Z:-0.05 [[ 9.96609676e-01 8.22230318e-02 -2.92004688e-03 3.08676837e+00] [-8.22745296e-02 9.95876176e-01 -3.82301495e-02 -4.96646792e-01] [-2.35393674e-04 3.83407824e-02 9.99264694e-01 -4.82310797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.54, Z:-0.00 [[ 9.96404799e-01 8.42571740e-02 -8.84341103e-03 3.12132926e+00] [-8.38458769e-02 9.95693122e-01 3.95610455e-02 -5.40353888e-01] [ 1.21386254e-02 -3.86773320e-02 9.99178021e-01 -1.21300880e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.53, Z:-0.02 [[ 9.96701133e-01 8.03937122e-02 -1.11221673e-02 3.15517125e+00] [-8.03891041e-02 9.96763186e-01 8.61488051e-04 -5.31192254e-01] [ 1.11554251e-02 3.54549489e-05 9.99937776e-01 -1.57740576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.54, Z:-0.01 [[ 9.96912018e-01 7.77015469e-02 -1.13533253e-02 3.18790629e+00] [-7.76965335e-02 9.96976665e-01 8.82658316e-04 -5.37235668e-01] [ 1.13875843e-02 2.18133780e-06 9.99935159e-01 -1.34237500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.77 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.54, Z:-0.01 [[ 9.97122328e-01 7.48144384e-02 -1.22418653e-02 3.21990811e+00] [-7.48083487e-02 9.97197472e-01 9.55254256e-04 -5.43034022e-01] [ 1.22790240e-02 -3.67116169e-05 9.99924609e-01 -1.46042989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.53, Z:-0.04 [[ 9.97701068e-01 6.76964720e-02 -3.12512437e-03 3.24671639e+00] [-6.77642448e-02 9.97096934e-01 -3.47233668e-02 -5.25116940e-01] [ 7.65402498e-04 3.48553119e-02 9.99392076e-01 -4.38689668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.57, Z:0.00 [[ 9.97161885e-01 7.46893421e-02 -9.46976029e-03 3.28066994e+00] [-7.43023039e-02 9.96579815e-01 3.61640813e-02 -5.65075065e-01] [ 1.21384434e-02 -3.53578184e-02 9.99300997e-01 1.64677447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.56, Z:-0.01 [[ 9.97047834e-01 7.58951629e-02 -1.16422341e-02 3.31470094e+00] [-7.58895960e-02 9.97115802e-01 9.19830236e-04 -5.56053271e-01] [ 1.16784663e-02 -3.35903012e-05 9.99931804e-01 -1.12313519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.53, Z:-0.05 [[ 9.97659361e-01 6.83301229e-02 -2.60651966e-03 3.34098713e+00] [-6.83794842e-02 9.96810140e-01 -4.11556834e-02 -5.34026958e-01] [-2.13967680e-04 4.12375853e-02 9.99149346e-01 -4.60160380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.58, Z:0.01 [[ 0.99709093 0.07570582 -0.00884932 3.37566986] [-0.07526421 0.99625354 0.04259333 -0.57899917] [ 0.01204073 -0.04180338 0.9990533 0.01006308] [ 0. 0. 0. 1. ]] SLAMing on 4.95 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.57, Z:-0.01 [[ 9.97299294e-01 7.27879327e-02 -9.79972334e-03 3.40867528e+00] [-7.27837522e-02 9.97347438e-01 7.83032559e-04 -5.65717583e-01] [ 9.83072429e-03 -6.76571832e-05 9.99951675e-01 -8.71170670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9799999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.57, Z:-0.01 [[ 9.97414825e-01 7.12585664e-02 -9.26736853e-03 3.44183266e+00] [-7.12547392e-02 9.97457874e-01 7.42920871e-04 -5.68689924e-01] [ 9.29674918e-03 -8.06563628e-05 9.99956781e-01 -9.00893838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.01 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.57, Z:-0.01 [[ 9.97762039e-01 6.63956719e-02 -7.90742036e-03 3.47426549e+00] [-6.63927172e-02 9.97793367e-01 6.35871925e-04 -5.71587258e-01] [ 7.93219072e-03 -1.09453745e-04 9.99968534e-01 -9.16577323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.53, Z:-0.06 [[ 0.998666 0.05112589 0.00723676 3.49812654] [-0.05056172 0.99667963 -0.06382181 -0.53451866] [-0.01047568 0.06337077 0.99793507 -0.06037728] [ 0. 0. 0. 1. ]] SLAMing on 5.069999999999999 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.60, Z:0.02 [[ 9.98268084e-01 5.87326716e-02 -3.36247527e-03 3.53531162e+00] [-5.83928510e-02 9.96195636e-01 6.46879477e-02 -6.01537312e-01] [ 7.14897918e-03 -6.43795691e-02 9.97899876e-01 2.35051542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.53, Z:-0.07 [[ 0.99898896 0.04466773 0.00508517 3.56085832] [-0.0441885 0.99644185 -0.07177054 -0.5331291 ] [-0.0082729 0.07147327 0.99740821 -0.0659802 ] [ 0. 0. 0. 1. ]] SLAMing on 5.13 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.56, Z:-0.04 [[ 0.9988351 0.04755204 0.00820007 3.59288882] [-0.04749683 0.99884823 -0.00680153 -0.56116466] [-0.00851405 0.00640412 0.99994325 -0.03859329] [ 0. 0. 0. 1. ]] SLAMing on 5.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.56, Z:-0.04 [[ 0.99861122 0.05221726 0.00699881 3.62506974] [-0.05215343 0.99859843 -0.0090112 -0.55968924] [-0.00745954 0.00863367 0.99993491 -0.03852983] [ 0. 0. 0. 1. ]] SLAMing on 5.1899999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.61, Z:0.04 [[ 0.99748818 0.07001283 -0.01074848 3.66391491] [-0.06885039 0.99399098 0.08509731 -0.6088566 ] [ 0.01664179 -0.08414353 0.99631467 0.03627252] [ 0. 0. 0. 1. ]] SLAMing on 5.22 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.53, Z:-0.06 [[ 9.97902932e-01 6.43649508e-02 -6.84774737e-03 3.69303567e+00] [-6.46786072e-02 9.95682859e-01 -6.65756918e-02 -5.34608992e-01] [ 2.53304356e-03 6.68789808e-02 9.97757879e-01 -5.91781144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.57, Z:-0.02 [[ 0.99697094 0.07721228 -0.00933896 3.72496697] [-0.07712637 0.99697856 0.00923432 -0.56796271] [ 0.01002374 -0.00848607 0.99991375 -0.02094997] [ 0. 0. 0. 1. ]] SLAMing on 5.279999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.59, Z:0.02 [[ 0.99535937 0.09404862 -0.02036124 3.76059891] [-0.09278898 0.99411845 0.05584536 -0.5936108 ] [ 0.02549366 -0.05369691 0.99823179 0.02296231] [ 0. 0. 0. 1. ]] SLAMing on 5.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.57, Z:0.00 [[ 9.94859414e-01 9.80484501e-02 -2.53228902e-02 3.79451018e+00] [-9.80226115e-02 9.95181616e-01 2.26266295e-03 -5.74023192e-01] [ 2.54227254e-02 2.31184289e-04 9.99676764e-01 5.41498254e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.57, Z:-0.00 [[ 9.94506641e-01 1.01309429e-01 -2.63237644e-02 3.82769072e+00] [-1.01282508e-01 9.94854912e-01 2.35740337e-03 -5.74948200e-01] [ 2.64271535e-02 3.21683578e-04 9.99650690e-01 -6.02684557e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.58, Z:-0.00 [[ 9.94374218e-01 1.02542894e-01 -2.65493899e-02 3.86037370e+00] [-1.02515753e-01 9.94728522e-01 2.38495789e-03 -5.76539193e-01] [ 2.66539959e-02 3.50190068e-04 9.99644658e-01 -1.36620166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3999999999999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.58, Z:-0.00 [[ 9.94366528e-01 1.02907677e-01 -2.54011371e-02 3.89340232e+00] [-1.02882778e-01 9.94690855e-01 2.28864508e-03 -5.79066142e-01] [ 2.55017979e-02 3.37587489e-04 9.99674719e-01 -4.85327342e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.55, Z:-0.04 [[ 0.9955531 0.09309353 -0.01440885 3.92061145] [-0.09372208 0.99424613 -0.05187294 -0.5498507 ] [ 0.00949691 0.05299269 0.99854974 -0.04235715] [ 0. 0. 0. 1. ]] SLAMing on 5.46 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.61, Z:0.02 [[ 0.99451157 0.1021035 -0.02283879 3.95359263] [-0.10071242 0.99336841 0.05546363 -0.60637464] [ 0.02835036 -0.05285907 0.99819947 0.0238912 ] [ 0. 0. 0. 1. ]] SLAMing on 5.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.56, Z:-0.04 [[ 0.99557672 0.09205334 -0.01879318 3.9829129 ] [-0.09285555 0.99454303 -0.0475606 -0.5603394 ] [ 0.01431252 0.04909528 0.99869155 -0.03891395] [ 0. 0. 0. 1. ]] SLAMing on 5.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.58, Z:-0.02 [[ 0.99540497 0.09382735 -0.01911457 4.01335638] [-0.09393818 0.99556556 -0.00498293 -0.58349909] [ 0.01856227 0.00675562 0.99980488 -0.01957799] [ 0. 0. 0. 1. ]] SLAMing on 5.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.62, Z:0.03 [[ 0.99432451 0.10243504 -0.02873741 4.04747394] [-0.10076083 0.99340797 0.05466126 -0.62018587] [ 0.0341472 -0.05145542 0.99809133 0.02807988] [ 0. 0. 0. 1. ]] SLAMing on 5.58 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.60, Z:0.00 [[ 9.94368238e-01 9.97418922e-02 -3.58240346e-02 4.08405742e+00] [-9.97664436e-02 9.95010268e-01 1.10607557e-03 -6.03383340e-01] [ 3.57556043e-02 2.47419011e-03 9.99357501e-01 3.02957551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.609999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.61, Z:0.01 [[ 9.94226076e-01 1.01748367e-01 -3.40848822e-02 4.11412625e+00] [-1.01614540e-01 9.94807857e-01 5.64032011e-03 -6.09696676e-01] [ 3.44818020e-02 -2.14423369e-03 9.99403026e-01 6.71656483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.59, Z:-0.02 [[ 0.99511179 0.09551162 -0.02510108 4.14178865] [-0.09635414 0.99473772 -0.03482452 -0.58941521] [ 0.02164285 0.03707288 0.99907817 -0.02394743] [ 0. 0. 0. 1. ]] SLAMing on 5.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.63, Z:0.03 [[ 0.99405057 0.10479438 -0.02969169 4.17493568] [-0.10357289 0.99381473 0.04006168 -0.63081989] [ 0.03370628 -0.03674808 0.99875596 0.02620555] [ 0. 0. 0. 1. ]] SLAMing on 5.7 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.62, Z:0.01 [[ 9.94048516e-01 1.03832681e-01 -3.29593966e-02 4.20981393e+00] [-1.03785578e-01 9.94594734e-01 3.14136010e-03 -6.20335132e-01] [ 3.31074181e-02 2.98045688e-04 9.99451755e-01 9.35617280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7299999999999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.60, Z:-0.01 [[ 0.99495371 0.09743106 -0.02396454 4.23803223] [-0.09807231 0.99480697 -0.02721959 -0.60449553] [ 0.02118806 0.02943249 0.99934218 -0.0136207 ] [ 0. 0. 0. 1. ]] SLAMing on 5.76 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.64, Z:0.03 [[ 0.99430986 0.10284102 -0.02777806 4.27133674] [-0.10193926 0.99427143 0.03213597 -0.63873831] [ 0.03092382 -0.02912144 0.99909742 0.02625703] [ 0. 0. 0. 1. ]] SLAMing on 5.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.61, Z:-0.01 [[ 0.9951136 0.09575537 -0.02407965 4.30153957] [-0.09632233 0.99507032 -0.0236023 -0.61318512] [ 0.02170089 0.02580638 0.99943139 -0.00796219] [ 0. 0. 0. 1. ]] SLAMing on 5.819999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.65, Z:0.03 [[ 0.99467758 0.0990259 -0.02846733 4.33531912] [-0.09821493 0.99475411 0.02860225 -0.64512933] [ 0.03115036 -0.0256541 0.99918543 0.02704215] [ 0. 0. 0. 1. ]] SLAMing on 5.85 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.62, Z:-0.01 [[ 0.99581865 0.08770136 -0.02556747 4.36514095] [-0.08844108 0.9956475 -0.02939795 -0.61807251] [ 0.02287795 0.03153625 0.99924074 -0.01184367] [ 0. 0. 0. 1. ]] SLAMing on 5.88 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.65, Z:0.03 [[ 0.99545653 0.09044698 -0.02975981 4.39860815] [-0.08939839 0.99538571 0.0348599 -0.65474651] [ 0.03277546 -0.03204104 0.99894902 0.03019424] [ 0. 0. 0. 1. ]] SLAMing on 5.91 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.65, Z:0.02 [[ 9.95780331e-01 8.58785585e-02 -3.23481779e-02 4.43279134e+00] [-8.58216309e-02 9.96305548e-01 3.14677118e-03 -6.46562571e-01] [ 3.24989093e-02 -3.57319469e-04 9.99471707e-01 1.72266236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9399999999999995 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.63, Z:-0.01 [[ 0.99686149 0.07518611 -0.02478343 4.46007097] [-0.07605417 0.99644735 -0.03617232 -0.62659027] [ 0.02197573 0.03794367 0.99903821 -0.01437144] [ 0. 0. 0. 1. ]] SLAMing on 5.97 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.67, Z:0.04 [[ 0.99617347 0.08177449 -0.03084402 4.49355546] [-0.08046235 0.99588825 0.04162225 -0.66838264] [ 0.03412083 -0.0389812 0.99865722 0.03589232] [ 0. 0. 0. 1. ]] SLAMing on 6.0 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.66, Z:0.02 [[ 9.96197781e-01 8.01047290e-02 -3.42522041e-02 4.52783664e+00] [-8.00364327e-02 9.96786267e-01 3.36261941e-03 -6.56476046e-01] [ 3.44114884e-02 -6.08409772e-04 9.99407564e-01 1.95198563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.66, Z:0.02 [[ 9.96188508e-01 8.02203151e-02 -3.42513820e-02 4.56110668e+00] [-8.01517999e-02 9.96776969e-01 3.37097386e-03 -6.59850879e-01] [ 3.44114093e-02 -6.12815510e-04 9.99407564e-01 2.05183291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.64, Z:-0.01 [[ 0.99702102 0.07203354 -0.02757257 4.58852 ] [-0.07296566 0.99673962 -0.0344405 -0.63901132] [ 0.0250018 0.03634975 0.99902633 -0.01028266] [ 0. 0. 0. 1. ]] SLAMing on 6.09 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.68, Z:0.04 [[ 0.99618679 0.08126218 -0.03175445 4.62207965] [-0.07996361 0.99598587 0.04022408 -0.68042897] [ 0.03489568 -0.03753149 0.99868598 0.04142453] [ 0. 0. 0. 1. ]] SLAMing on 6.12 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.67, Z:0.03 [[ 9.96078357e-01 8.12541973e-02 -3.50094706e-02 4.65693305e+00] [-8.11823725e-02 9.96693221e-01 3.47058957e-03 -6.68927044e-01] [ 3.51757019e-02 -6.14827276e-04 9.99380954e-01 2.50002984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1499999999999995 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.67, Z:0.03 [[ 9.95938299e-01 8.33108505e-02 -3.41497600e-02 4.68913168e+00] [-8.32433976e-02 9.96523463e-01 3.39473686e-03 -6.70054356e-01] [ 3.43138555e-02 -5.38206400e-04 9.99410961e-01 2.57843212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.67, Z:0.03 [[ 9.95813097e-01 8.50344410e-02 -3.35472888e-02 4.72244573e+00] [-8.49700299e-02 9.96377897e-01 3.34360592e-03 -6.72299708e-01] [ 3.37100988e-02 -4.79092433e-04 9.99431538e-01 2.68170861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.67, Z:0.03 [[ 9.95641868e-01 8.70002192e-02 -3.35891834e-02 4.75516423e+00] [-8.69364452e-02 9.96208203e-01 3.35725215e-03 -6.73715624e-01] [ 3.37539017e-02 -4.22496606e-04 9.99430085e-01 2.54972716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.68, Z:0.03 [[ 9.95379290e-01 9.05903912e-02 -3.18347374e-02 4.78754145e+00] [-9.05346674e-02 9.95888194e-01 3.19047899e-03 -6.75708322e-01] [ 3.19928659e-02 -2.93589343e-04 9.99488054e-01 2.83906800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.27 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.65, Z:-0.01 [[ 0.99617624 0.08404233 -0.02387014 4.81647046] [-0.08506577 0.99532661 -0.04570283 -0.64910357] [ 0.01991762 0.04755861 0.99866985 -0.0100703 ] [ 0. 0. 0. 1. ]] SLAMing on 6.3 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.70, Z:0.05 [[ 0.99479147 0.09734132 -0.03024221 4.84864971] [-0.09571888 0.99409458 0.05112588 -0.69857277] [ 0.03504028 -0.04796484 0.99823422 0.05132204] [ 0. 0. 0. 1. ]] SLAMing on 6.33 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.65, Z:-0.02 [[ 0.9958039 0.08793891 -0.02532483 4.87902795] [-0.08926877 0.99435707 -0.05731587 -0.64680088] [ 0.02014163 0.05933609 0.99803484 -0.01647469] [ 0. 0. 0. 1. ]] SLAMing on 6.359999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.71, Z:0.06 [[ 0.99436059 0.10141719 -0.0310091 4.91097764] [-0.09931367 0.99304937 0.0631644 -0.70872254] [ 0.03719952 -0.05972856 0.99752128 0.058256 ] [ 0. 0. 0. 1. ]] SLAMing on 6.39 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.69, Z:0.03 [[ 9.94208699e-01 1.00547873e-01 -3.79366332e-02 4.94553734e+00] [-1.00473884e-01 9.94932221e-01 3.85666889e-03 -6.88956448e-01] [ 3.81321586e-02 -2.26928568e-05 9.99272705e-01 3.13398901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.66, Z:-0.01 [[ 0.99539353 0.09135965 -0.02907122 4.9736465 ] [-0.09266023 0.99458437 -0.04707452 -0.66305001] [ 0.02461307 0.04955142 0.99846825 -0.00700221] [ 0. 0. 0. 1. ]] SLAMing on 6.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.72, Z:0.06 [[ 0.99421063 0.10230045 -0.03286082 5.00427477] [-0.10046542 0.99350983 0.05333774 -0.71764311] [ 0.03810402 -0.04972757 0.9980357 0.06006998] [ 0. 0. 0. 1. ]] SLAMing on 6.4799999999999995 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.70, Z:0.04 [[ 9.94263059e-01 9.97157128e-02 -3.87007263e-02 5.03950727e+00] [-9.96368563e-02 9.95015964e-01 3.96583106e-03 -7.03612822e-01] [ 3.89032962e-02 -8.70606187e-05 9.99242976e-01 3.78056746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.51 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.71, Z:0.04 [[ 9.94225392e-01 1.00041612e-01 -3.88271370e-02 5.07073941e+00] [-9.99620717e-02 9.94983250e-01 3.98942415e-03 -7.07807913e-01] [ 3.90314594e-02 -8.51457317e-05 9.99237979e-01 3.87963783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.71, Z:0.04 [[ 9.94117164e-01 1.01297316e-01 -3.83395075e-02 5.10307269e+00] [-1.01220316e-01 9.94856197e-01 3.94915957e-03 -7.11423048e-01] [ 3.85423359e-02 -4.51902375e-05 9.99256967e-01 4.09968393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.72, Z:0.04 [[ 9.94033984e-01 1.01895305e-01 -3.89073895e-02 5.13618567e+00] [-1.01816045e-01 9.94795127e-01 4.01836191e-03 -7.15529776e-01] [ 3.91143337e-02 -3.29917557e-05 9.99234741e-01 4.07854013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.72, Z:0.04 [[ 9.93911904e-01 1.03074838e-01 -3.89192109e-02 5.16835449e+00] [-1.02996016e-01 9.94673604e-01 4.03023350e-03 -7.20701069e-01] [ 3.91273274e-02 2.82662691e-06 9.99234233e-01 4.40614158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.73, Z:0.05 [[ 9.93855706e-01 1.03353032e-01 -3.96104250e-02 5.20075620e+00] [-1.03271152e-01 9.94644736e-01 4.11318798e-03 -7.25391356e-01] [ 3.98234111e-02 2.69887874e-06 9.99206733e-01 4.58774228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.73, Z:0.04 [[ 9.93933713e-01 1.02354496e-01 -4.02409155e-02 5.23220794e+00] [-1.02268707e-01 9.94747986e-01 4.19007999e-03 -7.30021587e-01] [ 4.04584432e-02 -4.92753403e-05 9.99181221e-01 4.49526205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6899999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.73, Z:0.05 [[ 9.93799429e-01 1.04112959e-01 -3.90280319e-02 5.26520093e+00] [-1.04033221e-01 9.94565479e-01 4.07398075e-03 -7.34684300e-01] [ 3.92400874e-02 1.14921068e-05 9.99229811e-01 4.81478058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.74, Z:0.05 [[ 9.93840376e-01 1.03532881e-01 -3.95253142e-02 5.29689457e+00] [-1.03450202e-01 9.94626031e-01 4.13687184e-03 -7.38817916e-01] [ 3.97412087e-02 -2.24885249e-05 9.99210006e-01 4.69576295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.70, Z:-0.01 [[ 0.99546383 0.09116107 -0.02722913 5.32481859] [-0.09294181 0.99295487 -0.07350131 -0.69869251] [ 0.02033684 0.07569862 0.99692333 -0.01225365] [ 0. 0. 0. 1. ]] SLAMing on 6.779999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.78, Z:0.09 [[ 0.99366413 0.10758208 -0.03252223 5.35612485] [-0.10472083 0.99130862 0.07962893 -0.77858711] [ 0.04080621 -0.07571866 0.9962939 0.08695297] [ 0. 0. 0. 1. ]] SLAMing on 6.81 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.76, Z:0.05 [[ 9.93545023e-01 1.05936157e-01 -4.05686880e-02 5.39280127e+00] [-1.05849578e-01 9.94372933e-01 4.28226947e-03 -7.55714024e-01] [ 4.07940524e-02 3.95509743e-05 9.99167575e-01 5.22558732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.72, Z:-0.00 [[ 9.94867457e-01 9.70399657e-02 -2.86703224e-02 5.42177377e+00] [-9.87076097e-02 9.93056472e-01 -6.39972805e-02 -7.21158963e-01] [ 2.22609553e-02 6.64987908e-02 9.97538150e-01 -1.26118236e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.75, Z:0.03 [[ 9.94394091e-01 1.02679531e-01 -2.52449232e-02 5.45160918e+00] [-1.02837785e-01 9.94685325e-01 -5.04907449e-03 -7.51796997e-01] [ 2.45923180e-02 7.61690182e-03 9.99668545e-01 2.58891310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8999999999999995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.76, Z:0.03 [[ 9.94212225e-01 1.04592672e-01 -2.45443290e-02 5.48244066e+00] [-1.04446826e-01 9.94504739e-01 7.15429637e-03 -7.61140345e-01] [ 2.51577385e-02 -4.54931166e-03 9.99673143e-01 3.27471317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.76, Z:0.04 [[ 9.93612679e-01 1.09626984e-01 -2.67538447e-02 5.51449589e+00] [-1.09525873e-01 9.93970237e-01 5.22032775e-03 -7.64624521e-01] [ 2.71648142e-02 -2.25674564e-03 9.99628421e-01 3.62243641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.80, Z:0.09 [[ 0.99182383 0.12172381 -0.03832489 5.54701707] [-0.11891952 0.99053876 0.06849176 -0.80395335] [ 0.04629936 -0.06337418 0.99691528 0.09116539] [ 0. 0. 0. 1. ]] SLAMing on 6.989999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.74, Z:0.00 [[ 9.93681110e-01 1.06885195e-01 -3.42550354e-02 5.57898924e+00] [-1.09124926e-01 9.91413721e-01 -7.20457043e-02 -7.40935139e-01] [ 2.62602929e-02 7.53285336e-02 9.96812926e-01 2.05208359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.81, Z:0.08 [[ 0.9928075 0.11659831 -0.02716806 5.60468725] [-0.11432953 0.99069482 0.07384132 -0.81004342] [ 0.03552503 -0.0702041 0.99689987 0.08248209] [ 0. 0. 0. 1. ]] SLAMing on 7.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.76, Z:0.01 [[ 0.99336193 0.10955005 -0.03508357 5.64018928] [-0.11143696 0.9921175 -0.05731208 -0.75690495] [ 0.02852849 0.06084124 0.99773968 0.01292151] [ 0. 0. 0. 1. ]] SLAMing on 7.08 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.78, Z:0.03 [[ 9.93337073e-01 1.11215050e-01 -3.02104515e-02 5.66857770e+00] [-1.11324989e-01 9.93782089e-01 -1.97657805e-03 -7.83583524e-01] [ 2.98027804e-02 5.32658643e-03 9.99541606e-01 3.48433722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.79, Z:0.05 [[ 0.99292914 0.11444122 -0.03154239 5.70086688] [-0.11418987 0.99341194 0.00966382 -0.79308818] [ 0.03244052 -0.00599366 0.9994557 0.04625176] [ 0. 0. 0. 1. ]] SLAMing on 7.14 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.83, Z:0.10 [[ 0.99130314 0.12494496 -0.04131383 5.73353066] [-0.1220425 0.99028941 0.06657706 -0.82710082] [ 0.04923112 -0.06095601 0.99692561 0.09763502] [ 0. 0. 0. 1. ]] SLAMing on 7.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.81, Z:0.07 [[ 9.91075297e-01 1.24594269e-01 -4.73922364e-02 5.76954669e+00] [-1.24488594e-01 9.92207484e-01 5.18641448e-03 -8.05943228e-01] [ 4.76691292e-02 7.59665607e-04 9.98862892e-01 7.15579905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.77, Z:0.02 [[ 0.99297238 0.11259757 -0.03643677 5.79903867] [-0.11477687 0.99128915 -0.06459174 -0.76822766] [ 0.0288465 0.06831991 0.99724634 0.01733168] [ 0. 0. 0. 1. ]] SLAMing on 7.2299999999999995 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.80, Z:0.05 [[ 9.92796139e-01 1.15604652e-01 -3.14863568e-02 5.82713649e+00] [-1.15517756e-01 9.93294897e-01 4.57115539e-03 -8.02489301e-01] [ 3.18036844e-02 -9.00992133e-04 9.99493729e-01 4.83538377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.84, Z:0.11 [[ 0.99111678 0.12613504 -0.04216029 5.85940584] [-0.12292924 0.98983451 0.07152653 -0.84181145] [ 0.05075371 -0.06570841 0.99654727 0.10524433] [ 0. 0. 0. 1. ]] SLAMing on 7.29 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.78, Z:0.02 [[ 0.99308936 0.10992539 -0.04110885 5.89314373] [-0.11228617 0.99184031 -0.06037065 -0.78255163] [ 0.03413715 0.0645694 0.99732916 0.02222821] [ 0. 0. 0. 1. ]] SLAMing on 7.319999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.81, Z:0.05 [[ 9.92976615e-01 1.12526896e-01 -3.65395696e-02 5.92226296e+00] [-1.12649184e-01 9.93633974e-01 -1.29881024e-03 -8.12572469e-01] [ 3.61608067e-02 5.40584090e-03 9.99331363e-01 4.96389661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.35 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.86, Z:0.11 [[ 0.99141684 0.12206771 -0.04682007 5.95420589] [-0.11849104 0.99028407 0.07278274 -0.85601131] [ 0.0552496 -0.06661028 0.99624824 0.11085981] [ 0. 0. 0. 1. ]] SLAMing on 7.38 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.80, Z:0.03 [[ 0.99341337 0.10503448 -0.0458 5.98823282] [-0.1076523 0.99243489 -0.05902519 -0.79612583] [ 0.03925383 0.06356688 0.99720529 0.02709604] [ 0. 0. 0. 1. ]] SLAMing on 7.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.83, Z:0.06 [[ 9.93490090e-01 1.06703148e-01 -3.98983674e-02 6.01754580e+00] [-1.06775565e-01 9.94283097e-01 3.17574154e-04 -8.26682578e-01] [ 3.97041585e-02 3.94466396e-03 9.99203693e-01 5.81997316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4399999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.83, Z:0.06 [[ 9.93991865e-01 1.01957090e-01 -3.98111131e-02 6.04856725e+00] [-1.01974741e-01 9.94785714e-01 1.59235948e-03 -8.32381718e-01] [ 3.97658789e-02 2.47693557e-03 9.99205955e-01 5.85467965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.47 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.84, Z:0.06 [[ 9.94226184e-01 9.98787902e-02 -3.92240069e-02 6.08092571e+00] [-9.98973883e-02 9.94996628e-01 1.49042356e-03 -8.36548479e-01] [ 3.91766164e-02 2.43655772e-03 9.99229331e-01 6.04595073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.84, Z:0.06 [[ 9.94882898e-01 9.39407176e-02 -3.71908822e-02 6.11124244e+00] [-9.40505825e-02 9.95566683e-01 -1.21178840e-03 -8.39359856e-01] [ 3.69121670e-02 4.70341169e-03 9.99307445e-01 5.92157048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.85, Z:0.07 [[ 9.94700183e-01 9.38441282e-02 -4.20098173e-02 6.14385505e+00] [-9.35518860e-02 9.95574861e-01 8.87356265e-03 -8.50385230e-01] [ 4.26566498e-02 -4.89643676e-03 9.99077792e-01 7.35978726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.85, Z:0.07 [[ 9.95276097e-01 8.70463586e-02 -4.29932787e-02 6.17542047e+00] [-8.70295111e-02 9.96203154e-01 2.26698075e-03 -8.50492667e-01] [ 4.30273723e-02 1.48541228e-03 9.99072790e-01 6.95898731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.86, Z:0.08 [[ 0.99571165 0.08280128 -0.04125838 6.20625247] [-0.08239675 0.99653425 0.01141362 -0.85892517] [ 0.04206045 -0.00796512 0.99908332 0.07991401] [ 0. 0. 0. 1. ]] SLAMing on 7.62 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.90, Z:0.13 [[ 0.99450183 0.09082249 -0.05212853 6.23852412] [-0.08711678 0.99377558 0.06943171 -0.89557659] [ 0.05811002 -0.06450869 0.9962238 0.13399779] [ 0. 0. 0. 1. ]] SLAMing on 7.6499999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.84, Z:0.05 [[ 0.99655793 0.06803296 -0.04736881 6.27224548] [-0.07068863 0.99587719 -0.05684842 -0.83671173] [ 0.04330595 0.06000118 0.99725847 0.05411731] [ 0. 0. 0. 1. ]] SLAMing on 7.68 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.90, Z:0.14 [[ 0.99579137 0.07672825 -0.05012313 6.30167662] [-0.07325212 0.9950026 0.06785244 -0.90137035] [ 0.05507884 -0.06389524 0.99643551 0.1381161 ] [ 0. 0. 0. 1. ]] SLAMing on 7.71 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.88, Z:0.11 [[ 9.96030337e-01 6.83493798e-02 -5.70256900e-02 6.33894140e+00] [-6.80712598e-02 9.97657235e-01 6.80769301e-03 -8.80690424e-01] [ 5.73573938e-02 -2.89885821e-03 9.98349501e-01 1.12566039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.84, Z:0.06 [[ 0.99765215 0.0497055 -0.04711201 6.36809656] [-0.05223023 0.99717581 -0.05396674 -0.84443255] [ 0.04429651 0.0563007 0.99743072 0.06113605] [ 0. 0. 0. 1. ]] SLAMing on 7.77 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.90, Z:0.14 [[ 0.99665736 0.06311159 -0.05187516 6.39616304] [-0.05969214 0.99609732 0.06501521 -0.90431156] [ 0.05577592 -0.06170135 0.99653499 0.14263711] [ 0. 0. 0. 1. ]] SLAMing on 7.8 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.88, Z:0.12 [[ 9.96501234e-01 5.86673964e-02 -5.95266977e-02 6.43187649e+00] [-5.83437664e-02 9.98270862e-01 7.16178047e-03 -8.84163456e-01] [ 5.98439309e-02 -3.66371133e-03 9.98201022e-01 1.16455485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.88, Z:0.12 [[ 9.96532804e-01 5.67596245e-02 -6.08335018e-02 6.46331955e+00] [-5.64175802e-02 9.98380374e-01 7.32697772e-03 -8.83306657e-01] [ 6.11508508e-02 -3.86949469e-03 9.98121035e-01 1.17019225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859999999999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.88, Z:0.12 [[ 9.96295234e-01 5.93351620e-02 -6.22506583e-02 6.49339323e+00] [-5.89818562e-02 9.98230884e-01 7.49950237e-03 -8.81730860e-01] [ 6.25855138e-02 -3.80005910e-03 9.98032371e-01 1.18800204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.89 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.88, Z:0.12 [[ 9.95854788e-01 6.53591638e-02 -6.32567835e-02 6.52341258e+00] [-6.50065460e-02 9.97855753e-01 7.61874879e-03 -8.78774191e-01] [ 6.36191004e-02 -3.47506246e-03 9.97968203e-01 1.21638324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.87, Z:0.12 [[ 9.95411318e-01 7.34008942e-02 -6.13890633e-02 6.55449530e+00] [-7.30839865e-02 9.97298374e-01 7.39488582e-03 -8.73516706e-01] [ 6.17660042e-02 -2.87439557e-03 9.98086519e-01 1.23906752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949999999999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.88, Z:0.13 [[ 9.95402361e-01 7.35223035e-02 -6.13890050e-02 6.58764388e+00] [-7.32055962e-02 9.97289451e-01 7.39536915e-03 -8.77597086e-01] [ 6.17663317e-02 -2.86734920e-03 9.98086519e-01 1.25842027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9799999999999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.87, Z:0.13 [[ 9.94889601e-01 8.16675547e-02 -5.93724922e-02 6.62130583e+00] [-8.13853511e-02 9.96656993e-01 7.15988109e-03 -8.72362177e-01] [ 5.97587395e-02 -2.29124011e-03 9.98210220e-01 1.27953317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.84, Z:0.10 [[ 0.99532307 0.08050897 -0.05338809 6.6533258 ] [-0.08248226 0.99594764 -0.0358466 -0.84229675] [ 0.05028577 0.04008252 0.99793022 0.09551526] [ 0. 0. 0. 1. ]] SLAMing on 8.04 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.88, Z:0.15 [[ 0.99370948 0.09794158 -0.05430394 6.68479876] [-0.09535505 0.99426891 0.04834002 -0.87827721] [ 0.05872722 -0.04285778 0.99735366 0.14904262] [ 0. 0. 0. 1. ]] SLAMing on 8.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.83, Z:0.10 [[ 0.99454008 0.09118574 -0.05074631 6.71921394] [-0.09339561 0.99469904 -0.04302408 -0.82722084] [ 0.04655412 0.04752866 0.99778442 0.09807426] [ 0. 0. 0. 1. ]] SLAMing on 8.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.87, Z:0.16 [[ 0.99286286 0.10639386 -0.05388588 6.74917123] [-0.10343558 0.99311415 0.05500337 -0.87399238] [ 0.05936685 -0.04903708 0.99703106 0.15727374] [ 0. 0. 0. 1. ]] SLAMing on 8.129999999999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.85, Z:0.14 [[ 9.92548887e-01 1.06194143e-01 -5.97453760e-02 6.78660646e+00] [-1.05947876e-01 9.94345008e-01 7.28373468e-03 -8.51339058e-01] [ 6.01810063e-02 -8.99567060e-04 9.98187075e-01 1.37403269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.85, Z:0.14 [[ 9.92106687e-01 1.10159613e-01 -5.99097757e-02 6.81967508e+00] [-1.09918171e-01 9.93913678e-01 7.32088963e-03 -8.49327307e-01] [ 6.03516119e-02 -6.77930560e-04 9.98176950e-01 1.41108975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.85, Z:0.14 [[ 9.91589039e-01 1.13874918e-01 -6.15116370e-02 6.85342995e+00] [-1.13626401e-01 9.93494978e-01 7.53460078e-03 -8.46732875e-01] [ 6.19695044e-02 -4.81881647e-04 9.98077927e-01 1.42141895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219999999999999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.84, Z:0.14 [[ 9.91071518e-01 1.17755291e-01 -6.25374971e-02 6.88709356e+00] [-1.17504986e-01 9.93042609e-01 7.67823103e-03 -8.44715264e-01] [ 6.30065516e-02 -2.61208382e-04 9.98013079e-01 1.42867432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.85, Z:0.14 [[ 9.90789890e-01 1.20104740e-01 -6.25319472e-02 6.92033830e+00] [-1.19858031e-01 9.92761217e-01 7.69530641e-03 -8.46365261e-01] [ 6.30035348e-02 -1.29475724e-04 9.98013295e-01 1.44762556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.85, Z:0.15 [[ 9.90287909e-01 1.23913498e-01 -6.30500037e-02 6.95298890e+00] [-1.23669242e-01 9.92293019e-01 7.77705562e-03 -8.47113264e-01] [ 6.35277607e-02 9.58220218e-05 9.97980067e-01 1.45690631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.85, Z:0.15 [[ 9.89709075e-01 1.28327447e-01 -6.33088689e-02 6.98555318e+00] [-1.28089051e-01 9.91731786e-01 7.82688565e-03 -8.49294575e-01] [ 6.37898218e-02 3.62833205e-04 9.97963289e-01 1.48075203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.85, Z:0.15 [[ 9.89555646e-01 1.29660585e-01 -6.29901335e-02 7.01797250e+00] [-1.29426155e-01 9.91558344e-01 7.80524051e-03 -8.52528487e-01] [ 6.34704245e-02 4.28850967e-04 9.97983628e-01 1.50348224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.86, Z:0.15 [[ 9.89519177e-01 1.30611686e-01 -6.15823520e-02 7.04941389e+00] [-1.30388398e-01 9.91433495e-01 7.64797272e-03 -8.57074809e-01] [ 6.20537211e-02 4.61808531e-04 9.98072704e-01 1.53409621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.4 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.86, Z:0.16 [[ 9.89661322e-01 1.29767063e-01 -6.10817205e-02 7.08220757e+00] [-1.29545097e-01 9.91544428e-01 7.59698161e-03 -8.63208138e-01] [ 6.15510777e-02 3.94398551e-04 9.98103857e-01 1.56372019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.87, Z:0.16 [[ 9.89874801e-01 1.28086306e-01 -6.11700597e-02 7.11406206e+00] [-1.27859392e-01 9.91762988e-01 7.62574134e-03 -8.69028106e-01] [ 6.16429542e-02 2.72637459e-04 9.98098228e-01 1.58586200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459999999999999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.87, Z:0.16 [[ 9.89969555e-01 1.26995957e-01 -6.19056320e-02 7.14662249e+00] [-1.26760355e-01 9.91903216e-01 7.73443816e-03 -8.74436660e-01] [ 6.23866379e-02 1.90321610e-04 9.98052038e-01 1.60283417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.88, Z:0.16 [[ 9.90200087e-01 1.24976208e-01 -6.23276420e-02 7.17763788e+00] [-1.24732271e-01 9.92159738e-01 7.80481028e-03 -8.80701245e-01] [ 6.28143925e-02 4.59445293e-05 9.98025225e-01 1.62079319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.89, Z:0.16 [[ 9.90433660e-01 1.22934073e-01 -6.26767885e-02 7.21012082e+00] [-1.22682569e-01 9.92414835e-01 7.86019576e-03 -8.87610818e-01] [ 6.31676606e-02 -9.56530295e-05 9.98002925e-01 1.63712477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549999999999999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.90, Z:0.17 [[ 9.90625030e-01 1.21218856e-01 -6.29923723e-02 7.24212829e+00] [-1.20960205e-01 9.92625780e-01 7.91770201e-03 -8.95675213e-01] [ 6.34876275e-02 -2.23903509e-04 9.97982601e-01 1.66378420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.90, Z:0.17 [[ 9.90620915e-01 1.21257419e-01 -6.29828673e-02 7.27432947e+00] [-1.20997773e-01 9.92621066e-01 7.93459228e-03 -9.02090497e-01] [ 6.34802491e-02 -2.39386350e-04 9.97983066e-01 1.70040944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.91, Z:0.17 [[ 9.90901682e-01 1.19345649e-01 -6.22131183e-02 7.30559161e+00] [-1.19087454e-01 9.92852696e-01 7.85511312e-03 -9.09442663e-01] [ 6.27059358e-02 -3.74842969e-04 9.98031976e-01 1.70696823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.92, Z:0.17 [[ 9.91051830e-01 1.18164066e-01 -6.20767542e-02 7.33778533e+00] [-1.17903650e-01 9.92993976e-01 7.85442754e-03 -9.17807318e-01] [ 6.25699540e-02 -4.65068904e-04 9.98040472e-01 1.72967537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.93, Z:0.17 [[ 9.91253070e-01 1.16533157e-01 -6.19465511e-02 7.36853470e+00] [-1.16269548e-01 9.93186630e-01 7.85561107e-03 -9.25867409e-01] [ 6.24399255e-02 -5.84401123e-04 9.98048553e-01 1.74819866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.7 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.93, Z:0.18 [[ 9.91583826e-01 1.13822272e-01 -6.16928333e-02 7.40043983e+00] [-1.13554552e-01 9.93500830e-01 7.83988430e-03 -9.33998557e-01] [ 6.21842346e-02 -7.68400453e-04 9.98064392e-01 1.76947320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.92, Z:0.15 [[ 0.9929302 0.10394099 -0.05732267 7.43180838] [-0.10571604 0.99397784 -0.02884741 -0.9192432 ] [ 0.05397903 0.03470339 0.99793885 0.15088484] [ 0. 0. 0. 1. ]] SLAMing on 8.76 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.95, Z:0.18 [[ 0.99325674 0.10249389 -0.0541853 7.45943981] [-0.10156748 0.99463575 0.01959013 -0.94943951] [ 0.0559025 -0.01395456 0.99833871 0.17688029] [ 0. 0. 0. 1. ]] SLAMing on 8.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.95, Z:0.18 [[ 9.94014815e-01 9.47817292e-02 -5.43228370e-02 7.49144612e+00] [-9.46409809e-02 9.95498078e-01 5.16342860e-03 -9.52637536e-01] [ 5.45676785e-02 8.64205535e-06 9.98510074e-01 1.75082899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.96, Z:0.18 [[ 9.94520469e-01 8.91866658e-02 -5.45415088e-02 7.52238777e+00] [-8.86993719e-02 9.95994393e-01 1.12955836e-02 -9.64742299e-01] [ 5.53304524e-02 -6.39589153e-03 9.98447612e-01 1.79583815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.97, Z:0.18 [[ 9.94835844e-01 8.58223541e-02 -5.41864147e-02 7.55497910e+00] [-8.58684000e-02 9.96305385e-01 1.48213167e-03 -9.67608505e-01] [ 5.41134168e-02 3.17842302e-03 9.98529737e-01 1.76996215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879999999999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.97, Z:0.17 [[ 9.94881446e-01 8.62359719e-02 -5.26713001e-02 7.58477869e+00] [-8.63981678e-02 9.96260361e-01 -8.06010668e-04 -9.70434251e-01] [ 5.24048214e-02 5.35258889e-03 9.98611578e-01 1.74630862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:7.61, Y:-1.00, Z:0.21 [[ 0.9936597 0.09692341 -0.05697594 7.61478462] [-0.09471366 0.99468896 0.0402889 -0.99536702] [ 0.06057828 -0.03463706 0.9975623 0.20504621] [ 0. 0. 0. 1. ]] SLAMing on 8.94 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.99, Z:0.19 [[ 9.93237014e-01 9.83275769e-02 -6.17407610e-02 7.64952937e+00] [-9.80209633e-02 9.95152332e-01 7.98287215e-03 -9.87008640e-01] [ 6.22263988e-02 -1.87699522e-03 9.98060295e-01 1.92766931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969999999999999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.97, Z:0.17 [[ 0.99325927 0.09976318 -0.0590197 7.68176566] [-0.10121644 0.99461757 -0.02216132 -0.97456387] [ 0.05649114 0.0279857 0.9980108 0.17181635] [ 0. 0. 0. 1. ]] SLAMing on 9.0 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.71, Y:-1.01, Z:0.21 [[ 0.99145189 0.11516815 -0.0613143 7.71024348] [-0.11301671 0.99288585 0.03748228 -1.00515107] [ 0.06519486 -0.03023234 0.99741448 0.20998583] [ 0. 0. 0. 1. ]] SLAMing on 9.03 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.98, Z:0.18 [[ 0.99111246 0.11670512 -0.06384362 7.74565756] [-0.11802752 0.99285898 -0.01733641 -0.98424929] [ 0.06136447 0.02471764 0.99780932 0.17778593] [ 0. 0. 0. 1. ]] SLAMing on 9.06 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:7.77, Y:-1.01, Z:0.21 [[ 0.9895526 0.12919519 -0.06398634 7.77379428] [-0.12725602 0.99130321 0.03352401 -1.01131552] [ 0.06776101 -0.02503113 0.99738753 0.21039633] [ 0. 0. 0. 1. ]] SLAMing on 9.09 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.81, Y:-1.01, Z:0.20 [[ 9.88884172e-01 1.32554892e-01 -6.73594413e-02 7.80829250e+00] [-1.32264256e-01 9.91175639e-01 8.77605276e-03 -1.00723499e+00] [ 6.79283460e-02 2.30746728e-04 9.97690176e-01 2.03245689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:7.84, Y:-1.01, Z:0.20 [[ 9.88597607e-01 1.35471945e-01 -6.57428537e-02 7.84096880e+00] [-1.35200339e-01 9.90781101e-01 8.58362096e-03 -1.01359394e+00] [ 6.62996168e-02 4.02708940e-04 9.97799679e-01 2.04841438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:7.87, Y:-1.00, Z:0.18 [[ 0.9893399 0.13148401 -0.06259813 7.87475617] [-0.13318116 0.99080733 -0.02374051 -1.00302322] [ 0.05890119 0.03182433 0.99775641 0.18207898] [ 0. 0. 0. 1. ]] SLAMing on 9.18 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:7.90, Y:-1.04, Z:0.22 [[ 0.9885748 0.13871335 -0.0589785 7.90112699] [-0.13655506 0.98985691 0.03919191 -1.03796121] [ 0.06381672 -0.03069032 0.99748961 0.22255147] [ 0. 0. 0. 1. ]] SLAMing on 9.209999999999999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:7.94, Y:-1.03, Z:0.21 [[ 9.88609485e-01 1.37431616e-01 -6.13501200e-02 7.93565777e+00] [-1.37196736e-01 9.90511149e-01 8.04485371e-03 -1.03365183e+00] [ 6.18735951e-02 4.63817562e-04 9.98083886e-01 2.11522746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:7.97, Y:-1.04, Z:0.21 [[ 9.88672867e-01 1.37113694e-01 -6.10393030e-02 7.96785430e+00] [-1.36879508e-01 9.90555225e-01 8.02157063e-03 -1.04213925e+00] [ 6.15626678e-02 4.24320524e-04 9.98103130e-01 2.13761163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:8.00, Y:-1.05, Z:0.22 [[ 9.88619693e-01 1.36975036e-01 -6.22008143e-02 7.99972179e+00] [-1.36730425e-01 9.90574417e-01 8.19243711e-03 -1.05020675e+00] [ 6.27366947e-02 4.05539083e-04 9.98030031e-01 2.15112021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299999999999999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:8.03, Y:-1.06, Z:0.22 [[ 9.88444621e-01 1.37674779e-01 -6.34262314e-02 8.03188585e+00] [-1.37420679e-01 9.90477391e-01 8.37231427e-03 -1.05872284e+00] [ 6.39749046e-02 4.40506787e-04 9.97951410e-01 2.16770117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.06, Y:-1.07, Z:0.22 [[ 9.88200380e-01 1.39008830e-01 -6.43160497e-02 8.06356130e+00] [-1.38749143e-01 9.90291007e-01 8.50857291e-03 -1.06567946e+00] [ 6.48743724e-02 5.15621817e-04 9.97893306e-01 2.21336410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.09, Y:-1.07, Z:0.22 [[ 9.87852161e-01 1.40113145e-01 -6.72042822e-02 8.09429213e+00] [-1.39830785e-01 9.90135320e-01 8.91059784e-03 -1.07390355e+00] [ 6.77898254e-02 5.94874226e-04 9.97699447e-01 2.23799695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389999999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.13, Y:-1.08, Z:0.22 [[ 9.87892604e-01 1.38871142e-01 -6.91592995e-02 8.12681600e+00] [-1.38567721e-01 9.90310330e-01 9.18892507e-03 -1.08232278e+00] [ 6.97652452e-02 5.05575417e-04 9.97563309e-01 2.23587933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:8.16, Y:-1.09, Z:0.22 [[ 9.88297546e-01 1.35207033e-01 -7.06188303e-02 8.15763723e+00] [-1.34879856e-01 9.90817342e-01 9.40318772e-03 -1.09173976e+00] [ 7.12417388e-02 2.31910340e-04 9.97459052e-01 2.23161760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:8.19, Y:-1.10, Z:0.22 [[ 9.88656821e-01 1.32638058e-01 -7.04615934e-02 8.18965781e+00] [-1.32304473e-01 9.91164540e-01 9.40115349e-03 -1.09910333e+00] [ 7.10859836e-02 2.78694450e-05 9.97470191e-01 2.24828822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.22, Y:-1.11, Z:0.23 [[ 9.90468091e-01 1.20799919e-01 -6.61841344e-02 8.21908885e+00] [-1.20478061e-01 9.92676562e-01 8.84762964e-03 -1.11414567e+00] [ 6.67682319e-02 -7.89558657e-04 9.97768199e-01 2.33168409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:8.25, Y:-1.12, Z:0.23 [[ 9.91264268e-01 1.15041930e-01 -6.45019749e-02 8.25124023e+00] [-1.14723307e-01 9.93359960e-01 8.63434487e-03 -1.12190502e+00] [ 6.50669909e-02 -1.15903771e-03 9.97880225e-01 2.33150340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:8.28, Y:-1.13, Z:0.24 [[ 9.92638459e-01 1.04636601e-01 -6.09923937e-02 8.28187245e+00] [-1.04331086e-01 9.94508971e-01 8.18118371e-03 -1.13192249e+00] [ 6.15135339e-02 -1.75755495e-03 9.98104702e-01 2.36584074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:8.31, Y:-1.14, Z:0.24 [[ 9.93580123e-01 9.68136099e-02 -5.85291790e-02 8.31395697e+00] [-9.65178565e-02 9.95300172e-01 7.86580266e-03 -1.14095652e+00] [ 5.90156186e-02 -2.16619428e-03 9.98254709e-01 2.39137890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.6 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:8.35, Y:-1.15, Z:0.24 [[ 9.93874550e-01 9.42610336e-02 -5.76908761e-02 8.34562668e+00] [-9.39684502e-02 9.95544858e-01 7.76961924e-03 -1.14689294e+00] [ 5.81662274e-02 -2.30090460e-03 9.98304260e-01 2.42287150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:8.38, Y:-1.15, Z:0.24 [[ 9.93419543e-01 9.82151928e-02 -5.89184836e-02 8.37815687e+00] [-9.79163188e-02 9.95162933e-01 7.94546320e-03 -1.14929207e+00] [ 5.94138562e-02 -2.12409739e-03 9.98231177e-01 2.43310892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:8.41, Y:-1.15, Z:0.25 [[ 9.92439568e-01 1.05742676e-01 -6.23072170e-02 8.41018770e+00] [-1.05421999e-01 9.94391918e-01 8.42116787e-03 -1.15246265e+00] [ 6.28482698e-02 -1.78894884e-03 9.98021490e-01 2.45861231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:-1.15, Z:0.25 [[ 9.91322385e-01 1.14323547e-01 -6.48849367e-02 8.44273705e+00] [-1.13992901e-01 9.93442700e-01 8.78754586e-03 -1.15458943e+00] [ 6.54640901e-02 -1.31486877e-03 9.97854059e-01 2.48192321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:8.48, Y:-1.12, Z:0.19 [[ 0.99213564 0.11055198 -0.05869518 8.47760691] [-0.11431048 0.99131082 -0.06508432 -1.11560936] [ 0.05098997 0.07128195 0.99615205 0.19081335] [ 0. 0. 0. 1. ]] SLAMing on 9.75 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:8.50, Y:-1.18, Z:0.28 [[ 0.9898954 0.13076292 -0.05484674 8.50068602] [-0.12625608 0.98885762 0.07886707 -1.18367936] [ 0.0645485 -0.07114542 0.99537522 0.28392018] [ 0. 0. 0. 1. ]] SLAMing on 9.78 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:8.54, Y:-1.12, Z:0.20 [[ 0.99060439 0.12399966 -0.05768047 8.53952887] [-0.12709328 0.99044883 -0.05346421 -1.12263491] [ 0.0505 0.06029268 0.99690247 0.19959939] [ 0. 0. 0. 1. ]] SLAMing on 9.81 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:8.57, Y:-1.18, Z:0.28 [[ 0.98775498 0.14581122 -0.05549036 8.56510172] [-0.14199211 0.98756487 0.06748242 -1.18266104] [ 0.06464002 -0.0587769 0.99617616 0.28000996] [ 0. 0. 0. 1. ]] SLAMing on 9.84 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:8.60, Y:-1.17, Z:0.25 [[ 9.87739885e-01 1.42564383e-01 -6.36028056e-02 8.60288395e+00] [-1.42302427e-01 9.89785402e-01 8.65310741e-03 -1.16513689e+00] [ 6.41867534e-02 5.03814298e-04 9.97937777e-01 2.54593380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:8.64, Y:-1.17, Z:0.26 [[ 9.86839815e-01 1.48882199e-01 -6.30973015e-02 8.63512857e+00] [-1.48636764e-01 9.88854530e-01 8.59245182e-03 -1.16843774e+00] [ 6.36733156e-02 8.99205143e-04 9.97970391e-01 2.56431633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.9 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:8.67, Y:-1.17, Z:0.26 [[ 9.86136232e-01 1.54064881e-01 -6.16388180e-02 8.66748440e+00] [-1.53839719e-01 9.88060019e-01 8.41074385e-03 -1.17221526e+00] [ 6.21986519e-02 1.18835918e-03 9.98063082e-01 2.60752497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:8.70, Y:-1.18, Z:0.26 [[ 9.85708410e-01 1.56894414e-01 -6.13438980e-02 8.69978836e+00] [-1.56675818e-01 9.87614468e-01 8.38751179e-03 -1.17662959e+00] [ 6.19000749e-02 1.34346445e-03 9.98081447e-01 2.63290647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:8.73, Y:-1.18, Z:0.26 [[ 9.85451338e-01 1.57992276e-01 -6.26426497e-02 8.73135629e+00] [-1.57765393e-01 9.87439320e-01 8.58309524e-03 -1.18213786e+00] [ 6.32118782e-02 1.42461958e-03 9.97999113e-01 2.63265748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:8.76, Y:-1.19, Z:0.26 [[ 9.85297039e-01 1.58599753e-01 -6.35284502e-02 8.76400261e+00] [-1.58366576e-01 9.87341868e-01 8.72141388e-03 -1.18716707e+00] [ 6.41075127e-02 1.46759986e-03 9.97941919e-01 2.64777830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:8.80, Y:-1.19, Z:0.27 [[ 9.85160516e-01 1.58732912e-01 -6.52887430e-02 8.79660164e+00] [-1.58485660e-01 9.87320423e-01 8.98211814e-03 -1.19312525e+00] [ 6.58866671e-02 1.49850141e-03 9.97825988e-01 2.65891973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049999999999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:8.83, Y:-1.20, Z:0.27 [[ 9.85151942e-01 1.58258778e-01 -6.65568246e-02 8.82758234e+00] [-1.57999446e-01 9.87396567e-01 9.17580737e-03 -1.19889558e+00] [ 6.71701321e-02 1.47637696e-03 9.97740444e-01 2.66704285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:8.86, Y:-1.21, Z:0.27 [[ 9.85241261e-01 1.57477497e-01 -6.70857277e-02 8.86030473e+00] [-1.57210981e-01 9.87521560e-01 9.26693574e-03 -1.20536579e+00] [ 6.77079363e-02 1.41644559e-03 9.97704179e-01 2.68483144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:8.89, Y:-1.21, Z:0.27 [[ 9.85588256e-01 1.55293133e-01 -6.70807864e-02 8.89163920e+00] [-1.55020323e-01 9.87867646e-01 9.28510510e-03 -1.21167171e+00] [ 6.77088516e-02 1.24759460e-03 9.97704342e-01 2.71577225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:-1.22, Z:0.28 [[ 9.86003958e-01 1.52865007e-01 -6.65468546e-02 8.92369748e+00] [-1.52590153e-01 9.88246511e-01 9.22380980e-03 -1.21968305e+00] [ 6.71746946e-02 1.05968175e-03 9.97740666e-01 2.76362553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-1.20, Z:0.23 [[ 0.98844105 0.13925935 -0.05992598 8.95544346] [-0.14200756 0.98887257 -0.04432714 -1.19609727] [ 0.05308619 0.05232471 0.99721812 0.23401526] [ 0. 0. 0. 1. ]] SLAMing on 10.2 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:8.98, Y:-1.25, Z:0.30 [[ 0.98674978 0.150329 -0.06104145 8.98218761] [-0.14665943 0.98732126 0.06072678 -1.25162323] [ 0.06939651 -0.05096983 0.9962862 0.30375793] [ 0. 0. 0. 1. ]] SLAMing on 10.23 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:9.02, Y:-1.24, Z:0.28 [[ 9.87245126e-01 1.43708856e-01 -6.85187935e-02 9.01905099e+00] [-1.43391175e-01 9.89619934e-01 9.55811474e-03 -1.23813581e+00] [ 6.91811496e-02 3.88788072e-04 9.97604038e-01 2.81672997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:9.05, Y:-1.24, Z:0.28 [[ 9.87913308e-01 1.38921701e-01 -6.87608699e-02 9.05051990e+00] [-1.38588805e-01 9.90303368e-01 9.61163125e-03 -1.24364440e+00] [ 6.94293852e-02 3.40283430e-05 9.97586868e-01 2.84364240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:-1.22, Z:0.25 [[ 0.99035906 0.12382866 -0.0620919 9.08208022] [-0.12650768 0.99110816 -0.0412361 -1.21947884] [ 0.05643358 0.04869365 0.99721822 0.24509445] [ 0. 0. 0. 1. ]] SLAMing on 10.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.11, Y:-1.27, Z:0.31 [[ 0.98900926 0.13405152 -0.06237685 9.10882143] [-0.13051039 0.98976271 0.05776523 -1.27139795] [ 0.06948179 -0.04898952 0.9963796 0.31442726] [ 0. 0. 0. 1. ]] SLAMing on 10.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.15, Y:-1.23, Z:0.25 [[ 0.99164659 0.11399098 -0.06035811 9.14501516] [-0.11670605 0.99221166 -0.04353983 -1.22672405] [ 0.05492487 0.05022028 0.99722675 0.24877226] [ 0. 0. 0. 1. ]] SLAMing on 10.379999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:-1.28, Z:0.32 [[ 0.99050295 0.12293539 -0.06156937 9.17179458] [-0.11927624 0.99104909 0.0599574 -1.28034718] [ 0.06838916 -0.05204421 0.99630032 0.32114287] [ 0. 0. 0. 1. ]] SLAMing on 10.41 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.21, Y:-1.26, Z:0.30 [[ 9.90948490e-01 1.15995843e-01 -6.75725917e-02 9.20859949e+00] [-1.15614957e-01 9.93248353e-01 9.53365132e-03 -1.26475520e+00] [ 6.82222294e-02 -1.63495512e-03 9.97668810e-01 2.97013282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.24, Y:-1.24, Z:0.25 [[ 0.99277408 0.10421799 -0.05948305 9.24004824] [-0.10688133 0.99331998 -0.04349471 -1.23722358] [ 0.05455277 0.04953805 0.99728129 0.2546955 ] [ 0. 0. 0. 1. ]] SLAMing on 10.469999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.27, Y:-1.29, Z:0.33 [[ 0.99116593 0.11915521 -0.05824204 9.2674414 ] [-0.11570644 0.99150647 0.05938812 -1.28898351] [ 0.06482376 -0.05212451 0.99653445 0.32602756] [ 0. 0. 0. 1. ]] SLAMing on 10.5 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:9.30, Y:-1.24, Z:0.26 [[ 0.99215092 0.11022395 -0.05905273 9.30442909] [-0.11271469 0.9927958 -0.04064345 -1.24308309] [ 0.05414742 0.04698055 0.99742713 0.26234976] [ 0. 0. 0. 1. ]] SLAMing on 10.53 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:9.33, Y:-1.29, Z:0.33 [[ 0.99033199 0.12591145 -0.05821381 9.33163745] [-0.1226606 0.99084417 0.0564111 -1.29279745] [ 0.06478361 -0.04872518 0.99670905 0.32993086] [ 0. 0. 0. 1. ]] SLAMing on 10.559999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:-1.25, Z:0.27 [[ 0.99115554 0.12001079 -0.05664022 9.36801699] [-0.12219672 0.99182195 -0.03683986 -1.24849831] [ 0.05175584 0.04343528 0.99771474 0.27306314] [ 0. 0. 0. 1. ]] SLAMing on 10.59 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:9.40, Y:-1.29, Z:0.33 [[ 0.98839655 0.13956768 -0.05994266 9.39603369] [-0.13647412 0.98922779 0.05294524 -1.29058575] [ 0.06668639 -0.04415027 0.99679671 0.33037262] [ 0. 0. 0. 1. ]] SLAMing on 10.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:-1.28, Z:0.31 [[ 9.87721546e-01 1.41421519e-01 -6.63784698e-02 9.43276986e+00] [-1.41102151e-01 9.89949470e-01 9.49890076e-03 -1.27653517e+00] [ 6.70546800e-02 -1.61240493e-05 9.97749302e-01 3.13642249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:9.47, Y:-1.28, Z:0.31 [[ 9.86664662e-01 1.47157554e-01 -6.95521287e-02 9.46527007e+00] [-1.46819622e-01 9.89112995e-01 9.97404512e-03 -1.27671579e+00] [ 7.02626704e-02 3.70579411e-04 9.97528456e-01 3.11675528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:9.50, Y:-1.28, Z:0.31 [[ 9.85812687e-01 1.51772293e-01 -7.16834461e-02 9.49838613e+00] [-1.51424031e-01 9.88415236e-01 1.02996797e-02 -1.27857532e+00] [ 7.24162163e-02 7.01041450e-04 9.97374253e-01 3.13365197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:9.53, Y:-1.28, Z:0.32 [[ 9.85141002e-01 1.55460233e-01 -7.30022120e-02 9.53161756e+00] [-1.55107564e-01 9.87841676e-01 1.05103139e-02 -1.28086811e+00] [ 7.37485633e-02 9.69054139e-04 9.97276396e-01 3.15684341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:9.56, Y:-1.28, Z:0.32 [[ 9.84934614e-01 1.56808501e-01 -7.29033653e-02 9.56321657e+00] [-1.56458985e-01 9.87628470e-01 1.05162521e-02 -1.28444696e+00] [ 7.36504768e-02 1.04856579e-03 9.97283564e-01 3.18158287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:9.60, Y:-1.29, Z:0.32 [[ 9.84816398e-01 1.57639135e-01 -7.27087735e-02 9.59621434e+00] [-1.57292726e-01 9.87496180e-01 1.05020031e-02 -1.28674131e+00] [ 7.34551628e-02 1.09401626e-03 9.97297920e-01 3.18757805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799999999999999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:9.63, Y:-1.29, Z:0.32 [[ 9.84981369e-01 1.57032379e-01 -7.17811535e-02 9.62820169e+00] [-1.56691700e-01 9.87592933e-01 1.03879922e-02 -1.29102375e+00] [ 7.25218110e-02 1.01553225e-03 9.97366310e-01 3.20614356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:9.66, Y:-1.29, Z:0.32 [[ 9.85176038e-01 1.55338122e-01 -7.27890212e-02 9.66061337e+00] [-1.55382076e-01 9.87841319e-01 5.09304198e-03 -1.29399604e+00] [ 7.26951462e-02 6.29256631e-03 9.97334357e-01 3.20712329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:9.69, Y:-1.30, Z:0.33 [[ 9.85447752e-01 1.54976460e-01 -6.98213750e-02 9.69147893e+00] [-1.54261312e-01 9.87907655e-01 1.55535127e-02 -1.30304826e+00] [ 7.13874992e-02 -4.55643723e-03 9.97438251e-01 3.27973812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889999999999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:9.72, Y:-1.31, Z:0.33 [[ 9.85494336e-01 1.54116391e-01 -7.10566788e-02 9.72433053e+00] [-1.53772231e-01 9.88052412e-01 1.03214708e-02 -1.30682195e+00] [ 7.17984307e-02 7.54793006e-04 9.97418877e-01 3.28553937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:9.76, Y:-1.31, Z:0.33 [[ 9.85166830e-01 1.55160708e-01 -7.32903278e-02 9.75608550e+00] [-1.54795856e-01 9.87888888e-01 1.06671110e-02 -1.31272133e+00] [ 7.40578170e-02 8.36155077e-04 9.97253599e-01 3.30564235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:9.79, Y:-1.32, Z:0.33 [[ 9.84662812e-01 1.57692574e-01 -7.46471573e-02 9.78798427e+00] [-1.57320214e-01 9.87487716e-01 1.08793873e-02 -1.31787081e+00] [ 7.54287495e-02 1.03097864e-03 9.97150661e-01 3.33028398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:9.82, Y:-1.32, Z:0.33 [[ 9.84385976e-01 1.59034227e-01 -7.54477660e-02 9.82009861e+00] [-1.58656073e-01 9.87272430e-01 1.10181367e-02 -1.32273704e+00] [ 7.62397601e-02 1.12414704e-03 9.97088880e-01 3.34005138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.01 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:9.85, Y:-1.33, Z:0.34 [[ 9.84146088e-01 1.60964315e-01 -7.44779652e-02 9.85152054e+00] [-1.60599749e-01 9.86959453e-01 1.08976811e-02 -1.32785083e+00] [ 7.52608695e-02 1.23623233e-03 9.97163113e-01 3.36928350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:9.88, Y:-1.33, Z:0.34 [[ 9.84115317e-01 1.61738740e-01 -7.31957901e-02 9.88383866e+00] [-1.61387316e-01 9.86832817e-01 1.07296728e-02 -1.33390220e+00] [ 7.39674115e-02 1.25363673e-03 9.97259871e-01 3.38939935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:9.92, Y:-1.34, Z:0.34 [[ 9.84176078e-01 1.62282571e-01 -7.11464240e-02 9.91556030e+00] [-1.61950566e-01 9.86743550e-01 1.04489780e-02 -1.34061266e+00] [ 7.18989620e-02 1.23856945e-03 9.97411152e-01 3.41954774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.1 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:9.95, Y:-1.34, Z:0.34 [[ 9.84222740e-01 1.61236468e-01 -7.28587681e-02 9.94890752e+00] [-1.61554310e-01 9.86862608e-01 1.54840571e-03 -1.34401305e+00] [ 7.21512534e-02 1.02466719e-02 9.97341066e-01 3.41834730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:9.98, Y:-1.36, Z:0.35 [[ 9.84247581e-01 1.63646858e-01 -6.69059406e-02 9.97679824e+00] [-1.62697594e-01 9.86484534e-01 1.94359621e-02 -1.35618211e+00] [ 6.91823098e-02 -8.24436309e-03 9.97569967e-01 3.53057424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:10.01, Y:-1.36, Z:0.35 [[ 9.84255151e-01 1.63090083e-01 -6.81426638e-02 1.00101069e+01] [-1.62784393e-01 9.86610454e-01 1.00524948e-02 -1.35744731e+00] [ 6.88697267e-02 1.19834238e-03 9.97624942e-01 3.49254110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:10.04, Y:-1.36, Z:0.35 [[ 9.84243474e-01 1.63111501e-01 -6.82599641e-02 1.00416782e+01] [-1.62803501e-01 9.86606932e-01 1.00887010e-02 -1.36299668e+00] [ 6.89913369e-02 1.18322296e-03 9.97616557e-01 3.50811568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:10.07, Y:-1.37, Z:0.35 [[ 9.84228480e-01 1.63002412e-01 -6.87350960e-02 1.00741530e+01] [-1.62688588e-01 9.86624982e-01 1.01768941e-02 -1.36961482e+00] [ 6.94746211e-02 1.16602668e-03 9.97583038e-01 3.53647844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:10.11, Y:-1.38, Z:0.36 [[ 9.84286890e-01 1.62444047e-01 -6.92188519e-02 1.01058689e+01] [-1.62122996e-01 9.86717127e-01 1.02686461e-02 -1.37582102e+00] [ 6.99675071e-02 1.11467390e-03 9.97548648e-01 3.55264945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:10.14, Y:-1.38, Z:0.36 [[ 9.84313813e-01 1.62119689e-01 -6.95954262e-02 1.01379198e+01] [-1.61792987e-01 9.86770512e-01 1.03434550e-02 -1.38106799e+00] [ 7.03515920e-02 1.07884626e-03 9.97521674e-01 3.56757540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:10.17, Y:-1.39, Z:0.36 [[ 9.84690309e-01 1.59715597e-01 -6.98278167e-02 1.01693176e+01] [-1.59379240e-01 9.87162669e-01 1.03981838e-02 -1.38689467e+00] [ 7.05921660e-02 8.90113575e-04 9.97504864e-01 3.58223953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:10.20, Y:-1.39, Z:0.36 [[ 9.84889158e-01 1.58420875e-01 -6.99726595e-02 1.02012497e+01] [-1.58078507e-01 9.87371368e-01 1.04387615e-02 -1.39286677e+00] [ 7.07427182e-02 7.80150548e-04 9.97494290e-01 3.60519779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:10.23, Y:-1.40, Z:0.36 [[ 9.85578675e-01 1.53524808e-01 -7.11674658e-02 1.02324641e+01] [-1.53156377e-01 9.88144706e-01 1.06378275e-02 -1.40054255e+00] [ 7.19569250e-02 4.15335235e-04 9.97407654e-01 3.61718608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.4 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:10.26, Y:-1.38, Z:0.33 [[ 0.98870348 0.13560859 -0.06384153 10.26077482] [-0.13777689 0.9899823 -0.03086365 -1.38216726] [ 0.05901661 0.03931089 0.99748268 0.32981987] [ 0. 0. 0. 1. ]] SLAMing on 11.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:-1.43, Z:0.39 [[ 0.98711006 0.14652821 -0.06436773 10.29104034] [-0.1435273 0.98843118 0.04902777 -1.43112768] [ 0.07080702 -0.03915728 0.99672116 0.38854 ] [ 0. 0. 0. 1. ]] SLAMing on 11.459999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:10.33, Y:-1.42, Z:0.37 [[ 9.88317090e-01 1.35747904e-01 -6.92952889e-02 1.03262986e+01] [-1.35349675e-01 9.90742974e-01 1.04319585e-02 -1.42460041e+00] [ 7.00699371e-02 -9.30988011e-04 9.97541647e-01 3.71184276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:10.36, Y:-1.43, Z:0.37 [[ 9.88831365e-01 1.32154281e-01 -6.89041183e-02 1.03573139e+01] [-1.31750446e-01 9.91228435e-01 1.03928067e-02 -1.43096111e+00] [ 6.96731752e-02 -1.19858495e-03 9.97569152e-01 3.72496130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:10.39, Y:-1.44, Z:0.38 [[ 9.89676551e-01 1.26604368e-01 -6.71688734e-02 1.03896220e+01] [-1.26206675e-01 9.91952055e-01 1.01486938e-02 -1.43833441e+00] [ 6.79131710e-02 -1.56676405e-03 9.97690005e-01 3.76214516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.42, Y:-1.42, Z:0.34 [[ 0.99172112 0.11388452 -0.05932566 10.41818092] [-0.11578064 0.9928349 -0.02955851 -1.41788491] [ 0.05553433 0.03618257 0.99780096 0.34484927] [ 0. 0. 0. 1. ]] SLAMing on 11.58 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.45, Y:-1.44, Z:0.37 [[ 0.99164474 0.11655461 -0.05527863 10.44591066] [-0.11571951 0.99311726 0.01808571 -1.44419272] [ 0.05700614 -0.01153778 0.99830716 0.37090783] [ 0. 0. 0. 1. ]] SLAMing on 11.61 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:10.48, Y:-1.44, Z:0.37 [[ 9.91407074e-01 1.17303039e-01 -5.78965540e-02 1.04780537e+01] [-1.17017064e-01 9.93095078e-01 8.31699962e-03 -1.44482089e+00] [ 5.84723921e-02 -1.47064748e-03 9.98287943e-01 3.69573850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:10.51, Y:-1.45, Z:0.37 [[ 9.90792990e-01 1.21418756e-01 -5.98893699e-02 1.05106807e+01] [-1.21267757e-01 9.92600699e-01 6.16301159e-03 -1.44800744e+00] [ 6.01945357e-02 1.15638088e-03 9.98185995e-01 3.70267760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:10.54, Y:-1.47, Z:0.40 [[ 0.98835816 0.13570692 -0.06878786 10.5441077 ] [-0.13329032 0.99032497 0.03860242 -1.4721081 ] [ 0.07336095 -0.02898426 0.99688419 0.39851865] [ 0. 0. 0. 1. ]] SLAMing on 11.7 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.58, Y:-1.44, Z:0.35 [[ 0.98979976 0.12625837 -0.06599433 10.57544233] [-0.12858745 0.99117179 -0.03230717 -1.43753136] [ 0.06133267 0.04046368 0.99729684 0.35168523] [ 0. 0. 0. 1. ]] SLAMing on 11.73 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.60, Y:-1.45, Z:0.35 [[ 0.98971748 0.13123118 -0.05690071 10.60409345] [-0.13213493 0.99115409 -0.01240642 -1.44637169] [ 0.05476926 0.01979743 0.99830275 0.35405553] [ 0. 0. 0. 1. ]] SLAMing on 11.76 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.64, Y:-1.46, Z:0.36 [[ 9.89538838e-01 1.33254856e-01 -5.52813756e-02 1.06355383e+01] [-1.33137238e-01 9.91080514e-01 5.82154599e-03 -1.45951899e+00] [ 5.55640434e-02 1.59936383e-03 9.98453844e-01 3.64918097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:10.67, Y:-1.50, Z:0.43 [[ 0.98667624 0.14980954 -0.06345945 10.66755381] [-0.145007 0.98661917 0.07453583 -1.50255383] [ 0.07377649 -0.06434067 0.99519712 0.42588544] [ 0. 0. 0. 1. ]] SLAMing on 11.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:10.70, Y:-1.44, Z:0.34 [[ 0.98876247 0.13530535 -0.06357071 10.70364509] [-0.139168 0.98839707 -0.0608564 -1.43857745] [ 0.05459891 0.06901953 0.99612011 0.34223094] [ 0. 0. 0. 1. ]] SLAMing on 11.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-1.48, Z:0.39 [[ 0.98775523 0.14638878 -0.0539438 10.72976899] [-0.14549708 0.989154 0.02012356 -1.48108522] [ 0.05630459 -0.01202849 0.99834118 0.38553441] [ 0. 0. 0. 1. ]] SLAMing on 11.879999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:10.76, Y:-1.51, Z:0.43 [[ 0.98546586 0.1575755 -0.0634586 10.7611278 ] [-0.1534223 0.98597085 0.0657501 -1.51306245] [ 0.07292893 -0.05505851 0.99581621 0.43076203] [ 0. 0. 0. 1. ]] SLAMing on 11.91 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:10.80, Y:-1.50, Z:0.41 [[ 9.85225148e-01 1.55586024e-01 -7.15848941e-02 1.07972816e+01] [-1.55199213e-01 9.87822300e-01 1.09684674e-02 -1.49693104e+00] [ 7.24196950e-02 3.03509291e-04 9.97374200e-01 4.05860384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:10.83, Y:-1.50, Z:0.41 [[ 9.85079801e-01 1.57051674e-01 -7.03744130e-02 1.08297663e+01] [-1.56680246e-01 9.87590311e-01 1.08017327e-02 -1.50211692e+00] [ 7.11975187e-02 3.85711648e-04 9.97462162e-01 4.09856806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:10.86, Y:-1.51, Z:0.41 [[ 9.84771563e-01 1.58739193e-01 -7.09001928e-02 1.08609952e+01] [-1.58365144e-01 9.87320427e-01 1.09020578e-02 -1.50697115e+00] [ 7.17317925e-02 4.92082733e-04 9.97423836e-01 4.09503207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.0 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:10.89, Y:-1.51, Z:0.41 [[ 9.84551690e-01 1.59804055e-01 -7.15585967e-02 1.08929588e+01] [-1.59424466e-01 9.87148598e-01 1.10220364e-02 -1.51254643e+00] [ 7.24003345e-02 5.56426520e-04 9.97375497e-01 4.11514639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:10.92, Y:-1.52, Z:0.41 [[ 9.84406108e-01 1.60887702e-01 -7.11319985e-02 1.09246982e+01] [-1.60513979e-01 9.86972529e-01 1.09767830e-02 -1.51913935e+00] [ 7.19713579e-02 6.12067921e-04 9.97406511e-01 4.14134693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:10.96, Y:-1.52, Z:0.42 [[ 9.84260101e-01 1.61707824e-01 -7.12925822e-02 1.09556639e+01] [-1.61333070e-01 9.86838463e-01 1.10221462e-02 -1.52443303e+00] [ 7.21366296e-02 6.53192430e-04 9.97394546e-01 4.17627677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:10.99, Y:-1.53, Z:0.42 [[ 9.83896695e-01 1.63363947e-01 -7.25225093e-02 1.09878628e+01] [-1.62979159e-01 9.86565573e-01 1.12322338e-02 -1.52937572e+00] [ 7.33831530e-02 7.68299850e-04 9.97303526e-01 4.17768955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:11.02, Y:-1.53, Z:0.42 [[ 9.83218993e-01 1.65236471e-01 -7.73131312e-02 1.10212638e+01] [-1.65295837e-01 9.86227700e-01 5.67533778e-03 -1.53224021e+00] [ 7.71861243e-02 7.19943884e-03 9.96990707e-01 4.17383309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.05, Y:-1.54, Z:0.43 [[ 9.82914706e-01 1.67907203e-01 -7.54045850e-02 1.10518645e+01] [-1.67008737e-01 9.85789041e-01 1.81121179e-02 -1.54193279e+00] [ 7.73741686e-02 -5.20944250e-03 9.96988515e-01 4.25620380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:11.09, Y:-1.55, Z:0.42 [[ 9.82817505e-01 1.67527631e-01 -7.74870654e-02 1.10853334e+01] [-1.67096955e-01 9.85866767e-01 1.20550645e-02 -1.54500503e+00] [ 7.84114791e-02 1.09992429e-03 9.96920473e-01 4.24064934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209999999999999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:11.12, Y:-1.52, Z:0.38 [[ 0.98522356 0.15543349 -0.07193718 11.11763897] [-0.1589802 0.98618639 -0.04649402 -1.51650602] [ 0.06371675 0.05724359 0.99632492 0.37984562] [ 0. 0. 0. 1. ]] SLAMing on 12.24 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.14, Y:-1.58, Z:0.46 [[ 0.98326153 0.16901565 -0.06804754 11.14292195] [-0.16450945 0.98408636 0.0671616 -1.57763751] [ 0.07831602 -0.05484296 0.99541893 0.45663675] [ 0. 0. 0. 1. ]] SLAMing on 12.27 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:11.18, Y:-1.56, Z:0.43 [[ 9.83736961e-01 1.63095927e-01 -7.52416731e-02 1.11797681e+01] [-1.62672165e-01 9.86609993e-01 1.17680866e-02 -1.56270504e+00] [ 7.61535136e-02 6.63024076e-04 9.97095884e-01 4.34305476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.21, Y:-1.57, Z:0.44 [[ 9.83929007e-01 1.62319707e-01 -7.44044419e-02 1.12121350e+01] [-1.61901495e-01 9.86738051e-01 1.16586359e-02 -1.56865571e+00] [ 7.53101204e-02 5.74920354e-04 9.97159995e-01 4.38001658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:11.24, Y:-1.57, Z:0.44 [[ 9.84122533e-01 1.61254074e-01 -7.41617445e-02 1.12438220e+01] [-1.60833949e-01 9.86912814e-01 1.16421024e-02 -1.57414146e+00] [ 7.50685124e-02 4.70470960e-04 9.97178267e-01 4.40058840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.28, Y:-1.58, Z:0.44 [[ 9.84315221e-01 1.60332156e-01 -7.36012575e-02 1.12765746e+01] [-1.59914300e-01 9.87063046e-01 1.15740789e-02 -1.57952318e+00] [ 7.45047785e-02 3.77351542e-04 9.97220585e-01 4.43594861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.31, Y:-1.58, Z:0.45 [[ 9.84336514e-01 1.59845033e-01 -7.43719830e-02 1.13078586e+01] [-1.59415371e-01 9.87142067e-01 1.17165814e-02 -1.58399719e+00] [ 7.52885503e-02 3.22978312e-04 9.97161737e-01 4.45672618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:11.34, Y:-1.55, Z:0.39 [[ 0.98691395 0.14568157 -0.06912114 11.34004969] [-0.1496069 0.98718851 -0.0554673 -1.54906531] [ 0.06015503 0.06508245 0.99606508 0.3929815 ] [ 0. 0. 0. 1. ]] SLAMing on 12.45 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:11.36, Y:-1.62, Z:0.48 [[ 0.98421214 0.16407558 -0.06637523 11.3645408 ] [-0.15903479 0.98440348 0.07521784 -1.6167146 ] [ 0.07768142 -0.06347434 0.99495558 0.4813416 ] [ 0. 0. 0. 1. ]] SLAMing on 12.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:-1.56, Z:0.40 [[ 0.98694036 0.14584136 -0.06840334 11.40341736] [-0.14975129 0.98713685 -0.05599451 -1.55835323] [ 0.05935714 0.06550673 0.99608514 0.40038365] [ 0. 0. 0. 1. ]] SLAMing on 12.51 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.43, Y:-1.63, Z:0.49 [[ 0.9843573 0.16285064 -0.0672337 11.42796897] [-0.15770039 0.9845652 0.07590753 -1.62626008] [ 0.07855755 -0.06411735 0.99484555 0.48726276] [ 0. 0. 0. 1. ]] SLAMing on 12.54 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:11.47, Y:-1.61, Z:0.46 [[ 9.84741709e-01 1.56486256e-01 -7.61302678e-02 1.14654527e+01] [-1.56018491e-01 9.87680136e-01 1.20904732e-02 -1.60697853e+00] [ 7.70843461e-02 -2.82637335e-05 9.97024575e-01 4.59394813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.50, Y:-1.61, Z:0.46 [[ 9.84934398e-01 1.55478075e-01 -7.57020467e-02 1.14971160e+01] [-1.55011550e-01 9.87839336e-01 1.20360126e-02 -1.61187948e+00] [ 7.66527956e-02 -1.19991168e-04 9.97057839e-01 4.61347277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.6 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:11.53, Y:-1.62, Z:0.46 [[ 9.85174032e-01 1.54451322e-01 -7.46787549e-02 1.15293570e+01] [-1.53993361e-01 9.88000377e-01 1.18869701e-02 -1.61725991e+00] [ 7.56185962e-02 -2.10701819e-04 9.97136793e-01 4.64685869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629999999999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:11.56, Y:-1.58, Z:0.41 [[ 0.988187 0.13784195 -0.06697802 11.56148303] [-0.14179833 0.9881711 -0.05840479 -1.58125496] [ 0.05813512 0.06721223 0.99604359 0.40896452] [ 0. 0. 0. 1. ]] SLAMing on 12.66 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:11.59, Y:-1.61, Z:0.44 [[ 9.88289022e-01 1.41728865e-01 -5.65485357e-02 1.15885244e+01] [-1.41832174e-01 9.89888268e-01 2.20272552e-03 -1.61450478e+00] [ 5.62889219e-02 5.84347229e-03 9.98397421e-01 4.38157790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:11.62, Y:-1.66, Z:0.51 [[ 0.9856469 0.15567597 -0.06530838 11.61688366] [-0.15012886 0.98520456 0.08266376 -1.66154838] [ 0.07721088 -0.07167261 0.99443528 0.50506634] [ 0. 0. 0. 1. ]] SLAMing on 12.719999999999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:11.66, Y:-1.64, Z:0.47 [[ 9.85811386e-01 1.49890560e-01 -7.55561398e-02 1.16550610e+01] [-1.49398142e-01 9.88702347e-01 1.21599564e-02 -1.64141964e+00] [ 7.65251954e-02 -6.99476545e-04 9.97067403e-01 4.73730705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:11.69, Y:-1.61, Z:0.42 [[ 0.98850168 0.13526052 -0.06759455 11.6888216 ] [-0.1393356 0.98844333 -0.05971074 -1.60567935] [ 0.05873688 0.0684425 0.9959245 0.41864213] [ 0. 0. 0. 1. ]] SLAMing on 12.78 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:11.72, Y:-1.64, Z:0.45 [[ 9.88304316e-01 1.41181361e-01 -5.76402839e-02 1.17159805e+01] [-1.41312880e-01 9.89963332e-01 1.80847282e-03 -1.63631399e+00] [ 5.73170902e-02 6.35799305e-03 9.98335779e-01 4.46314430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:11.74, Y:-1.68, Z:0.52 [[ 0.9851147 0.1591484 -0.06496781 11.7434935 ] [-0.15345096 0.98450296 0.08489249 -1.68239041] [ 0.07747151 -0.07365946 0.99426981 0.5152332 ] [ 0. 0. 0. 1. ]] SLAMing on 12.84 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:11.78, Y:-1.66, Z:0.48 [[ 9.84682741e-01 1.56199804e-01 -7.74694792e-02 1.17826456e+01] [-1.55691552e-01 9.87725420e-01 1.25950555e-02 -1.66010489e+00] [ 7.84859191e-02 -3.40790351e-04 9.96915164e-01 4.83134495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.82, Y:-1.62, Z:0.43 [[ 0.98690045 0.14484806 -0.07103899 11.81728304] [-0.14921185 0.98695148 -0.06051936 -1.62269654] [ 0.06134592 0.07032644 0.99563591 0.42619178] [ 0. 0. 0. 1. ]] SLAMing on 12.9 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:11.84, Y:-1.66, Z:0.46 [[ 9.86018089e-01 1.55411613e-01 -6.01295144e-02 1.18415991e+01] [-1.54853715e-01 9.87840211e-01 1.38580304e-02 -1.65879489e+00] [ 6.15520511e-02 -4.35298999e-03 9.98094383e-01 4.62496085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:11.87, Y:-1.70, Z:0.52 [[ 0.98296016 0.17108158 -0.06723402 11.87063331] [-0.16577521 0.98308271 0.07789076 -1.69772871] [ 0.07942228 -0.06541778 0.99469222 0.5216369 ] [ 0. 0. 0. 1. ]] SLAMing on 12.959999999999999 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:11.91, Y:-1.68, Z:0.49 [[ 9.82248693e-01 1.70235305e-01 -7.87873410e-02 1.19114682e+01] [-1.69948201e-01 9.85398279e-01 1.03846482e-02 -1.67524603e+00] [ 7.94047440e-02 3.18945972e-03 9.96837356e-01 4.90530922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:11.94, Y:-1.68, Z:0.50 [[ 9.81853043e-01 1.73272045e-01 -7.70804798e-02 1.19415290e+01] [-1.72605696e-01 9.84872545e-01 1.52756163e-02 -1.68114663e+00] [ 7.85612855e-02 -1.69388049e-03 9.96907847e-01 4.95647641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.97, Y:-1.65, Z:0.45 [[ 0.98376586 0.16458055 -0.07154003 11.97360757] [-0.16780814 0.98493787 -0.04168719 -1.65209737] [ 0.06360158 0.05301543 0.99656621 0.45231574] [ 0. 0. 0. 1. ]] SLAMing on 13.049999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:-1.68, Z:0.47 [[ 9.83369215e-01 1.69939647e-01 -6.40742084e-02 1.20007579e+01] [-1.70098294e-01 9.85422500e-01 3.01097471e-03 -1.67615273e+00] [ 6.36518507e-02 7.93801370e-03 9.97940594e-01 4.73753408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:12.03, Y:-1.69, Z:0.48 [[ 9.82595799e-01 1.73213416e-01 -6.71014798e-02 1.20326014e+01] [-1.72664137e-01 9.84882041e-01 1.39449541e-02 -1.68734439e+00] [ 6.85024955e-02 -2.11623417e-03 9.97648701e-01 4.82477262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:12.06, Y:-1.69, Z:0.48 [[ 9.82552076e-01 1.73245480e-01 -6.76566447e-02 1.20625756e+01] [-1.72971762e-01 9.84876748e-01 9.92778615e-03 -1.69037299e+00] [ 6.83534002e-02 1.94812217e-03 9.97659269e-01 4.83112634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:12.09, Y:-1.73, Z:0.53 [[ 0.98006781 0.18446631 -0.07375137 12.09118993] [-0.17977875 0.9814991 0.06587194 -1.72529229] [ 0.08453806 -0.05130004 0.9950988 0.53109189] [ 0. 0. 0. 1. ]] SLAMing on 13.17 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.68, Z:0.47 [[ 0.98257024 0.1691845 -0.07702165 12.128606 ] [-0.17248896 0.98426106 -0.03844116 -1.68046722] [ 0.06930577 0.05105652 0.99628808 0.46792218] [ 0. 0. 0. 1. ]] SLAMing on 13.2 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:12.15, Y:-1.74, Z:0.53 [[ 0.98044208 0.18173838 -0.07552801 12.15374719] [-0.17723292 0.98217279 0.0626507 -1.73576623] [ 0.08556759 -0.04803933 0.99517356 0.53418731] [ 0. 0. 0. 1. ]] SLAMing on 13.229999999999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.69, Z:0.47 [[ 0.98348549 0.16364191 -0.07731499 12.19100851] [-0.16730265 0.98494662 -0.04347391 -1.69038471] [ 0.06903698 0.05569097 0.99605844 0.46943872] [ 0. 0. 0. 1. ]] SLAMing on 13.26 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.72, Z:0.50 [[ 9.84057297e-01 1.63971499e-01 -6.88809371e-02 1.22177607e+01] [-1.63382839e-01 9.86461507e-01 1.41330531e-02 -1.72483365e+00] [ 7.02658109e-02 -2.65377101e-03 9.97524773e-01 5.02190583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:-1.73, Z:0.51 [[ 9.84622076e-01 1.61365561e-01 -6.69367056e-02 1.22475811e+01] [-1.60752665e-01 9.86888510e-01 1.44792800e-02 -1.73210636e+00] [ 6.83955228e-02 -3.49636490e-03 9.97652158e-01 5.08078329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.28, Y:-1.76, Z:0.55 [[ 0.98377192 0.16490899 -0.07069539 12.27688174] [-0.160917 0.9852087 0.05890274 -1.76415523] [ 0.07936331 -0.04657077 0.99575731 0.54893079] [ 0. 0. 0. 1. ]] SLAMing on 13.35 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.72, Z:0.49 [[ 0.98641046 0.14756298 -0.07224654 12.31423353] [-0.15074057 0.98773612 -0.04067728 -1.72209643] [ 0.06535806 0.05101498 0.99655697 0.48706673] [ 0. 0. 0. 1. ]] SLAMing on 13.379999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.75, Z:0.52 [[ 9.86990434e-01 1.49004186e-01 -6.03956543e-02 1.23377909e+01] [-1.48245897e-01 9.88806587e-01 1.68726983e-02 -1.75235318e+00] [ 6.22337235e-02 -7.69978386e-03 9.98031902e-01 5.15116697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.78, Z:0.56 [[ 0.98514653 0.15780196 -0.06771162 12.36873886] [-0.15398167 0.98634747 0.05838085 -1.78311552] [ 0.07599979 -0.04708735 0.99599539 0.55701702] [ 0. 0. 0. 1. ]] SLAMing on 13.44 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:12.41, Y:-1.74, Z:0.50 [[ 0.98715449 0.14290335 -0.07144682 12.40585838] [-0.14569919 0.98868971 -0.03555845 -1.74443246] [ 0.06555731 0.04551143 0.99681039 0.4982817 ] [ 0. 0. 0. 1. ]] SLAMing on 13.469999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.80, Z:0.56 [[ 0.9850482 0.15746102 -0.06990038 12.43027503] [-0.15354391 0.98642091 0.05829284 -1.79520843] [ 0.07813005 -0.04668848 0.99584933 0.56332471] [ 0. 0. 0. 1. ]] SLAMing on 13.5 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:12.47, Y:-1.75, Z:0.50 [[ 0.98664675 0.14441027 -0.07532512 12.46740833] [-0.14745613 0.9883931 -0.0365482 -1.75372691] [ 0.06917289 0.04716731 0.99648901 0.50003615] [ 0. 0. 0. 1. ]] SLAMing on 13.53 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:12.49, Y:-1.81, Z:0.57 [[ 0.98387268 0.16273107 -0.07425053 12.49200489] [-0.15843423 0.98551242 0.06052989 -1.80696017] [ 0.08302491 -0.04778988 0.99540092 0.56760659] [ 0. 0. 0. 1. ]] SLAMing on 13.559999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:-1.77, Z:0.51 [[ 0.98526365 0.1521803 -0.07808136 12.53015269] [-0.15504358 0.98738967 -0.03198647 -1.76863458] [ 0.07222902 0.04362112 0.99643372 0.51103244] [ 0. 0. 0. 1. ]] SLAMing on 13.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.79, Z:0.53 [[ 9.84204538e-01 1.61739351e-01 -7.19847824e-02 1.25565547e+01] [-1.61332038e-01 9.86833461e-01 1.14757555e-02 -1.79225910e+00] [ 7.28930732e-02 3.18960974e-04 9.97339711e-01 5.33820781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:-1.80, Z:0.53 [[ 9.83034510e-01 1.67720705e-01 -7.42490254e-02 1.25888012e+01] [-1.67690546e-01 9.85817019e-01 6.68470155e-03 -1.79505126e+00] [ 7.43171157e-02 5.87956728e-03 9.97217327e-01 5.34184711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.80, Z:0.54 [[ 9.82865668e-01 1.68666392e-01 -7.43419558e-02 1.26212779e+01] [-1.68287142e-01 9.85672306e-01 1.13816966e-02 -1.80275938e+00] [ 7.51965167e-02 1.32411641e-03 9.97167855e-01 5.39452773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:12.65, Y:-1.81, Z:0.54 [[ 9.82657247e-01 1.70448855e-01 -7.30200159e-02 1.26521571e+01] [-1.70219896e-01 9.85361331e-01 9.39326198e-03 -1.80719004e+00] [ 7.35521708e-02 3.19910257e-03 9.97286240e-01 5.39552405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.84, Z:0.59 [[ 0.9802111 0.18290651 -0.0757061 12.67940444] [-0.17840378 0.98196763 0.06254327 -1.8394656 ] [ 0.08578051 -0.04779935 0.99516678 0.58837738] [ 0. 0. 0. 1. ]] SLAMing on 13.74 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:12.72, Y:-1.83, Z:0.57 [[ 9.80373787e-01 1.78239128e-01 -8.42499327e-02 1.27163020e+01] [-1.77659354e-01 9.83986826e-01 1.43902752e-02 -1.82609370e+00] [ 8.54657340e-02 8.59940072e-04 9.96340739e-01 5.65958754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.83, Z:0.57 [[ 9.80628717e-01 1.76783595e-01 -8.43497479e-02 1.27483055e+01] [-1.76195082e-01 9.84249488e-01 1.44304569e-02 -1.82747265e+00] [ 8.55722643e-02 7.11090311e-04 9.96331713e-01 5.66866308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.80, Z:0.52 [[ 0.98306335 0.16481282 -0.08014475 12.78330807] [-0.16862452 0.9847274 -0.04333266 -1.79616652] [ 0.07177896 0.05611312 0.9958409 0.52240483] [ 0. 0. 0. 1. ]] SLAMing on 13.83 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.85, Z:0.60 [[ 0.98014303 0.18292985 -0.07652652 12.8063136 ] [-0.17783124 0.98164628 0.06889579 -1.85086708] [ 0.08772508 -0.05391892 0.9946844 0.59642359] [ 0. 0. 0. 1. ]] SLAMing on 13.86 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.83, Z:0.57 [[ 9.80041018e-01 1.79109165e-01 -8.62525901e-02 1.28445449e+01] [-1.78496628e-01 9.83828825e-01 1.48255469e-02 -1.83422887e+00] [ 8.75131757e-02 8.66152436e-04 9.96162986e-01 5.72593318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.88, Y:-1.84, Z:0.58 [[ 9.79908978e-01 1.80178028e-01 -8.55235272e-02 1.28761727e+01] [-1.79577768e-01 9.83633577e-01 1.47244972e-02 -1.83907362e+00] [ 8.67768439e-02 9.29457147e-04 9.96227341e-01 5.79870326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:-1.81, Z:0.54 [[ 0.98243581 0.16815604 -0.08089142 12.91024284] [-0.17191335 0.98421954 -0.04192489 -1.8115017 ] [ 0.07256499 0.05509483 0.99584079 0.53781392] [ 0. 0. 0. 1. ]] SLAMing on 13.95 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.87, Z:0.61 [[ 0.97994631 0.18319341 -0.07839265 12.93393101] [-0.1780594 0.98165547 0.06817169 -1.86550181] [ 0.08944318 -0.05284605 0.99458897 0.60758757] [ 0. 0. 0. 1. ]] SLAMing on 13.979999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.81, Z:0.54 [[ 0.98258949 0.16618299 -0.08307295 12.97387605] [-0.17017796 0.98445152 -0.04352774 -1.81387998] [ 0.07454773 0.05690708 0.9955924 0.54008444] [ 0. 0. 0. 1. ]] SLAMing on 14.01 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.87, Z:0.61 [[ 0.97948306 0.18354611 -0.08320913 12.99647088] [-0.17868011 0.98191148 0.06263599 -1.87131189] [ 0.09320059 -0.04648307 0.9945617 0.60829845] [ 0. 0. 0. 1. ]] SLAMing on 14.04 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.86, Z:0.59 [[ 9.79071430e-01 1.81133619e-01 -9.27887218e-02 1.30343122e+01] [-1.80655258e-01 9.83452452e-01 1.35997165e-02 -1.85901488e+00] [ 9.37166619e-02 3.44767659e-03 9.95592939e-01 5.90682652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.87, Z:0.60 [[ 9.79126154e-01 1.83150492e-01 -8.81355284e-02 1.30641647e+01] [-1.81574894e-01 9.83042731e-01 2.56426904e-02 -1.86919294e+00] [ 9.13374619e-02 -9.10422957e-03 9.95778379e-01 5.98946623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.1 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:13.10, Y:-1.87, Z:0.60 [[ 9.78979808e-01 1.83082428e-01 -8.98852643e-02 1.30968119e+01] [-1.82417780e-01 9.83096951e-01 1.56249621e-02 -1.86999217e+00] [ 9.12265852e-02 1.10014797e-03 9.95829554e-01 5.96410446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:13.13, Y:-1.87, Z:0.60 [[ 9.78711017e-01 1.84667221e-01 -8.95698767e-02 1.31279621e+01] [-1.84011637e-01 9.82800351e-01 1.55944512e-02 -1.87371752e+00] [ 9.09090903e-02 1.21943842e-03 9.95858449e-01 5.99069585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:13.16, Y:-1.88, Z:0.60 [[ 9.78573301e-01 1.85818493e-01 -8.86892427e-02 1.31606818e+01] [-1.85178984e-01 9.82583231e-01 1.54576357e-02 -1.87910291e+00] [ 9.00168772e-02 1.29695424e-03 9.95939396e-01 6.02938971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:13.19, Y:-1.89, Z:0.61 [[ 9.78143006e-01 1.88290712e-01 -8.82205638e-02 1.31914095e+01] [-1.87665717e-01 9.82112205e-01 1.54011514e-02 -1.88600262e+00] [ 8.95423862e-02 1.49144681e-03 9.95981896e-01 6.07228927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219999999999999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:13.22, Y:-1.89, Z:0.61 [[ 9.77654558e-01 1.90678479e-01 -8.85058326e-02 1.32238015e+01] [-1.90057022e-01 9.81651086e-01 1.54749358e-02 -1.89318987e+00] [ 8.98325839e-02 1.69201342e-03 9.95955443e-01 6.10224758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.90, Z:0.61 [[ 9.77291092e-01 1.92495161e-01 -8.85874433e-02 1.32559608e+01] [-1.91877650e-01 9.81296207e-01 1.55152145e-02 -1.89890366e+00] [ 8.99171258e-02 1.83506953e-03 9.95947560e-01 6.14331316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.90, Z:0.62 [[ 9.76941234e-01 1.93976145e-01 -8.92136811e-02 1.32880856e+01] [-1.93353616e-01 9.81004289e-01 1.56513083e-02 -1.90379188e+00] [ 9.05549843e-02 1.95937939e-03 9.95889530e-01 6.16972334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309999999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.91, Z:0.62 [[ 9.76489241e-01 1.96110016e-01 -8.94965051e-02 1.33208666e+01] [-1.95490074e-01 9.80579568e-01 1.57271107e-02 -1.90813101e+00] [ 9.08426882e-02 2.13832403e-03 9.95862959e-01 6.18738239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.91, Z:0.62 [[ 9.76315659e-01 1.96888747e-01 -8.96802913e-02 1.33528835e+01] [-1.96267139e-01 9.80423392e-01 1.57855353e-02 -1.91404454e+00] [ 9.10326496e-02 2.18962896e-03 9.95845501e-01 6.22055612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:13.38, Y:-1.92, Z:0.63 [[ 9.76416067e-01 1.96435548e-01 -8.95809056e-02 1.33834065e+01] [-1.95811049e-01 9.80514448e-01 1.57939762e-02 -1.92196180e+00] [ 9.09378706e-02 2.11943895e-03 9.95854312e-01 6.25973041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.93, Z:0.63 [[ 9.76969842e-01 1.93979084e-01 -8.88934373e-02 1.34151702e+01] [-1.93351819e-01 9.81003916e-01 1.56968346e-02 -1.92995636e+00] [ 9.02496677e-02 1.85237379e-03 9.95917449e-01 6.29870910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.43 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.94, Z:0.63 [[ 9.77309288e-01 1.92327292e-01 -8.87511623e-02 1.34461193e+01] [-1.91692871e-01 9.81329414e-01 1.56978940e-02 -1.93675275e+00] [ 9.01132595e-02 1.67126750e-03 9.95930122e-01 6.31966670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459999999999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.94, Z:0.64 [[ 9.77683793e-01 1.90813588e-01 -8.78895684e-02 1.34782975e+01] [-1.90183187e-01 9.81625155e-01 1.55695185e-02 -1.94365495e+00] [ 8.92454869e-02 1.49305235e-03 9.96008541e-01 6.35021475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.49 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.95, Z:0.64 [[ 9.78587926e-01 1.87295743e-01 -8.53579282e-02 1.35090370e+01] [-1.86685738e-01 9.82302938e-01 1.51450391e-02 -1.95073608e+00] [ 8.66839451e-02 1.11435540e-03 9.96235239e-01 6.37352865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.96, Z:0.64 [[ 9.79312044e-01 1.84271764e-01 -8.36172066e-02 1.35410266e+01] [-1.83673536e-01 9.82875000e-01 1.48582420e-02 -1.95927137e+00] [ 8.49232163e-02 8.07412631e-04 9.96387171e-01 6.40461885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.97, Z:0.64 [[ 9.79565214e-01 1.82831198e-01 -8.38137485e-02 1.35732588e+01] [-1.82222798e-01 9.83144098e-01 1.49175855e-02 -1.96686053e+00] [ 8.51283922e-02 6.60027936e-04 9.96369771e-01 6.43834534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:13.60, Y:-1.97, Z:0.65 [[ 9.79772920e-01 1.81631106e-01 -8.39950349e-02 1.36044304e+01] [-1.81013510e-01 9.83366594e-01 1.49750135e-02 -1.97403126e+00] [ 8.53178396e-02 5.32123364e-04 9.96353644e-01 6.46408091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:-1.98, Z:0.65 [[ 9.79823624e-01 1.81538259e-01 -8.36033836e-02 1.36367372e+01] [-1.80924769e-01 9.83383752e-01 1.49205848e-02 -1.98118572e+00] [ 8.49228661e-02 5.06381319e-04 9.96387400e-01 6.51571047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.96, Z:0.62 [[ 0.98196581 0.17101239 -0.08060964 13.66842519] [-0.17358499 0.98447522 -0.02601506 -1.96313473] [ 0.0749093 0.03953853 0.99640619 0.61608534] [ 0. 0. 0. 1. ]] SLAMing on 14.67 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:13.70, Y:-1.98, Z:0.63 [[ 9.81404040e-01 1.74820471e-01 -7.92711363e-02 1.36965873e+01] [-1.75159323e-01 9.84536364e-01 2.71276231e-03 -1.98100660e+00] [ 7.85195627e-02 1.12227627e-02 9.96849401e-01 6.28467602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.7 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:13.72, Y:-2.02, Z:0.68 [[ 0.97850166 0.18935006 -0.08173777 13.72450222] [-0.18476755 0.98092064 0.06046197 -2.01783737] [ 0.09162675 -0.04405965 0.99481822 0.67563602] [ 0. 0. 0. 1. ]] SLAMing on 14.729999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:13.76, Y:-2.01, Z:0.66 [[ 9.78350570e-01 1.87017917e-01 -8.86253932e-02 1.37618002e+01] [-1.86323799e-01 9.82356219e-01 1.61152286e-02 -2.00691324e+00] [ 9.00755426e-02 7.46676882e-04 9.95934656e-01 6.59729992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.99, Z:0.63 [[ 0.98011267 0.17942419 -0.08477094 13.79404549] [-0.18190283 0.98306094 -0.02241746 -1.98959268] [ 0.07931277 0.03739171 0.99614825 0.63005218] [ 0. 0. 0. 1. ]] SLAMing on 14.79 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:13.82, Y:-2.03, Z:0.68 [[ 0.97762175 0.19365618 -0.08217665 13.81979684] [-0.18989038 0.98045489 0.05147668 -2.03244621] [ 0.09053928 -0.03472016 0.99528747 0.68036696] [ 0. 0. 0. 1. ]] SLAMing on 14.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:13.86, Y:-2.00, Z:0.63 [[ 0.97981726 0.18117763 -0.08445587 13.8553871 ] [-0.18392383 0.98259943 -0.02589164 -1.9982356 ] [ 0.0782953 0.04090253 0.99609077 0.63352536] [ 0. 0. 0. 1. ]] SLAMing on 14.85 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:13.88, Y:-2.04, Z:0.69 [[ 0.97727007 0.19425847 -0.08489324 13.88120322] [-0.1900349 0.98021528 0.05536012 -2.04355306] [ 0.09396783 -0.03796911 0.99485094 0.68621973] [ 0. 0. 0. 1. ]] SLAMing on 14.879999999999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:13.92, Y:-2.03, Z:0.67 [[ 9.77345110e-01 1.90355291e-01 -9.25278325e-02 1.39177386e+01] [-1.89602497e-01 9.81714771e-01 1.69411451e-02 -2.03407199e+00] [ 9.40607764e-02 9.86162779e-04 9.95565969e-01 6.69807146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.95, Y:-2.04, Z:0.68 [[ 9.77309750e-01 1.90822741e-01 -9.19365778e-02 1.39498970e+01] [-1.90079093e-01 9.81624004e-01 1.68597998e-02 -2.04059141e+00] [ 9.34643849e-02 9.97974620e-04 9.95622124e-01 6.75265623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:-2.05, Z:0.68 [[ 9.77557393e-01 1.89284557e-01 -9.24818934e-02 1.39808973e+01] [-1.88522624e-01 9.81921926e-01 1.69868036e-02 -2.04798182e+00] [ 9.40253385e-02 8.29353809e-04 9.95569459e-01 6.78637383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:14.01, Y:-2.03, Z:0.65 [[ 0.97990275 0.17852914 -0.08898285 14.01168872] [-0.18067351 0.98340318 -0.01659135 -2.03207786] [ 0.08454398 0.03233475 0.99589496 0.65072094] [ 0. 0. 0. 1. ]] SLAMing on 15.0 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:14.04, Y:-2.05, Z:0.67 [[ 9.79731438e-01 1.81647470e-01 -8.44423203e-02 1.40390244e+01] [-1.80692264e-01 9.83358365e-01 1.88847014e-02 -2.05438144e+00] [ 8.64674202e-02 -3.24386167e-03 9.96249398e-01 6.72558691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:14.07, Y:-2.06, Z:0.67 [[ 9.80177867e-01 1.78900270e-01 -8.51236911e-02 1.40701502e+01] [-1.78306610e-01 9.83866821e-01 1.45887444e-02 -2.05898371e+00] [ 8.63603056e-02 8.78552416e-04 9.96263582e-01 6.73321260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:14.10, Y:-2.08, Z:0.70 [[ 0.97837004 0.18749994 -0.08738327 14.10093804] [-0.18437421 0.98193086 0.04263717 -2.08382489] [ 0.0937988 -0.02560371 0.99526189 0.70277631] [ 0. 0. 0. 1. ]] SLAMing on 15.09 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:14.14, Y:-2.08, Z:0.69 [[ 9.78185955e-01 1.86112517e-01 -9.22733315e-02 1.41366913e+01] [-1.85327893e-01 9.82528357e-01 1.70762623e-02 -2.07862807e+00] [ 9.38392710e-02 3.97062195e-04 9.95587281e-01 6.92317961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:14.17, Y:-2.06, Z:0.66 [[ 0.98052864 0.17530017 -0.08850672 14.16692526] [-0.17771048 0.98387816 -0.02006856 -2.05946395] [ 0.08356181 0.03540636 0.99587339 0.66392424] [ 0. 0. 0. 1. ]] SLAMing on 15.149999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:14.19, Y:-2.08, Z:0.68 [[ 9.80495152e-01 1.78022781e-01 -8.32895325e-02 1.41949920e+01] [-1.78147346e-01 9.83985566e-01 5.99400103e-03 -2.07644018e+00] [ 8.30227665e-02 8.96072021e-03 9.96507364e-01 6.75799453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-2.11, Z:0.72 [[ 0.97787981 0.19033128 -0.08674717 14.22432125] [-0.18576285 0.9808769 0.05807469 -2.11313882] [ 0.09614173 -0.04067566 0.9945362 0.72177969] [ 0. 0. 0. 1. ]] SLAMing on 15.209999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:14.26, Y:-2.08, Z:0.68 [[ 0.98005951 0.17641028 -0.0914482 14.25978899] [-0.17854946 0.98380568 -0.01569918 -2.08175627] [ 0.08719777 0.03171416 0.99568608 0.67610378] [ 0. 0. 0. 1. ]] SLAMing on 15.24 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:14.29, Y:-2.12, Z:0.72 [[ 0.97775191 0.18937238 -0.09021805 14.28781366] [-0.18566457 0.9814434 0.04793251 -2.12162787] [ 0.097621 -0.03011581 0.9947679 0.72055092] [ 0. 0. 0. 1. ]] SLAMing on 15.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.32, Y:-2.11, Z:0.71 [[ 9.77572524e-01 1.87745836e-01 -9.54120617e-02 1.43221235e+01] [-1.86895495e-01 9.82217571e-01 1.78526581e-02 -2.11488001e+00] [ 9.70671657e-02 3.79816411e-04 9.95277761e-01 7.12655981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299999999999999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:14.35, Y:-2.12, Z:0.71 [[ 9.76950457e-01 1.89958889e-01 -9.73828738e-02 1.43548984e+01] [-1.89081193e-01 9.81791871e-01 1.82489494e-02 -2.11936315e+00] [ 9.90762641e-02 5.84950532e-04 9.95079671e-01 7.11392487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:14.39, Y:-2.12, Z:0.72 [[ 9.76665480e-01 1.91377036e-01 -9.74647172e-02 1.43873913e+01] [-1.90502063e-01 9.81516346e-01 1.82927803e-02 -2.12470241e+00] [ 9.91640312e-02 7.01302619e-04 9.95070853e-01 7.15439700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:14.42, Y:-2.13, Z:0.72 [[ 9.76298030e-01 1.92713270e-01 -9.85076262e-02 1.44192039e+01] [-1.91823268e-01 9.81254772e-01 1.85177233e-02 -2.13013062e+00] [ 1.00229689e-01 8.17237993e-04 9.94963990e-01 7.18340695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:14.45, Y:-2.13, Z:0.72 [[ 9.75714397e-01 1.95360327e-01 -9.90745040e-02 1.44519177e+01] [-1.94470671e-01 9.80730954e-01 1.86534992e-02 -2.13491977e+00] [ 1.00809587e-01 1.06659754e-03 9.94905166e-01 7.22187180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:14.48, Y:-2.14, Z:0.73 [[ 9.75441360e-01 1.97073565e-01 -9.83674877e-02 1.44841552e+01] [-1.96202388e-01 9.80387961e-01 1.85490759e-02 -2.14029062e+00] [ 1.00093833e-01 1.20640018e-03 9.94977271e-01 7.26226537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:14.52, Y:-2.15, Z:0.73 [[ 9.75118076e-01 1.98443213e-01 -9.88181614e-02 1.45163897e+01] [-1.97568082e-01 9.80111492e-01 1.86632276e-02 -2.14569508e+00] [ 1.00556406e-01 1.32446401e-03 9.94930477e-01 7.28476215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479999999999999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:14.55, Y:-2.15, Z:0.73 [[ 9.74811475e-01 2.00297061e-01 -9.81003377e-02 1.45488099e+01] [-1.99441086e-01 9.79734101e-01 1.85565357e-02 -2.15024555e+00] [ 9.98290657e-02 1.47611393e-03 9.95003507e-01 7.31147805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:14.58, Y:-2.16, Z:0.73 [[ 9.74705884e-01 2.01085582e-01 -9.75347495e-02 1.45804608e+01] [-2.00240551e-01 9.79572498e-01 1.84781562e-02 -2.15595459e+00] [ 9.92580490e-02 1.51964448e-03 9.95060566e-01 7.34345198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.61, Y:-2.13, Z:0.70 [[ 0.97733186 0.19017535 -0.09303636 14.61117278] [-0.19309089 0.98090356 -0.02332633 -2.13490595] [ 0.0868236 0.04076204 0.99538943 0.70378476] [ 0. 0. 0. 1. ]] SLAMing on 15.57 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.64, Y:-2.16, Z:0.72 [[ 9.77060346e-01 1.94391995e-01 -8.69760448e-02 1.46395408e+01] [-1.94001711e-01 9.80915055e-01 1.29996198e-02 -2.15683231e+00] [ 8.78431338e-02 4.17208846e-03 9.96125583e-01 7.22912946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.6 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:14.67, Y:-2.17, Z:0.73 [[ 9.76759110e-01 1.96171245e-01 -8.63625138e-02 1.46705801e+01] [-1.95438261e-01 9.80569598e-01 1.69455118e-02 -2.16563565e+00] [ 8.80086775e-02 3.26856474e-04 9.96119654e-01 7.31100560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.70, Y:-2.20, Z:0.77 [[ 0.97449904 0.20558167 -0.08993219 14.70083951] [-0.20124893 0.97799779 0.05494723 -2.19522362] [ 0.09924962 -0.03544726 0.99443099 0.76590316] [ 0. 0. 0. 1. ]] SLAMing on 15.66 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:14.74, Y:-2.19, Z:0.75 [[ 9.74821265e-01 2.01292679e-01 -9.59414367e-02 1.47374130e+01] [-2.00453188e-01 9.79530298e-01 1.84096438e-02 -2.18796906e+00] [ 9.76832705e-02 1.28565450e-03 9.95216723e-01 7.52598744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.77, Y:-2.17, Z:0.72 [[ 0.97738937 0.19073949 -0.09126047 14.76892044] [-0.19352977 0.98083203 -0.02268815 -2.16887937] [ 0.08518366 0.03983677 0.99556857 0.72488742] [ 0. 0. 0. 1. ]] SLAMing on 15.719999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.79, Y:-2.22, Z:0.78 [[ 0.97484863 0.20438653 -0.08886106 14.79393492] [-0.20001069 0.97820745 0.05573058 -2.21537214] [ 0.09831513 -0.03655572 0.99448369 0.77738613] [ 0. 0. 0. 1. ]] SLAMing on 15.75 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:14.83, Y:-2.21, Z:0.76 [[ 9.74893094e-01 2.00492279e-01 -9.68829271e-02 1.48302728e+01] [-1.99621483e-01 9.79694653e-01 1.86989352e-02 -2.20710473e+00] [ 9.86646778e-02 1.11045082e-03 9.95120118e-01 7.62666899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:14.86, Y:-2.21, Z:0.76 [[ 9.74868238e-01 2.00329841e-01 -9.74672942e-02 1.48612062e+01] [-1.99444851e-01 9.79727923e-01 1.88400522e-02 -2.21329660e+00] [ 9.92656544e-02 1.07278144e-03 9.95060390e-01 7.64661118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809999999999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:14.89, Y:-2.22, Z:0.77 [[ 9.74881974e-01 2.00006100e-01 -9.79933549e-02 1.48916816e+01] [-1.99107205e-01 9.79794122e-01 1.89683866e-02 -2.22012608e+00] [ 9.98071062e-02 1.01924481e-03 9.95006283e-01 7.68105594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:14.92, Y:-2.23, Z:0.77 [[ 9.74950419e-01 1.99757942e-01 -9.78184274e-02 1.49231329e+01] [-1.98858439e-01 9.79844799e-01 1.89602518e-02 -2.22692864e+00] [ 9.96343382e-02 9.66714386e-04 9.95023650e-01 7.71968283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:14.96, Y:-2.23, Z:0.77 [[ 9.74872985e-01 1.99723886e-01 -9.86561294e-02 1.49553391e+01] [-1.98806882e-01 9.79851754e-01 1.91406381e-02 -2.23397029e+00] [ 1.00491224e-01 9.53826478e-04 9.94937488e-01 7.74664259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:14.99, Y:-2.24, Z:0.78 [[ 9.74834744e-01 1.99564445e-01 -9.93541837e-02 1.49861018e+01] [-1.98630591e-01 9.79884276e-01 1.93052846e-02 -2.24055617e+00] [ 1.01208251e-01 9.15318065e-04 9.94864841e-01 7.77807246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.02, Y:-2.25, Z:0.78 [[ 9.74630460e-01 1.99310391e-01 -1.01837296e-01 1.50184393e+01] [-1.98830991e-01 9.79919907e-01 1.49402996e-02 -2.24634000e+00] [ 1.02770150e-01 5.68713935e-03 9.94688872e-01 7.79101004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-2.26, Z:0.79 [[ 9.74650053e-01 2.01044172e-01 -9.81759389e-02 1.50484452e+01] [-1.99637584e-01 9.79574653e-01 2.40485920e-02 -2.25708746e+00] [ 1.01005490e-01 -3.83935416e-03 9.94878460e-01 7.88515780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.99 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:15.08, Y:-2.26, Z:0.79 [[ 9.74547171e-01 2.00577201e-01 -1.00132901e-01 1.50804108e+01] [-1.99625220e-01 9.79677444e-01 1.95416922e-02 -2.26277019e+00] [ 1.02017563e-01 9.44751576e-04 9.94782149e-01 7.87065457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:-2.27, Z:0.79 [[ 9.74315006e-01 2.02296754e-01 -9.89256919e-02 1.51121348e+01] [-2.01373751e-01 9.79323668e-01 1.93330119e-02 -2.26936878e+00] [ 1.00791277e-01 1.08459402e-03 9.94907002e-01 7.93019613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:15.14, Y:-2.26, Z:0.77 [[ 9.75821000e-01 1.95723097e-01 -9.72925722e-02 1.51449462e+01] [-1.97432343e-01 9.80282485e-01 -8.16817310e-03 -2.25879494e+00] [ 9.37755043e-02 2.71793753e-02 9.95222305e-01 7.71655933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:15.17, Y:-2.29, Z:0.81 [[ 0.97359807 0.20694526 -0.09633514 15.17183437] [-0.20392216 0.97815551 0.04034279 -2.28910588] [ 0.1025795 -0.01963279 0.99453105 0.8060609 ] [ 0. 0. 0. 1. ]] SLAMing on 16.11 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:15.20, Y:-2.29, Z:0.80 [[ 9.73292778e-01 2.07241559e-01 -9.87527421e-02 1.52049778e+01] [-2.05886125e-01 9.78285597e-01 2.38368407e-02 -2.28879076e+00] [ 1.01548369e-01 -2.86840552e-03 9.94826468e-01 8.01375326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:15.24, Y:-2.27, Z:0.77 [[ 9.74587750e-01 2.00684193e-01 -9.95217174e-02 1.52392156e+01] [-2.03119632e-01 9.79041015e-01 -1.48696165e-02 -2.27296130e+00] [ 9.44517462e-02 3.47065607e-02 9.94924280e-01 7.74052249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:15.26, Y:-2.31, Z:0.82 [[ 0.97255312 0.21253934 -0.09469671 15.26356073] [-0.20843637 0.97668386 0.0514094 -2.31160182] [ 0.10341527 -0.03026014 0.99417785 0.81866537] [ 0. 0. 0. 1. ]] SLAMing on 16.2 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:15.30, Y:-2.31, Z:0.81 [[ 9.72529258e-01 2.09802616e-01 -1.00844956e-01 1.52987947e+01] [-2.08871576e-01 9.77742133e-01 1.98238862e-02 -2.30576689e+00] [ 1.02759465e-01 1.78433553e-03 9.94704634e-01 8.07191701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:15.33, Y:-2.31, Z:0.81 [[ 9.72655743e-01 2.09232514e-01 -1.00809526e-01 1.53296331e+01] [-2.08297156e-01 9.77864432e-01 1.98355156e-02 -2.31241737e+00] [ 1.02728285e-01 1.70520943e-03 9.94707993e-01 8.10963175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259999999999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:15.36, Y:-2.29, Z:0.78 [[ 0.97535666 0.19717523 -0.09900158 15.36368872] [-0.20063356 0.97931635 -0.02618498 -2.29153657] [ 0.09179084 0.04540273 0.9947427 0.77516016] [ 0. 0. 0. 1. ]] SLAMing on 16.29 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:15.39, Y:-2.32, Z:0.80 [[ 9.75026110e-01 2.02254788e-01 -9.17446791e-02 1.53890985e+01] [-2.01144076e-01 9.79330219e-01 2.12927821e-02 -2.31985235e+00] [ 9.41549038e-02 -2.30711980e-03 9.95554886e-01 8.02327778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:15.42, Y:-2.33, Z:0.81 [[ 9.74526381e-01 2.03083725e-01 -9.51595185e-02 1.54186435e+01] [-2.01062244e-01 9.79104400e-01 3.04720687e-02 -2.33415105e+00] [ 9.93594845e-02 -1.05628484e-02 9.94995537e-01 8.14017337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349999999999998 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:15.45, Y:-2.34, Z:0.82 [[ 9.74471561e-01 2.01990661e-01 -9.80048422e-02 1.54484166e+01] [-2.00260933e-01 9.79362740e-01 2.72797039e-02 -2.34012365e+00] [ 1.01492536e-01 -6.95675450e-03 9.94811977e-01 8.17911721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:15.48, Y:-2.35, Z:0.83 [[ 0.97371462 0.2043599 -0.10058267 15.47839519] [-0.20157379 0.97876538 0.03723352 -2.35491553] [ 0.10605587 -0.01598 0.99423176 0.83451709] [ 0. 0. 0. 1. ]] SLAMing on 16.41 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:15.51, Y:-2.36, Z:0.83 [[ 9.74345292e-01 2.00220400e-01 -1.02776671e-01 1.55113763e+01] [-1.99188887e-01 9.79750644e-01 2.03091960e-02 -2.35586767e+00] [ 1.04761825e-01 6.83801204e-04 9.94497105e-01 8.30729709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:15.54, Y:-2.36, Z:0.84 [[ 9.74538013e-01 2.00008619e-01 -1.01351931e-01 1.55427620e+01] [-1.99002468e-01 9.79793933e-01 2.00466019e-02 -2.36244743e+00] [ 1.03313500e-01 6.33108765e-04 9.94648641e-01 8.36351986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:15.57, Y:-2.37, Z:0.84 [[ 9.74862266e-01 1.98405004e-01 -1.01385490e-01 1.55746459e+01] [-1.97386502e-01 9.80120026e-01 2.00824130e-02 -2.36893770e+00] [ 1.03354401e-01 4.34540610e-04 9.94644499e-01 8.37745733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.5 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:15.61, Y:-2.38, Z:0.84 [[ 9.75439077e-01 1.96082474e-01 -1.00350742e-01 1.56055510e+01] [-1.95069597e-01 9.80587395e-01 1.99051301e-02 -2.37543122e+00] [ 1.02305720e-01 1.59137008e-04 9.94752992e-01 8.43292771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:15.64, Y:-2.38, Z:0.85 [[ 9.75713356e-01 1.94570893e-01 -1.00626111e-01 1.56372397e+01] [-1.93542494e-01 9.80888458e-01 1.99783853e-02 -2.38200687e+00] [ 1.02590203e-01 -1.77489958e-05 9.94723705e-01 8.45459360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.67, Y:-2.39, Z:0.85 [[ 9.76007261e-01 1.93499450e-01 -9.98388173e-02 1.56694940e+01] [-1.92478693e-01 9.81100371e-01 1.98497943e-02 -2.38915282e+00] [ 1.01792825e-01 -1.56698253e-04 9.94805607e-01 8.50554958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:15.70, Y:-2.40, Z:0.85 [[ 9.76020843e-01 1.93201126e-01 -1.00282791e-01 1.57014080e+01] [-1.92166785e-01 9.81159150e-01 1.99661849e-02 -2.39568258e+00] [ 1.02250867e-01 -2.16391100e-04 9.94758621e-01 8.52541009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:15.74, Y:-2.38, Z:0.82 [[ 0.97816654 0.18292185 -0.0986398 15.73518304] [-0.18614848 0.98221645 -0.02448667 -2.37606928] [ 0.09240648 0.04231369 0.99482189 0.81880485] [ 0. 0. 0. 1. ]] SLAMing on 16.65 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:15.76, Y:-2.40, Z:0.84 [[ 9.77764178e-01 1.87945655e-01 -9.30249636e-02 1.57623294e+01] [-1.87169419e-01 9.82179171e-01 1.70787952e-02 -2.40048521e+00] [ 9.45770669e-02 7.12394257e-04 9.95517288e-01 8.40591330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:15.79, Y:-2.41, Z:0.85 [[ 9.77279421e-01 1.89198791e-01 -9.55444970e-02 1.57938616e+01] [-1.88136638e-01 9.81937409e-01 2.00880879e-02 -2.40811448e+00] [ 9.76193578e-02 -1.65625451e-03 9.95222446e-01 8.46433039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.83, Y:-2.42, Z:0.85 [[ 9.76942450e-01 1.90628053e-01 -9.61477795e-02 1.58257518e+01] [-1.89554840e-01 9.81661086e-01 2.02601846e-02 -2.41500727e+00] [ 9.82466932e-02 -1.56775737e-03 9.95160856e-01 8.51428505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.86, Y:-2.42, Z:0.86 [[ 9.76841394e-01 1.91308801e-01 -9.58218842e-02 1.58557634e+01] [-1.89959375e-01 9.81520212e-01 2.30977960e-02 -2.42195586e+00] [ 9.84699278e-02 -4.36061796e-03 9.95130473e-01 8.56362462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:15.89, Y:-2.44, Z:0.89 [[ 0.97481187 0.20015638 -0.09838318 15.8851286 ] [-0.19575061 0.97923879 0.05266016 -2.44441402] [ 0.10688089 -0.03207519 0.99375432 0.88810178] [ 0. 0. 0. 1. ]] SLAMing on 16.8 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:15.92, Y:-2.42, Z:0.86 [[ 9.76254693e-01 1.90956366e-01 -1.02286071e-01 1.59217782e+01] [-1.92346555e-01 9.81319655e-01 -3.81275651e-03 -2.42380827e+00] [ 9.96472620e-02 2.33965949e-02 9.94747718e-01 8.55581138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:15.95, Y:-2.45, Z:0.89 [[ 0.97483104 0.19913862 -0.10024099 15.94829182] [-0.19563342 0.97970024 0.04376075 -2.45362618] [ 0.10692058 -0.02304885 0.99400037 0.88998558] [ 0. 0. 0. 1. ]] SLAMing on 16.86 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:15.98, Y:-2.45, Z:0.88 [[ 9.74829978e-01 1.96982163e-01 -1.04424815e-01 1.59821563e+01] [-1.95844749e-01 9.80407060e-01 2.11383779e-02 -2.45137467e+00] [ 1.06542709e-01 -1.55272762e-04 9.94308115e-01 8.83380649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:16.01, Y:-2.46, Z:0.89 [[ 9.74703821e-01 1.97646462e-01 -1.04347197e-01 1.60140436e+01] [-1.96512432e-01 9.80273363e-01 2.11423381e-02 -2.45799719e+00] [ 1.06467486e-01 -1.01996185e-04 9.94316179e-01 8.86646062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:16.05, Y:-2.46, Z:0.89 [[ 9.74562893e-01 1.97895746e-01 -1.05187645e-01 1.60464671e+01] [-1.96741417e-01 9.80223068e-01 2.13436681e-02 -2.46419933e+00] [ 1.07331178e-01 -1.05980561e-04 9.94223319e-01 8.89097650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:16.08, Y:-2.45, Z:0.86 [[ 0.97697394 0.18696495 -0.10279121 16.07968263] [-0.18979597 0.98165112 -0.01840001 -2.44690411] [ 0.09746495 0.03748569 0.99453276 0.85876136] [ 0. 0. 0. 1. ]] SLAMing on 16.98 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:16.11, Y:-2.46, Z:0.87 [[ 9.77187594e-01 1.89300092e-01 -9.62802229e-02 1.61077953e+01] [-1.89313801e-01 9.81874689e-01 9.07632943e-03 -2.46464307e+00] [ 9.62532639e-02 9.35789846e-03 9.95312885e-01 8.72395798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009999999999998 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:16.13, Y:-2.50, Z:0.92 [[ 0.97472625 0.20110951 -0.09728159 16.13430833] [-0.19533211 0.97853055 0.06575205 -2.50117744] [ 0.10841637 -0.04508803 0.99308256 0.92036416] [ 0. 0. 0. 1. ]] SLAMing on 17.04 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:16.17, Y:-2.46, Z:0.86 [[ 0.97787971 0.18261929 -0.10198757 16.17415464] [-0.18710365 0.98167276 -0.03620519 -2.45581641] [ 0.09350666 0.05448657 0.99412661 0.85628231] [ 0. 0. 0. 1. ]] SLAMing on 17.07 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.20, Y:-2.48, Z:0.88 [[ 9.77655688e-01 1.87489142e-01 -9.50640668e-02 1.62002589e+01] [-1.87946146e-01 9.82170338e-01 4.20406707e-03 -2.47899741e+00] [ 9.41573235e-02 1.37567949e-02 9.95462279e-01 8.75760261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:16.23, Y:-2.50, Z:0.89 [[ 9.77467306e-01 1.90691776e-01 -9.05224392e-02 1.62276441e+01] [-1.88687225e-01 9.81570053e-01 3.02880002e-02 -2.49657749e+00] [ 9.46297880e-02 -1.25251021e-02 9.95433737e-01 8.94231017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:16.26, Y:-2.49, Z:0.89 [[ 9.76997472e-01 1.89729993e-01 -9.73574315e-02 1.62620089e+01] [-1.89556915e-01 9.81806883e-01 1.11094400e-02 -2.49467406e+00] [ 9.76939904e-02 7.60087953e-03 9.95187475e-01 8.88453038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:16.29, Y:-2.50, Z:0.90 [[ 9.76834971e-01 1.90213015e-01 -9.80430971e-02 1.62934037e+01] [-1.89249042e-01 9.81742834e-01 1.91260945e-02 -2.50434481e+00] [ 9.98911401e-02 -1.28475717e-04 9.94998364e-01 8.95864545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189999999999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.32, Y:-2.54, Z:0.94 [[ 0.97347293 0.20276991 -0.10599438 16.31955613] [-0.19630862 0.97815997 0.06830816 -2.53834097] [ 0.1175303 -0.04568853 0.99201774 0.94235764] [ 0. 0. 0. 1. ]] SLAMing on 17.22 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:16.36, Y:-2.53, Z:0.93 [[ 9.73996599e-01 1.97381353e-01 -1.11226018e-01 1.63569391e+01] [-1.94876848e-01 9.80270231e-01 3.30649056e-02 -2.53222918e+00] [ 1.15557951e-01 -1.05297297e-02 9.93244927e-01 9.29384657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.39, Y:-2.49, Z:0.87 [[ 0.97840364 0.17628929 -0.1079278 16.39465971] [-0.18271974 0.98174419 -0.05283788 -2.49123157] [ 0.09664274 0.07141731 0.99275362 0.87054792] [ 0. 0. 0. 1. ]] SLAMing on 17.28 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:16.42, Y:-2.53, Z:0.91 [[ 9.78042756e-01 1.85274459e-01 -9.54240117e-02 1.64177725e+01] [-1.84262680e-01 9.82685850e-01 1.93851615e-02 -2.53063224e+00] [ 9.73634014e-02 -1.37643272e-03 9.95247946e-01 9.09235879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.45, Y:-2.54, Z:0.92 [[ 9.78241235e-01 1.84258223e-01 -9.53571862e-02 1.64489206e+01] [-1.83050159e-01 9.82871915e-01 2.13410134e-02 -2.53813089e+00] [ 9.76561574e-02 -3.42151116e-03 9.95214333e-01 9.15390664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:16.47, Y:-2.58, Z:0.97 [[ 0.97501997 0.19869589 -0.0992774 16.47450129] [-0.19050621 0.97789529 0.08618697 -2.57884488] [ 0.1142079 -0.06512106 0.99132023 0.97372418] [ 0. 0. 0. 1. ]] SLAMing on 17.37 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:16.51, Y:-2.56, Z:0.95 [[ 9.74996732e-01 1.92058372e-01 -1.11780834e-01 1.65143176e+01] [-1.90606536e-01 9.81381966e-01 2.36344039e-02 -2.56164041e+00] [ 1.14238880e-01 -1.73730896e-03 9.93451790e-01 9.48068206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.4 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:16.55, Y:-2.54, Z:0.91 [[ 0.97800112 0.17847775 -0.1079792 16.548672 ] [-0.18232299 0.98287412 -0.02677301 -2.53798339] [ 0.10135157 0.04587113 0.99379258 0.90971618] [ 0. 0. 0. 1. ]] SLAMing on 17.43 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:16.57, Y:-2.59, Z:0.98 [[ 0.97497158 0.19567307 -0.10555788 16.56894737] [-0.18901732 0.97948669 0.06984465 -2.59207545] [ 0.11705926 -0.04814429 0.99195729 0.97599833] [ 0. 0. 0. 1. ]] SLAMing on 17.46 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:16.61, Y:-2.58, Z:0.96 [[ 9.74810573e-01 1.90912628e-01 -1.15311387e-01 1.66075910e+01] [-1.89347954e-01 9.81604943e-01 2.44762606e-02 -2.58174537e+00] [ 1.17863054e-01 -2.02574245e-03 9.93027793e-01 9.58402256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:16.64, Y:-2.59, Z:0.96 [[ 9.74759359e-01 1.91291765e-01 -1.15115822e-01 1.66396165e+01] [-1.89733250e-01 9.81531199e-01 2.44499338e-02 -2.58865459e+00] [ 1.17666842e-01 -1.99150279e-03 9.93051131e-01 9.62706440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.67, Y:-2.56, Z:0.92 [[ 0.9778369 0.17708158 -0.11170098 16.67419511] [-0.18131426 0.98300148 -0.02886562 -2.56326954] [ 0.10469066 0.04847885 0.99332254 0.92168459] [ 0. 0. 0. 1. ]] SLAMing on 17.55 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.69, Y:-2.62, Z:0.99 [[ 0.97457929 0.19690445 -0.10688242 16.69407574] [-0.1898014 0.97909805 0.07309198 -2.61986335] [ 0.11904051 -0.0509475 0.99158142 0.99192836] [ 0. 0. 0. 1. ]] SLAMing on 17.58 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:16.74, Y:-2.58, Z:0.94 [[ 0.97666851 0.18132124 -0.1150705 16.73548164] [-0.1844714 0.98268641 -0.01725447 -2.58235274] [ 0.10994961 0.03807911 0.99320746 0.93689516] [ 0. 0. 0. 1. ]] SLAMing on 17.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:-2.60, Z:0.95 [[ 9.76839617e-01 1.84790263e-01 -1.07874561e-01 1.67617954e+01] [-1.85359404e-01 9.82658999e-01 4.81489599e-03 -2.59569844e+00] [ 1.06893654e-01 1.52921831e-02 9.94152853e-01 9.46784488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:16.79, Y:-2.64, Z:1.01 [[ 0.97262233 0.20413825 -0.11105578 16.78550392] [-0.19631032 0.977476 0.07747851 -2.64032927] [ 0.12437068 -0.05355593 0.99078943 1.00564872] [ 0. 0. 0. 1. ]] SLAMing on 17.669999999999998 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:16.83, Y:-2.61, Z:0.96 [[ 9.73548603e-01 1.93060954e-01 -1.22190778e-01 1.68291353e+01] [-1.95993045e-01 9.80527710e-01 -1.23343155e-02 -2.60916583e+00] [ 1.17430169e-01 3.59565981e-02 9.92429987e-01 9.56688433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.7 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:16.85, Y:-2.65, Z:1.01 [[ 0.97153229 0.20713776 -0.11497373 16.8495796 ] [-0.20106154 0.97759734 0.06227113 -2.64790712] [ 0.12529671 -0.03738162 0.99141482 1.00595369] [ 0. 0. 0. 1. ]] SLAMing on 17.73 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:16.89, Y:-2.63, Z:0.97 [[ 9.72321355e-01 1.98916699e-01 -1.22569688e-01 1.68915321e+01] [-2.01387557e-01 9.79479095e-01 -7.98463621e-03 -2.62516118e+00] [ 1.18466170e-01 3.24476424e-02 9.92427789e-01 9.67522509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.759999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:-2.66, Z:1.01 [[ 0.97084237 0.21046214 -0.11476404 16.91219866] [-0.20488576 0.97703441 0.05852856 -2.65954738] [ 0.12444646 -0.03330848 0.99166709 1.01288119] [ 0. 0. 0. 1. ]] SLAMing on 17.79 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:16.95, Y:-2.65, Z:1.00 [[ 9.69950084e-01 2.10549307e-01 -1.21925485e-01 1.69483436e+01] [-2.08887537e-01 9.77583229e-01 2.64012703e-02 -2.65343794e+00] [ 1.24751078e-01 -1.39200164e-04 9.92188061e-01 1.00057295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:16.98, Y:-2.66, Z:1.00 [[ 9.69431720e-01 2.12959540e-01 -1.21862116e-01 1.69798658e+01] [-2.11315524e-01 9.77061008e-01 2.64109173e-02 -2.66010723e+00] [ 1.24691179e-01 1.47776017e-04 9.92195590e-01 1.00465877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:17.01, Y:-2.67, Z:1.01 [[ 9.69082263e-01 2.14437786e-01 -1.22049184e-01 1.70116344e+01] [-2.12795835e-01 9.76737603e-01 2.64875159e-02 -2.66676713e+00] [ 1.24889952e-01 3.02976160e-04 9.92170554e-01 1.00810020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:17.05, Y:-2.65, Z:0.98 [[ 9.71207687e-01 2.05603810e-01 -1.20344095e-01 1.70468660e+01] [-2.08475974e-01 9.77958146e-01 -1.16461741e-02 -2.65164607e+00] [ 1.15296990e-01 3.63997063e-02 9.92663924e-01 9.79529080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:17.07, Y:-2.69, Z:1.03 [[ 0.96863441 0.22040684 -0.11475276 17.06867093] [-0.21455745 0.97479199 0.06120199 -2.69382377] [ 0.12534941 -0.03466129 0.99150699 1.03088112] [ 0. 0. 0. 1. ]] SLAMing on 17.939999999999998 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:17.11, Y:-2.69, Z:1.02 [[ 9.68515728e-01 2.16976939e-01 -1.22058565e-01 1.71056709e+01] [-2.15342668e-01 9.76176583e-01 2.65859764e-02 -2.68809257e+00] [ 1.24919257e-01 5.35480794e-04 9.92166766e-01 1.01946686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:17.14, Y:-2.70, Z:1.02 [[ 9.68568309e-01 2.17059002e-01 -1.21494115e-01 1.71367161e+01] [-2.15435955e-01 9.76158354e-01 2.64993815e-02 -2.69556969e+00] [ 1.24349425e-01 5.07739674e-04 9.92238360e-01 1.02349878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.0 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.17, Y:-2.69, Z:1.01 [[ 9.70277703e-01 2.10258402e-01 -1.19802268e-01 1.71704771e+01] [-2.11636583e-01 9.77347637e-01 1.24617689e-03 -2.69076800e+00] [ 1.17350483e-01 2.41454050e-02 9.92796990e-01 1.00665310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029999999999998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:17.19, Y:-2.72, Z:1.04 [[ 0.96883111 0.21865858 -0.11642466 17.19487473] [-0.21421532 0.9755287 0.04955355 -2.72084473] [ 0.12441091 -0.02306907 0.99196257 1.04187974] [ 0. 0. 0. 1. ]] SLAMing on 18.06 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:17.23, Y:-2.70, Z:1.01 [[ 9.70937602e-01 2.07853293e-01 -1.18647300e-01 1.72324900e+01] [-2.09940063e-01 9.77700271e-01 -5.22962719e-03 -2.70421789e+00] [ 1.14914502e-01 2.99864633e-02 9.92922691e-01 1.01063059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:17.26, Y:-2.74, Z:1.05 [[ 0.96923809 0.21794078 -0.11436493 17.25546755] [-0.21282223 0.97552172 0.05535401 -2.73975848] [ 0.12362937 -0.02931181 0.99189546 1.05408693] [ 0. 0. 0. 1. ]] SLAMing on 18.12 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:17.29, Y:-2.72, Z:1.02 [[ 9.71038318e-01 2.06221560e-01 -1.20653447e-01 1.72948880e+01] [-2.08268885e-01 9.78061379e-01 -4.47334951e-03 -2.72027383e+00] [ 1.17083976e-01 2.94721527e-02 9.92684610e-01 1.01818663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:-2.74, Z:1.04 [[ 9.71134387e-01 2.09777629e-01 -1.13540074e-01 1.73201791e+01] [-2.07849176e-01 9.77739794e-01 2.86987055e-02 -2.74170523e+00] [ 1.17032995e-01 -4.27108883e-03 9.93118843e-01 1.03857390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.35, Y:-2.76, Z:1.06 [[ 0.96962779 0.21396343 -0.11849727 17.34729175] [-0.20975407 0.97662051 0.04707024 -2.75810765] [ 0.12579817 -0.02078533 0.99183809 1.05941075] [ 0. 0. 0. 1. ]] SLAMing on 18.21 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.39, Y:-2.74, Z:1.03 [[ 9.71806455e-01 2.02836595e-01 -1.20206196e-01 1.73856056e+01] [-2.04458366e-01 9.78874544e-01 -1.18447144e-03 -2.74185210e+00] [ 1.17426531e-01 2.57282393e-02 9.92748240e-01 1.02972405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:17.41, Y:-2.76, Z:1.05 [[ 9.71878115e-01 2.05252180e-01 -1.15431674e-01 1.74132365e+01] [-2.03873229e-01 9.78709019e-01 2.37563061e-02 -2.75882384e+00] [ 1.17850054e-01 4.45194112e-04 9.93031302e-01 1.04587192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.44, Y:-2.78, Z:1.08 [[ 0.97028797 0.21238392 -0.11590654 17.43850368] [-0.20687676 0.97665952 0.05777707 -2.7824955 ] [ 0.12547214 -0.03208202 0.99157828 1.07764842] [ 0. 0. 0. 1. ]] SLAMing on 18.3 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:17.48, Y:-2.76, Z:1.04 [[ 9.72317400e-01 1.99161889e-01 -1.22202356e-01 1.74780403e+01] [-2.01141890e-01 9.79554112e-01 -3.95992470e-03 -2.76079474e+00] [ 1.18915154e-01 2.84303165e-02 9.92497306e-01 1.04285527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:17.50, Y:-2.78, Z:1.07 [[ 9.72338495e-01 2.03195335e-01 -1.15193344e-01 1.75033245e+01] [-2.00824448e-01 9.79106086e-01 3.19501757e-02 -2.78202618e+00] [ 1.19278631e-01 -7.93274608e-03 9.92829129e-01 1.06513837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.53, Y:-2.80, Z:1.09 [[ 0.97121076 0.2079274 -0.11625775 17.53230071] [-0.20339834 0.97783473 0.04968246 -2.79869195] [ 0.12401121 -0.02460551 0.9919757 1.08680083] [ 0. 0. 0. 1. ]] SLAMing on 18.39 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:17.57, Y:-2.79, Z:1.08 [[ 9.71479689e-01 2.03849768e-01 -1.21130042e-01 1.75675951e+01] [-2.02091793e-01 9.79001011e-01 2.67568303e-02 -2.79452197e+00] [ 1.24040807e-01 -1.51432979e-03 9.92275962e-01 1.07914486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.419999999999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:17.60, Y:-2.78, Z:1.06 [[ 9.73088084e-01 1.95952050e-01 -1.21253348e-01 1.76026744e+01] [-1.97784846e-01 9.80240395e-01 -3.15011706e-03 -2.78469606e+00] [ 1.18240158e-01 2.70474162e-02 9.92616594e-01 1.05901192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:17.63, Y:-2.82, Z:1.10 [[ 0.97197603 0.20453678 -0.11587624 17.62536931] [-0.1993596 0.97839531 0.05475729 -2.81590447] [ 0.12457265 -0.03012173 0.99175316 1.09950554] [ 0. 0. 0. 1. ]] SLAMing on 18.48 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:17.66, Y:-2.81, Z:1.09 [[ 9.72009248e-01 2.00473408e-01 -1.22508915e-01 1.76609404e+01] [-1.98638459e-01 9.79697011e-01 2.71390790e-02 -2.81162474e+00] [ 1.25462282e-01 -2.04445352e-03 9.92096284e-01 1.09103789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509999999999998 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:17.70, Y:-2.80, Z:1.07 [[ 9.73627623e-01 1.92335733e-01 -1.22703783e-01 1.76954519e+01] [-1.93970909e-01 9.81006270e-01 -1.40888106e-03 -2.80260673e+00] [ 1.20102202e-01 2.51726898e-02 9.92442339e-01 1.07086452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:17.72, Y:-2.81, Z:1.08 [[ 9.74534618e-01 1.91754652e-01 -1.16242984e-01 1.77242018e+01] [-1.91719882e-01 9.81381300e-01 1.15857969e-02 -2.81263697e+00] [ 1.16300321e-01 1.09953310e-02 9.93153230e-01 1.07628700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:17.75, Y:-2.83, Z:1.09 [[ 9.74364866e-01 1.94129201e-01 -1.13696792e-01 1.77535641e+01] [-1.92133733e-01 9.80958896e-01 2.83597108e-02 -2.82695569e+00] [ 1.17037327e-01 -5.78771682e-03 9.93110652e-01 1.08965759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.599999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:17.79, Y:-2.83, Z:1.09 [[ 9.74054342e-01 1.93740664e-01 -1.16973050e-01 1.77858569e+01] [-1.92492914e-01 9.81052155e-01 2.19805897e-02 -2.82988269e+00] [ 1.19015196e-01 1.10619437e-03 9.92891817e-01 1.09112537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:17.81, Y:-2.86, Z:1.13 [[ 0.97184466 0.20400869 -0.11789148 17.81137736] [-0.19747471 0.97816403 0.06479875 -2.85687873] [ 0.12853672 -0.03969373 0.99091005 1.12799414] [ 0. 0. 0. 1. ]] SLAMing on 18.66 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:17.85, Y:-2.85, Z:1.11 [[ 9.71395756e-01 2.00929320e-01 -1.26561032e-01 1.78477714e+01] [-1.98940572e-01 9.79603025e-01 2.82941933e-02 -2.84907846e+00] [ 1.29664702e-01 -2.30673524e-03 9.91555215e-01 1.11405974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:17.88, Y:-2.85, Z:1.12 [[ 9.70780285e-01 2.04199535e-01 -1.26048357e-01 1.78796404e+01] [-2.02251209e-01 9.78927470e-01 2.82038373e-02 -2.85442695e+00] [ 1.29151410e-01 -1.88629664e-03 9.91623091e-01 1.11858975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:17.91, Y:-2.85, Z:1.10 [[ 9.71748134e-01 2.00217653e-01 -1.24973823e-01 1.79139337e+01] [-2.01200243e-01 9.79538175e-01 4.83999995e-03 -2.84829788e+00] [ 1.23385684e-01 2.04415026e-02 9.92148234e-01 1.10330952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:17.94, Y:-2.87, Z:1.12 [[ 9.71371140e-01 2.05203025e-01 -1.19707252e-01 1.79426161e+01] [-2.03128586e-01 9.78710175e-01 2.94137725e-02 -2.86507966e+00] [ 1.23194501e-01 -4.25572482e-03 9.92373419e-01 1.12086208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.779999999999998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:17.97, Y:-2.88, Z:1.14 [[ 0.9702587 0.21133865 -0.11804249 17.97080249] [-0.20732604 0.97721609 0.04543814 -2.87983293] [ 0.12495586 -0.01961347 0.99196842 1.13967889] [ 0. 0. 0. 1. ]] SLAMing on 18.81 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:18.01, Y:-2.88, Z:1.14 [[ 9.70399305e-01 2.09318291e-01 -1.20461789e-01 1.80054840e+01] [-2.07560713e-01 9.77846705e-01 2.70992923e-02 -2.87999653e+00] [ 1.23465541e-01 -1.29399962e-03 9.92348016e-01 1.13533580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:18.04, Y:-2.89, Z:1.14 [[ 9.70512182e-01 2.09617433e-01 -1.19023682e-01 1.80368063e+01] [-2.07899839e-01 9.77782649e-01 2.68094767e-02 -2.88675996e+00] [ 1.21999024e-01 -1.27391946e-03 9.92529403e-01 1.14055468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:18.07, Y:-2.89, Z:1.14 [[ 9.70574598e-01 2.09785912e-01 -1.18215147e-01 1.80692707e+01] [-2.08088826e-01 9.77746511e-01 2.66608311e-02 -2.89344773e+00] [ 1.21177515e-01 -1.27707417e-03 9.92630031e-01 1.14422838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.9 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:18.10, Y:-2.90, Z:1.15 [[ 9.70340321e-01 2.10527551e-01 -1.18818394e-01 1.81007661e+01] [-2.08814415e-01 9.77587158e-01 2.68307268e-02 -2.89856904e+00] [ 1.21803944e-01 -1.22394257e-03 9.92553425e-01 1.14697612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:-2.90, Z:1.15 [[ 9.69955649e-01 2.11985753e-01 -1.19365316e-01 1.81325356e+01] [-2.10263840e-01 9.77272163e-01 2.69858572e-02 -2.90496475e+00] [ 1.22373018e-01 -1.07687497e-03 9.92483594e-01 1.15268563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:18.16, Y:-2.91, Z:1.15 [[ 9.69697782e-01 2.12572959e-01 -1.20411577e-01 1.81649220e+01] [-2.10820900e-01 9.77144639e-01 2.72562483e-02 -2.91127432e+00] [ 1.23453468e-01 -1.04504651e-03 9.92349812e-01 1.15390009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:18.20, Y:-2.92, Z:1.16 [[ 9.68877616e-01 2.15190797e-01 -1.22348216e-01 1.81969934e+01] [-2.13398085e-01 9.76571732e-01 2.77292316e-02 -2.91773622e+00] [ 1.25448885e-01 -7.57356798e-04 9.92099795e-01 1.15696789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:18.23, Y:-2.92, Z:1.16 [[ 9.68461988e-01 2.16636857e-01 -1.23084727e-01 1.82276203e+01] [-2.14829426e-01 9.76252068e-01 2.79323591e-02 -2.92451174e+00] [ 1.26212898e-01 -6.09206784e-04 9.92002991e-01 1.16131366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:18.26, Y:-2.93, Z:1.16 [[ 9.68051788e-01 2.17927967e-01 -1.24028776e-01 1.82582289e+01] [-2.16100145e-01 9.75964745e-01 2.81699200e-02 -2.93110292e+00] [ 1.27186726e-01 -4.67304901e-04 9.91878681e-01 1.16439802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:18.29, Y:-2.94, Z:1.17 [[ 9.67375829e-01 2.20582344e-01 -1.24609127e-01 1.82904144e+01] [-2.18754970e-01 9.75368344e-01 2.83347230e-02 -2.93816459e+00] [ 1.27789937e-01 -1.51460311e-04 9.91801245e-01 1.16793088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:18.32, Y:-2.95, Z:1.17 [[ 9.67057231e-01 2.21873600e-01 -1.24789494e-01 1.83209835e+01] [-2.20046905e-01 9.75075436e-01 2.84122188e-02 -2.94562181e+00] [ 1.27983092e-01 -1.66996051e-05 9.91776350e-01 1.17127587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:18.35, Y:-2.95, Z:1.18 [[ 9.66460237e-01 2.24176496e-01 -1.25297681e-01 1.83527394e+01] [-2.22349635e-01 9.74548528e-01 2.85623277e-02 -2.95447322e+00] [ 1.28511673e-01 2.55539639e-04 9.91707963e-01 1.17553851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:18.38, Y:-2.96, Z:1.18 [[ 9.66228103e-01 2.25523602e-01 -1.24668997e-01 1.83845996e+01] [-2.23721641e-01 9.74237624e-01 2.84548809e-02 -2.96283200e+00] [ 1.27874475e-01 3.97246926e-04 9.91790281e-01 1.18014539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.2 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:18.42, Y:-2.97, Z:1.18 [[ 9.65955069e-01 2.26789276e-01 -1.24488672e-01 1.84163826e+01] [-2.24998406e-01 9.73943707e-01 2.84494781e-02 -2.97116295e+00] [ 1.27696995e-01 5.28835232e-04 9.91813086e-01 1.18424585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:18.45, Y:-2.98, Z:1.19 [[ 9.65745417e-01 2.27830424e-01 -1.24213876e-01 1.84470896e+01] [-2.26051511e-01 9.73700622e-01 2.84220600e-02 -2.97935350e+00] [ 1.27422538e-01 6.30260197e-04 9.91848325e-01 1.18911701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.259999999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:18.48, Y:-2.99, Z:1.19 [[ 9.65466713e-01 2.29028292e-01 -1.24177565e-01 1.84786819e+01] [-2.27256033e-01 9.73419473e-01 2.84468793e-02 -2.98823678e+00] [ 1.27392000e-01 7.55585766e-04 9.91852160e-01 1.19238556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.29 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:18.51, Y:-3.00, Z:1.20 [[ 9.65399923e-01 2.29624810e-01 -1.23593833e-01 1.85093411e+01] [-2.27869685e-01 9.73278898e-01 2.83477390e-02 -2.99585057e+00] [ 1.26800614e-01 7.96382690e-04 9.91927906e-01 1.19557884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:18.54, Y:-3.00, Z:1.20 [[ 9.65215756e-01 2.30534412e-01 -1.23338679e-01 1.85414076e+01] [-2.28789802e-01 9.73063773e-01 2.83217201e-02 -3.00414059e+00] [ 1.26545532e-01 8.82061507e-04 9.91960408e-01 1.19943264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.349999999999998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:18.57, Y:-3.01, Z:1.20 [[ 9.65159071e-01 2.31051123e-01 -1.22814272e-01 1.85727307e+01] [-2.29321204e-01 9.72941183e-01 2.82354227e-02 -3.01237651e+00] [ 1.26014890e-01 9.12242445e-04 9.92027931e-01 1.20321500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:18.61, Y:-3.02, Z:1.21 [[ 9.65132370e-01 2.31166561e-01 -1.22806879e-01 1.86050619e+01] [-2.29433485e-01 9.72913779e-01 2.82675422e-02 -3.01993385e+00] [ 1.26015016e-01 8.94090314e-04 9.92027931e-01 1.20732636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.63, Y:-3.03, Z:1.21 [[ 9.64861704e-01 2.32460311e-01 -1.22491209e-01 1.86349463e+01] [-2.30744595e-01 9.72605322e-01 2.82102924e-02 -3.02915905e+00] [ 1.25693375e-01 1.04515360e-03 9.92068588e-01 1.21169690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.439999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.67, Y:-3.04, Z:1.22 [[ 9.64709532e-01 2.33086971e-01 -1.22498907e-01 1.86667858e+01] [-2.31372026e-01 9.72455276e-01 2.82439670e-02 -3.03703746e+00] [ 1.25708009e-01 1.09559618e-03 9.92066679e-01 1.21590197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:18.70, Y:-3.04, Z:1.22 [[ 9.64382822e-01 2.33899414e-01 -1.23518567e-01 1.86985855e+01] [-2.32157956e-01 9.72260087e-01 2.85132880e-02 -3.04475185e+00] [ 1.26761414e-01 1.17809280e-03 9.91932536e-01 1.21925279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.5 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.73, Y:-3.05, Z:1.22 [[ 9.64039344e-01 2.34850803e-01 -1.24391495e-01 1.87299436e+01] [-2.33087564e-01 9.72030593e-01 2.87526382e-02 -3.05225270e+00] [ 1.27664919e-01 1.27543608e-03 9.91816536e-01 1.22254913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.76, Y:-3.06, Z:1.23 [[ 9.63659696e-01 2.35659501e-01 -1.25795829e-01 1.87616128e+01] [-2.33857990e-01 9.71834732e-01 2.91151853e-02 -3.05990289e+00] [ 1.29114025e-01 1.36122898e-03 9.91628819e-01 1.22576260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.79, Y:-3.07, Z:1.23 [[ 9.63298437e-01 2.36438471e-01 -1.27094338e-01 1.87921733e+01] [-2.34601279e-01 9.71645390e-01 2.94529614e-02 -3.06777835e+00] [ 1.30454440e-01 1.44450243e-03 9.91453253e-01 1.22758287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.82, Y:-3.08, Z:1.23 [[ 9.63039300e-01 2.37722139e-01 -1.26662907e-01 1.88236106e+01] [-2.35905331e-01 9.71331900e-01 2.93771252e-02 -3.07593980e+00] [ 1.30015315e-01 1.58912896e-03 9.91510712e-01 1.23400544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:18.85, Y:-3.08, Z:1.24 [[ 9.63000116e-01 2.37423365e-01 -1.27518320e-01 1.88546555e+01] [-2.35574280e-01 9.71405079e-01 2.96130244e-02 -3.08410227e+00] [ 1.30902767e-01 1.52269042e-03 9.91394042e-01 1.23658183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:18.89, Y:-3.09, Z:1.24 [[ 9.62979185e-01 2.37606236e-01 -1.27335647e-01 1.88863091e+01] [-2.35759471e-01 9.71360383e-01 2.96053836e-02 -3.09267020e+00] [ 1.30723227e-01 1.51121667e-03 9.91417750e-01 1.24075052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:18.92, Y:-3.10, Z:1.25 [[ 9.63348912e-01 2.36889692e-01 -1.25865592e-01 1.89161575e+01] [-2.35074705e-01 9.71535598e-01 2.92995682e-02 -3.10159314e+00] [ 1.29223669e-01 1.36210971e-03 9.91614536e-01 1.24546059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.95, Y:-3.11, Z:1.25 [[ 9.63632373e-01 2.36078196e-01 -1.25218745e-01 1.89479836e+01] [-2.34270691e-01 9.71733303e-01 2.91827166e-02 -3.10989023e+00] [ 1.28568628e-01 1.21367160e-03 9.91699871e-01 1.24907499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-3.12, Z:1.26 [[ 9.63790611e-01 2.36138207e-01 -1.23880612e-01 1.89788918e+01] [-2.34365252e-01 9.71718771e-01 2.89060499e-02 -3.11795635e+00] [ 1.27202938e-01 1.17393129e-03 9.91876018e-01 1.25632776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:19.01, Y:-3.13, Z:1.26 [[ 9.64044238e-01 2.35148120e-01 -1.23790420e-01 1.90108202e+01] [-2.33365105e-01 9.71959025e-01 2.89202684e-02 -3.12604562e+00] [ 1.27119763e-01 1.00794632e-03 9.91886863e-01 1.25859946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-3.13, Z:1.26 [[ 9.64278427e-01 2.34388094e-01 -1.23407201e-01 1.90429807e+01] [-2.32605488e-01 9.72142718e-01 2.88656084e-02 -3.13299487e+00] [ 1.26735167e-01 8.70708876e-04 9.91936207e-01 1.26359273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:19.08, Y:-3.12, Z:1.24 [[ 9.66466699e-01 2.25789033e-01 -1.22316934e-01 1.90751206e+01] [-2.27165939e-01 9.73852172e-01 2.75371056e-03 -3.12268396e+00] [ 1.19740370e-01 2.51248716e-02 9.92487272e-01 1.24376154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:-3.14, Z:1.26 [[ 9.66053250e-01 2.29796088e-01 -1.18046075e-01 1.91028819e+01] [-2.27765034e-01 9.73235117e-01 3.06022100e-02 -3.13969831e+00] [ 1.21918854e-01 -2.67659605e-03 9.92536462e-01 1.26213391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:19.13, Y:-3.16, Z:1.28 [[ 0.96434814 0.23552002 -0.12067723 19.13491115] [-0.23120017 0.97168005 0.04882986 -3.15944074] [ 0.12876007 -0.01918839 0.99149012 1.28238282] [ 0. 0. 0. 1. ]] SLAMing on 19.919999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-3.16, Z:1.28 [[ 9.64212192e-01 2.34077142e-01 -1.24510003e-01 1.91686221e+01] [-2.32256549e-01 9.72217687e-01 2.91489965e-02 -3.15792451e+00] [ 1.27873941e-01 8.12445809e-04 9.91790096e-01 1.27847187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:19.20, Y:-3.17, Z:1.28 [[ 9.64090425e-01 2.34029946e-01 -1.25537388e-01 1.92000981e+01] [-2.32174251e-01 9.72229076e-01 2.94234751e-02 -3.16521755e+00] [ 1.28937073e-01 7.79658440e-04 9.91652471e-01 1.28126084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:-3.17, Z:1.29 [[ 9.63894653e-01 2.35133492e-01 -1.24977354e-01 1.92303621e+01] [-2.33298794e-01 9.71962682e-01 2.93294746e-02 -3.17221252e+00] [ 1.28369666e-01 8.86542090e-04 9.91725992e-01 1.28678831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.26, Y:-3.18, Z:1.29 [[ 9.63869102e-01 2.34603607e-01 -1.26164584e-01 1.92621427e+01] [-2.32724552e-01 9.72090801e-01 2.96438493e-02 -3.17971314e+00] [ 1.29597986e-01 7.88805951e-04 9.91566306e-01 1.29025044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:-3.19, Z:1.30 [[ 9.63825017e-01 2.35035137e-01 -1.25697338e-01 1.92943170e+01] [-2.33168805e-01 9.71986540e-01 2.95715259e-02 -3.18705208e+00] [ 1.29126468e-01 8.06921751e-04 9.91627805e-01 1.29528139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.33, Y:-3.19, Z:1.30 [[ 9.63825028e-01 2.34361842e-01 -1.26948187e-01 1.93265837e+01] [-2.32447198e-01 9.72149194e-01 2.99039235e-02 -3.19463147e+00] [ 1.30420917e-01 6.86600497e-04 9.91458478e-01 1.29794615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.36, Y:-3.20, Z:1.30 [[ 9.63846846e-01 2.34461934e-01 -1.26597232e-01 1.93585840e+01] [-2.32553802e-01 9.72125076e-01 2.98590807e-02 -3.20201519e+00] [ 1.30069162e-01 6.61086958e-04 9.91504703e-01 1.30197511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.13 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:19.39, Y:-3.21, Z:1.30 [[ 9.63903982e-01 2.33885868e-01 -1.27226236e-01 1.93893747e+01] [-2.31948611e-01 9.72263904e-01 3.00456751e-02 -3.20905577e+00] [ 1.30724736e-01 5.48802792e-04 9.91418551e-01 1.30471711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:19.42, Y:-3.19, Z:1.27 [[ 9.67341845e-01 2.21522099e-01 -1.23197865e-01 1.94232824e+01] [-2.25011246e-01 9.74240830e-01 -1.49914995e-02 -3.18875248e+00] [ 1.16703442e-01 4.22228100e-02 9.92268885e-01 1.27353462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.45, Y:-3.21, Z:1.29 [[ 9.67112314e-01 2.26539144e-01 -1.15645093e-01 1.94490406e+01] [-2.25386645e-01 9.73995017e-01 2.31207195e-02 -3.21333021e+00] [ 1.17875492e-01 3.70452697e-03 9.93021472e-01 1.29383112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:19.48, Y:-3.25, Z:1.34 [[ 0.96383917 0.23869088 -0.11849353 19.47522555] [-0.23157852 0.97024031 0.07074698 -3.24815902] [ 0.13185386 -0.04074816 0.99043129 1.33633289] [ 0. 0. 0. 1. ]] SLAMing on 20.25 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:19.51, Y:-3.24, Z:1.32 [[ 9.63785776e-01 2.33855536e-01 -1.28173972e-01 1.95120228e+01] [-2.31864315e-01 9.72271286e-01 3.04546493e-02 -3.23989591e+00] [ 1.31741861e-01 3.67212504e-04 9.91283989e-01 1.32121618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:-3.21, Z:1.28 [[ 0.96726208 0.22051886 -0.12560059 19.54750903] [-0.2256136 0.97382251 -0.02771684 -3.21303577] [ 0.1162006 0.05514665 0.99169364 1.2816553 ] [ 0. 0. 0. 1. ]] SLAMing on 20.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:-3.28, Z:1.36 [[ 0.96322664 0.24226876 -0.1161907 19.56496871] [-0.23374072 0.96880677 0.08233292 -3.27526596] [ 0.13251303 -0.05214677 0.98980857 1.35672242] [ 0. 0. 0. 1. ]] SLAMing on 20.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:-3.26, Z:1.34 [[ 9.62938593e-01 2.36935196e-01 -1.28883588e-01 1.96041764e+01] [-2.34932916e-01 9.71525223e-01 3.07451698e-02 -3.26336636e+00] [ 1.32498270e-01 6.73286705e-04 9.91183008e-01 1.33662305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:19.64, Y:-3.24, Z:1.30 [[ 0.9659505 0.22402598 -0.12942952 19.64120428] [-0.22871491 0.97323608 -0.02238373 -3.2398317 ] [ 0.12095094 0.05122404 0.99133595 1.29690538] [ 0. 0. 0. 1. ]] SLAMing on 20.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:-3.27, Z:1.32 [[ 9.65723655e-01 2.31249600e-01 -1.17904387e-01 1.96644998e+01] [-2.29885928e-01 9.72890589e-01 2.52262069e-02 -3.26797046e+00] [ 1.20541618e-01 2.74301460e-03 9.92704485e-01 1.32273292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:19.70, Y:-3.28, Z:1.33 [[ 9.65521008e-01 2.31078679e-01 -1.19882556e-01 1.96963009e+01] [-2.29502100e-01 9.72933975e-01 2.69863966e-02 -3.27672616e+00] [ 1.22873793e-01 1.45736552e-03 9.92421235e-01 1.32664047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:19.72, Y:-3.31, Z:1.38 [[ 0.96255112 0.24288781 -0.1204195 19.72011383] [-0.23453756 0.96885413 0.07945945 -3.31273579] [ 0.13596867 -0.04824089 0.98953794 1.37561978] [ 0. 0. 0. 1. ]] SLAMing on 20.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:-3.28, Z:1.33 [[ 9.65282752e-01 2.26129900e-01 -1.30745852e-01 1.97623777e+01] [-2.29061501e-01 9.73382003e-01 -7.63573378e-03 -3.27906001e+00] [ 1.25538992e-01 3.73194832e-02 9.91386513e-01 1.32596785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:19.78, Y:-3.32, Z:1.38 [[ 0.96322233 0.23866997 -0.12344791 19.78264189] [-0.23189312 0.97044241 0.06683648 -3.32387766] [ 0.13575094 -0.03575167 0.99009772 1.37876677] [ 0. 0. 0. 1. ]] SLAMing on 20.55 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:19.82, Y:-3.30, Z:1.34 [[ 9.65578163e-01 2.24060410e-01 -1.32120189e-01 1.98209416e+01] [-2.25867214e-01 9.74157171e-01 1.34427178e-03 -3.29926298e+00] [ 1.29007027e-01 2.85436195e-02 9.91232792e-01 1.33961580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:19.85, Y:-3.32, Z:1.36 [[ 9.65971280e-01 2.26266249e-01 -1.25311892e-01 1.98460963e+01] [-2.23864754e-01 9.74057552e-01 3.31127904e-02 -3.32086107e+00] [ 1.29553301e-01 -3.93308885e-03 9.91564659e-01 1.36007737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.87, Y:-3.34, Z:1.39 [[ 0.96529812 0.2292311 -0.12511053 19.87449464] [-0.22398668 0.97305708 0.05467984 -3.34387112] [ 0.134274 -0.02475925 0.99063488 1.38742139] [ 0. 0. 0. 1. ]] SLAMing on 20.64 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.91, Y:-3.34, Z:1.38 [[ 9.65578720e-01 2.24962496e-01 -1.30574155e-01 1.99096639e+01] [-2.22751530e-01 9.74366528e-01 3.14900665e-02 -3.34239434e+00] [ 1.34311170e-01 -1.32054514e-03 9.90938326e-01 1.38099809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:19.94, Y:-3.35, Z:1.38 [[ 9.65952757e-01 2.23635698e-01 -1.30085918e-01 1.99416795e+01] [-2.21424436e-01 9.74671595e-01 3.14086161e-02 -3.35019112e+00] [ 1.33815137e-01 -1.53503818e-03 9.91005122e-01 1.38497016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.7 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:19.97, Y:-3.36, Z:1.39 [[ 9.66399305e-01 2.21670077e-01 -1.30133628e-01 1.99728123e+01] [-2.19434564e-01 9.75119982e-01 3.14562105e-02 -3.35782368e+00] [ 1.33868802e-01 -1.84344386e-03 9.90997349e-01 1.38865329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.00, Y:-3.37, Z:1.39 [[ 9.66431532e-01 2.21847128e-01 -1.29591454e-01 2.00043414e+01] [-2.19627369e-01 9.75079715e-01 3.13586997e-02 -3.36517753e+00] [ 1.33318836e-01 -1.84420601e-03 9.91071484e-01 1.39474348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-3.37, Z:1.40 [[ 9.66465148e-01 2.21891964e-01 -1.29263580e-01 2.00356191e+01] [-2.19679064e-01 9.75069467e-01 3.13152416e-02 -3.37250645e+00] [ 1.32989571e-01 -1.86858738e-03 9.91115676e-01 1.39895105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-3.36, Z:1.38 [[ 9.68636931e-01 2.12911911e-01 -1.28105480e-01 2.00689568e+01] [-2.14427097e-01 9.76737934e-01 2.00721127e-03 -3.36164724e+00] [ 1.25552841e-01 2.55250272e-02 9.91758518e-01 1.37883835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:20.09, Y:-3.40, Z:1.42 [[ 0.96667993 0.22403505 -0.12384751 20.09339898] [-0.21840949 0.9741647 0.05744941 -3.39574514] [ 0.13351855 -0.02848572 0.99063685 1.41850091] [ 0. 0. 0. 1. ]] SLAMing on 20.849999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:20.13, Y:-3.39, Z:1.41 [[ 9.66643234e-01 2.20388974e-01 -1.30497351e-01 2.01284885e+01] [-2.18101135e-01 9.75409515e-01 3.17517250e-02 -3.39274498e+00] [ 1.34286088e-01 -2.23096985e-03 9.90940094e-01 1.40963427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:20.16, Y:-3.40, Z:1.42 [[ 9.66676667e-01 2.20553065e-01 -1.29971407e-01 2.01597872e+01] [-2.18280792e-01 9.75372425e-01 3.16564231e-02 -3.40012520e+00] [ 1.33752447e-01 -2.23126393e-03 9.91012262e-01 1.41514653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:20.19, Y:-3.39, Z:1.39 [[ 9.68671870e-01 2.11116664e-01 -1.30784413e-01 2.01943049e+01] [-2.13244184e-01 9.76996179e-01 -2.32036694e-03 -3.38618143e+00] [ 1.27286004e-01 3.01366896e-02 9.91408116e-01 1.38934697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:-3.42, Z:1.44 [[ 0.96619552 0.22430302 -0.12709989 20.21732578] [-0.21839344 0.97408489 0.05884675 -3.4246905 ] [ 0.13700558 -0.02909968 0.99014276 1.43712132] [ 0. 0. 0. 1. ]] SLAMing on 20.97 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:20.25, Y:-3.40, Z:1.40 [[ 9.69006943e-01 2.09804801e-01 -1.30412768e-01 2.02547183e+01] [-2.11142900e-01 9.77448434e-01 3.63797279e-03 -3.40241498e+00] [ 1.28235020e-01 2.40105091e-02 9.91453113e-01 1.40065387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:-3.44, Z:1.45 [[ 0.96606602 0.22406409 -0.12849799 20.27892211] [-0.2181337 0.97415275 0.05868649 -3.43895576] [ 0.13832621 -0.02866529 0.9899718 1.44646711] [ 0. 0. 0. 1. ]] SLAMing on 21.029999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:20.32, Y:-3.41, Z:1.40 [[ 9.68970191e-01 2.07401520e-01 -1.34467012e-01 2.03183569e+01] [-2.10751344e-01 9.77477619e-01 -1.10170214e-02 -3.40978671e+00] [ 1.29153548e-01 3.90142690e-02 9.90856825e-01 1.40135578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:20.34, Y:-3.44, Z:1.43 [[ 9.69255445e-01 2.15639789e-01 -1.18504696e-01 2.03401196e+01] [-2.11545535e-01 9.76272919e-01 4.62566032e-02 -3.44184647e+00] [ 1.25667689e-01 -1.97653253e-02 9.91875478e-01 1.43362063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:20.37, Y:-3.46, Z:1.46 [[ 0.96648153 0.22333854 -0.12662283 20.37158015] [-0.21767645 0.97434958 0.05709508 -3.46008209] [ 0.13612644 -0.02761853 0.99030642 1.45857069] [ 0. 0. 0. 1. ]] SLAMing on 21.119999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:-3.46, Z:1.45 [[ 9.66054047e-01 2.21910896e-01 -1.32269168e-01 2.04074428e+01] [-2.19524557e-01 9.75063985e-01 3.25452749e-02 -3.45788855e+00] [ 1.36193053e-01 -2.40416413e-03 9.90679399e-01 1.45355672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:20.44, Y:-3.46, Z:1.46 [[ 9.65859621e-01 2.23241794e-01 -1.31446925e-01 2.04379918e+01] [-2.20892120e-01 9.74760524e-01 3.23819620e-02 -3.46473754e+00] [ 1.35358281e-01 -2.24083961e-03 9.90794184e-01 1.45730375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.47, Y:-3.47, Z:1.46 [[ 9.65219070e-01 2.24652452e-01 -1.33728915e-01 2.04698863e+01] [-2.22904452e-01 9.74435249e-01 2.80989384e-02 -3.47010963e+00] [ 1.36622664e-01 2.68713922e-03 9.90619517e-01 1.45994317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:20.50, Y:-3.46, Z:1.44 [[ 9.66811274e-01 2.18506881e-01 -1.32403561e-01 2.05044790e+01] [-2.20794720e-01 9.75316649e-01 -2.66930810e-03 -3.45722796e+00] [ 1.28552135e-01 3.18147243e-02 9.91192298e-01 1.43698302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:20.53, Y:-3.50, Z:1.49 [[ 0.96332096 0.2364448 -0.12691174 20.52582168] [-0.22888279 0.97083243 0.0713937 -3.50057365] [ 0.14009071 -0.03972713 0.98934137 1.48884428] [ 0. 0. 0. 1. ]] SLAMing on 21.27 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:20.56, Y:-3.49, Z:1.48 [[ 9.63179885e-01 2.31725252e-01 -1.36337514e-01 2.05639243e+01] [-2.29234320e-01 9.72780248e-01 3.39148201e-02 -3.49422139e+00] [ 1.40485361e-01 -1.41283524e-03 9.90081748e-01 1.47636477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.60, Y:-3.50, Z:1.48 [[ 9.62527704e-01 2.34629524e-01 -1.35975756e-01 2.05956342e+01] [-2.32178151e-01 9.72084347e-01 3.38426932e-02 -3.50151504e+00] [ 1.40120399e-01 -1.00393020e-03 9.90133964e-01 1.48210716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:-3.51, Z:1.49 [[ 9.61944046e-01 2.36636553e-01 -1.36626476e-01 2.06263055e+01] [-2.34176025e-01 9.71597948e-01 3.40443278e-02 -3.50858154e+00] [ 1.40802136e-01 -7.54093265e-04 9.90037469e-01 1.48616708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:20.66, Y:-3.52, Z:1.49 [[ 9.60995778e-01 2.38882739e-01 -1.39363381e-01 2.06585965e+01] [-2.36340004e-01 9.71048307e-01 3.47647516e-02 -3.51539836e+00] [ 1.43633274e-01 -4.71637556e-04 9.89630871e-01 1.48850136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:20.69, Y:-3.50, Z:1.46 [[ 9.63461162e-01 2.29156674e-01 -1.38671583e-01 2.06930822e+01] [-2.31970583e-01 9.72713469e-01 -4.26088723e-03 -3.49960181e+00] [ 1.33911306e-01 3.62729273e-02 9.90329257e-01 1.46211383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:20.72, Y:-3.52, Z:1.48 [[ 9.63397057e-01 2.34246212e-01 -1.30364189e-01 2.07185530e+01] [-2.32825672e-01 9.72164126e-01 2.62510503e-02 -3.51942808e+00] [ 1.32884597e-01 5.06194533e-03 9.91118591e-01 1.47854775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.75, Y:-3.53, Z:1.49 [[ 9.63499717e-01 2.35533180e-01 -1.27249422e-01 2.07480262e+01] [-2.33381031e-01 9.71865870e-01 3.17809038e-02 -3.52949947e+00] [ 1.31154828e-01 -9.23290510e-04 9.91361467e-01 1.48546280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:20.78, Y:-3.54, Z:1.49 [[ 9.61973837e-01 2.37441919e-01 -1.35009893e-01 2.07792369e+01] [-2.35276942e-01 9.71401247e-01 3.20059004e-02 -3.53876545e+00] [ 1.38748321e-01 9.75875930e-04 9.90327194e-01 1.49119289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509999999999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:20.80, Y:-3.57, Z:1.53 [[ 0.95896152 0.24897877 -0.13565534 20.80467643] [-0.24125062 0.96786428 0.07097098 -3.56892011] [ 0.14896623 -0.0353315 0.98821088 1.52868662] [ 0. 0. 0. 1. ]] SLAMing on 21.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:-3.54, Z:1.48 [[ 9.62311491e-01 2.31514560e-01 -1.42680069e-01 2.08452609e+01] [-2.35318384e-01 9.71865308e-01 -1.01528902e-02 -3.53667063e+00] [ 1.36315267e-01 4.33454861e-02 9.89716786e-01 1.48133267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:-3.59, Z:1.54 [[ 0.95850235 0.25095251 -0.13526304 20.86282132] [-0.24233394 0.96712663 0.07707359 -3.59020767] [ 0.1501583 -0.04109639 0.98780746 1.54264833] [ 0. 0. 0. 1. ]] SLAMing on 21.599999999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.90, Y:-3.55, Z:1.49 [[ 9.61897059e-01 2.32411773e-01 -1.44009775e-01 2.09040983e+01] [-2.36641058e-01 9.71513758e-01 -1.27290169e-02 -3.55441381e+00] [ 1.36949105e-01 4.63226295e-02 9.89494394e-01 1.49023026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.92, Y:-3.61, Z:1.55 [[ 0.95783754 0.25384536 -0.13457256 20.92109855] [-0.24484079 0.96625912 0.07997687 -3.60809514] [ 0.15033372 -0.043656 0.98767096 1.55410585] [ 0. 0. 0. 1. ]] SLAMing on 21.66 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:20.96, Y:-3.60, Z:1.54 [[ 9.56976772e-01 2.51199326e-01 -1.45238966e-01 2.09595754e+01] [-2.48495593e-01 9.67934956e-01 3.67676680e-02 -3.60072010e+00] [ 1.49817885e-01 9.05438716e-04 9.88713195e-01 1.53886180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:21.00, Y:-3.58, Z:1.50 [[ 9.60580911e-01 2.38691285e-01 -1.42515909e-01 2.09960609e+01] [-2.43840460e-01 9.69617869e-01 -1.95708382e-02 -3.57734246e+00] [ 1.33514584e-01 5.35505185e-02 9.89599009e-01 1.50177023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:21.01, Y:-3.64, Z:1.57 [[ 0.95572183 0.26330357 -0.13140403 21.01201891] [-0.25363951 0.96348258 0.08583893 -3.63588356] [ 0.14920719 -0.04870888 0.98760552 1.57237906] [ 0. 0. 0. 1. ]] SLAMing on 21.75 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:21.06, Y:-3.59, Z:1.51 [[ 9.59163536e-01 2.44421358e-01 -1.42349962e-01 2.10564519e+01] [-2.49530764e-01 9.68181571e-01 -1.89431385e-02 -3.59370211e+00] [ 1.33190502e-01 5.36902624e-02 9.89635107e-01 1.51218890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:21.07, Y:-3.65, Z:1.58 [[ 0.95401443 0.26937905 -0.13149678 21.07231282] [-0.25983079 0.96187298 0.08537178 -3.65160658] [ 0.14948056 -0.047279 0.98763367 1.58177993] [ 0. 0. 0. 1. ]] SLAMing on 21.81 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:21.11, Y:-3.64, Z:1.56 [[ 9.52609093e-01 2.67447102e-01 -1.44941242e-01 2.11105208e+01] [-2.64905119e-01 9.63567168e-01 3.69268355e-02 -3.64148119e+00] [ 1.49536597e-01 3.21883768e-03 9.88750952e-01 1.56311144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:21.14, Y:-3.65, Z:1.57 [[ 9.52075575e-01 2.69724058e-01 -1.44225626e-01 2.11422497e+01] [-2.67227019e-01 9.62931229e-01 3.67854300e-02 -3.64998030e+00] [ 1.48801275e-01 3.51847467e-03 9.88860860e-01 1.56759640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869999999999997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:21.18, Y:-3.63, Z:1.53 [[ 9.55474911e-01 2.57015129e-01 -1.44951433e-01 2.11789927e+01] [-2.61501387e-01 9.65122600e-01 -1.24655863e-02 -3.62988531e+00] [ 1.36692060e-01 4.98155556e-02 9.89360243e-01 1.53344522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.9 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:21.20, Y:-3.68, Z:1.60 [[ 0.95164554 0.27587321 -0.13514708 21.19614037] [-0.26687878 0.96031709 0.08103583 -3.68262214] [ 0.15213966 -0.0410495 0.98750618 1.59511569] [ 0. 0. 0. 1. ]] SLAMing on 21.93 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:21.24, Y:-3.67, Z:1.58 [[ 9.51849574e-01 2.68759048e-01 -1.47482076e-01 2.12350176e+01] [-2.66118155e-01 9.63201674e-01 3.77314489e-02 -3.67499254e+00] [ 1.52195651e-01 3.33299447e-03 9.88344765e-01 1.57905260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:21.27, Y:-3.68, Z:1.58 [[ 9.52024084e-01 2.67947011e-01 -1.47832821e-01 2.12660393e+01] [-2.65276726e-01 9.63428447e-01 3.78667003e-02 -3.68394298e+00] [ 1.52572615e-01 3.16659613e-03 9.88287190e-01 1.58361926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:21.30, Y:-3.69, Z:1.59 [[ 9.52344050e-01 2.66783867e-01 -1.47875553e-01 2.12963077e+01] [-2.64090939e-01 9.63751912e-01 3.79239691e-02 -3.69316093e+00] [ 1.52632850e-01 2.93592730e-03 9.88278601e-01 1.58769725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:21.33, Y:-3.70, Z:1.59 [[ 9.53702850e-01 2.62847608e-01 -1.46157478e-01 2.13260718e+01] [-2.60164729e-01 9.64834770e-01 3.75257353e-02 -3.70341053e+00] [ 1.50881366e-01 2.23661985e-03 9.88549347e-01 1.59334442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:-3.69, Z:1.57 [[ 9.56978320e-01 2.51461431e-01 -1.44774458e-01 2.13613770e+01] [-2.54161049e-01 9.67161898e-01 -1.56791866e-04 -3.69137410e+00] [ 1.39980912e-01 3.69460746e-02 9.89464669e-01 1.56970607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:-3.71, Z:1.59 [[ 9.57527717e-01 2.54221714e-01 -1.36058776e-01 2.13863314e+01] [-2.52165739e-01 9.67140484e-01 3.24302991e-02 -3.71353420e+00] [ 1.39832436e-01 3.25645153e-03 9.90169826e-01 1.58924493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:-3.72, Z:1.59 [[ 9.58496215e-01 2.50846894e-01 -1.35502185e-01 2.14189373e+01] [-2.49915312e-01 9.67967165e-01 2.41226859e-02 -3.71908811e+00] [ 1.37212767e-01 1.07425677e-02 9.90483344e-01 1.58840266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:21.44, Y:-3.76, Z:1.63 [[ 0.95675541 0.25920292 -0.13203384 21.44110666] [-0.25068096 0.96493725 0.07781485 -3.75633299] [ 0.14757421 -0.04135141 0.98818617 1.63344543] [ 0. 0. 0. 1. ]] SLAMing on 22.169999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-3.72, Z:1.58 [[ 9.61178357e-01 2.37248258e-01 -1.40888004e-01 2.14857669e+01] [-2.42179403e-01 9.70051256e-01 -1.87001776e-02 -3.71862333e+00] [ 1.32232000e-01 5.20943787e-02 9.89848915e-01 1.57695609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:-3.78, Z:1.65 [[ 0.95750142 0.25762191 -0.12969957 21.499772 ] [-0.24799435 0.96494851 0.08586718 -3.77625735] [ 0.14727468 -0.05005319 0.98782835 1.64834183] [ 0. 0. 0. 1. ]] SLAMing on 22.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:-3.74, Z:1.59 [[ 9.60938924e-01 2.37276369e-01 -1.42465113e-01 2.15449747e+01] [-2.40915147e-01 9.70508022e-01 -8.60648175e-03 -3.74112214e+00] [ 1.36221420e-01 4.25923070e-02 9.89762406e-01 1.59300772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.57, Y:-3.76, Z:1.60 [[ 9.61824365e-01 2.38329909e-01 -1.34509279e-01 2.15719090e+01] [-2.38411012e-01 9.71036739e-01 1.57429857e-02 -3.75585422e+00] [ 1.34365476e-01 1.69265060e-02 9.90787269e-01 1.60319165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:21.60, Y:-3.77, Z:1.61 [[ 9.61627342e-01 2.40261671e-01 -1.32465783e-01 2.15997098e+01] [-2.37881225e-01 9.70707700e-01 3.37503316e-02 -3.77028631e+00] [ 1.36694467e-01 -9.44118991e-04 9.90612806e-01 1.61449901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:21.62, Y:-3.81, Z:1.67 [[ 0.95773381 0.25494236 -0.13323039 21.6210289 ] [-0.24417686 0.96535875 0.09197901 -3.80661975] [ 0.15206447 -0.05555963 0.98680774 1.66621884] [ 0. 0. 0. 1. ]] SLAMing on 22.349999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:-3.76, Z:1.59 [[ 0.96181334 0.23007258 -0.14826229 21.67081011] [-0.23667605 0.97117611 -0.02830923 -3.75606827] [ 0.13747561 0.06231833 0.98854281 1.59467719] [ 0. 0. 0. 1. ]] SLAMing on 22.38 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:21.68, Y:-3.82, Z:1.68 [[ 0.95745966 0.25543236 -0.13425833 21.68179821] [-0.24360152 0.96486474 0.09845977 -3.82412489] [ 0.15469095 -0.06156573 0.98604278 1.67826169] [ 0. 0. 0. 1. ]] SLAMing on 22.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:-3.81, Z:1.66 [[ 9.57025812e-01 2.48078791e-01 -1.50194904e-01 2.17234279e+01] [-2.44951740e-01 9.68739532e-01 3.92729327e-02 -3.80894333e+00] [ 1.55242522e-01 -7.94707260e-04 9.87876069e-01 1.65780036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:-3.78, Z:1.61 [[ 0.96164135 0.22984035 -0.14973083 21.76426424] [-0.23696679 0.9710106 -0.03138732 -3.77808117] [ 0.13817615 0.06566458 0.98822847 1.60840731] [ 0. 0. 0. 1. ]] SLAMing on 22.47 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:21.77, Y:-3.85, Z:1.70 [[ 0.95713889 0.25703798 -0.13347894 21.77383949] [-0.24472404 0.96421959 0.10193492 -3.84723667] [ 0.15490416 -0.06490038 0.98579544 1.69542683] [ 0. 0. 0. 1. ]] SLAMing on 22.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:-3.80, Z:1.62 [[ 0.96076414 0.23382314 -0.14919453 21.82375646] [-0.23963136 0.97061548 -0.02196361 -3.79720042] [ 0.13967492 0.05685354 0.9885639 1.62467775] [ 0. 0. 0. 1. ]] SLAMing on 22.529999999999998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:21.84, Y:-3.86, Z:1.70 [[ 0.956364 0.25872248 -0.13575927 21.836227 ] [-0.24759347 0.96433345 0.09358672 -3.85790957] [ 0.1551302 -0.05588986 0.98631179 1.70076287] [ 0. 0. 0. 1. ]] SLAMing on 22.56 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:21.88, Y:-3.85, Z:1.68 [[ 9.55938858e-01 2.52678320e-01 -1.49447538e-01 2.18768884e+01] [-2.49609737e-01 9.67550317e-01 3.92602072e-02 -3.84538903e+00] [ 1.54518216e-01 -2.26796970e-04 9.87989914e-01 1.68244321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:21.92, Y:-3.82, Z:1.64 [[ 9.59621926e-01 2.38412747e-01 -1.49282018e-01 2.19160596e+01] [-2.43393466e-01 9.69799540e-01 -1.57630089e-02 -3.82427690e+00] [ 1.41015530e-01 5.14607967e-02 9.88669008e-01 1.64363570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-3.85, Z:1.67 [[ 9.59182245e-01 2.47726752e-01 -1.36385030e-01 2.19384995e+01] [-2.45732403e-01 9.68824451e-01 3.15399465e-02 -3.85284521e+00] [ 1.39946441e-01 3.26166462e-03 9.90153703e-01 1.67210345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:21.97, Y:-3.86, Z:1.68 [[ 9.59045738e-01 2.48398661e-01 -1.36122653e-01 2.19674178e+01] [-2.45783789e-01 9.68657338e-01 3.59623515e-02 -3.86260482e+00] [ 1.40789207e-01 -1.03279849e-03 9.90039056e-01 1.67824166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-3.87, Z:1.69 [[ 9.58525433e-01 2.50135767e-01 -1.36605608e-01 2.19977732e+01] [-2.47585010e-01 9.68210714e-01 3.56325103e-02 -3.87073718e+00] [ 1.41175978e-01 -3.33166671e-04 9.89984461e-01 1.68540137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:22.02, Y:-3.90, Z:1.73 [[ 0.95505248 0.26274065 -0.13726659 22.01895872] [-0.25272859 0.96369024 0.0861938 -3.90321814] [ 0.15492909 -0.04762841 0.98677683 1.72989806] [ 0. 0. 0. 1. ]] SLAMing on 22.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:-3.89, Z:1.72 [[ 9.54336473e-01 2.59077435e-01 -1.48730559e-01 2.20583284e+01] [-2.56063328e-01 9.65856436e-01 3.94070635e-02 -3.89360938e+00] [ 1.53861848e-01 4.76843844e-04 9.88092255e-01 1.71633925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:22.10, Y:-3.88, Z:1.68 [[ 9.57608934e-01 2.46849527e-01 -1.48493905e-01 2.20961616e+01] [-2.50870171e-01 9.67981781e-01 -8.68501960e-03 -3.87597162e+00] [ 1.41595502e-01 4.55695437e-02 9.88875185e-01 1.68242935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.12, Y:-3.91, Z:1.71 [[ 9.56445001e-01 2.57290630e-01 -1.37893048e-01 2.21190992e+01] [-2.54151966e-01 9.66328039e-01 4.02106806e-02 -3.90532192e+00] [ 1.43595750e-01 -3.41351534e-03 9.89630541e-01 1.71177238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:-3.93, Z:1.75 [[ 0.95284317 0.26897104 -0.140515 22.1423161 ] [-0.26031514 0.96244272 0.07707162 -3.93151205] [ 0.15596767 -0.03685898 0.98707421 1.74848039] [ 0. 0. 0. 1. ]] SLAMing on 22.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:-3.91, Z:1.71 [[ 9.54764823e-01 2.56077153e-01 -1.51157615e-01 2.21858779e+01] [-2.58674221e-01 9.65961218e-01 2.56389306e-03 -3.90572812e+00] [ 1.46668949e-01 3.66526636e-02 9.88506349e-01 1.70503426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:22.21, Y:-3.93, Z:1.72 [[ 9.53925252e-01 2.62637591e-01 -1.45079666e-01 2.22109855e+01] [-2.60176202e-01 9.64888648e-01 3.60311087e-02 -3.92798283e+00] [ 1.49448846e-01 3.37529195e-03 9.88763698e-01 1.72385731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:22.23, Y:-3.95, Z:1.76 [[ 0.95109777 0.27303091 -0.14445466 22.23442245] [-0.2647767 0.96147002 0.07395059 -3.95436786] [ 0.15907963 -0.03208601 0.98674422 1.75791183] [ 0. 0. 0. 1. ]] SLAMing on 22.95 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:22.27, Y:-3.95, Z:1.75 [[ 9.50923085e-01 2.68701932e-01 -1.53442361e-01 2.22703951e+01] [-2.65547065e-01 9.63221921e-01 4.10887658e-02 -3.95029436e+00] [ 1.58839677e-01 1.67391280e-03 9.87302970e-01 1.74738596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:22.30, Y:-3.96, Z:1.75 [[ 9.50714898e-01 2.67672594e-01 -1.56501005e-01 2.23033917e+01] [-2.65897900e-01 9.63451024e-01 3.25642611e-02 -3.95698232e+00] [ 1.59497614e-01 1.06539605e-02 9.87140823e-01 1.74907270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:22.34, Y:-3.96, Z:1.74 [[ 9.52345530e-01 2.63508798e-01 -1.53626513e-01 2.23354285e+01] [-2.63804963e-01 9.64392282e-01 1.88273083e-02 -3.95786438e+00] [ 1.53117385e-01 2.25973337e-02 9.87949608e-01 1.74076181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:22.36, Y:-3.99, Z:1.78 [[ 0.94945502 0.27677828 -0.14808428 22.35622518] [-0.26823793 0.96041049 0.07523361 -3.99338408] [ 0.16304473 -0.03170911 0.98610899 1.78342593] [ 0. 0. 0. 1. ]] SLAMing on 23.07 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:22.39, Y:-3.99, Z:1.77 [[ 9.49403566e-01 2.71845114e-01 -1.57267614e-01 2.23934650e+01] [-2.68489501e-01 9.62339402e-01 4.26176400e-02 -3.99054975e+00] [ 1.62930219e-01 1.76336392e-03 9.86636019e-01 1.77390117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:22.42, Y:-4.00, Z:1.78 [[ 9.49139324e-01 2.72308250e-01 -1.58059357e-01 2.24242621e+01] [-2.68916878e-01 9.62208376e-01 4.28806949e-02 -3.99928599e+00] [ 1.63762805e-01 1.80507516e-03 9.86498092e-01 1.78024927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.13 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:22.46, Y:-3.99, Z:1.76 [[ 9.51779455e-01 2.62386955e-01 -1.58962120e-01 2.24617614e+01] [-2.64774211e-01 9.64289490e-01 6.35578423e-03 -3.98867862e+00] [ 1.54953176e-01 3.60397650e-02 9.87264224e-01 1.75537849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:-4.03, Z:1.81 [[ 0.94822301 0.27948596 -0.15086659 22.4796464 ] [-0.2707994 0.95964962 0.07576478 -4.02802548] [ 0.16595425 -0.03098733 0.98564647 1.80592031] [ 0. 0. 0. 1. ]] SLAMing on 23.189999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:-4.02, Z:1.80 [[ 9.48203796e-01 2.74572074e-01 -1.59748981e-01 2.25173376e+01] [-2.71120700e-01 9.61564202e-01 4.34494149e-02 -4.02444866e+00] [ 1.65538897e-01 2.11235532e-03 9.86201000e-01 1.79641600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:22.55, Y:-4.03, Z:1.80 [[ 9.47908629e-01 2.74792003e-01 -1.61116684e-01 2.25497925e+01] [-2.71280153e-01 9.61501297e-01 4.38444314e-02 -4.03245538e+00] [ 1.66962000e-01 2.14724394e-03 9.85960993e-01 1.79850704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:-4.04, Z:1.81 [[ 9.47510856e-01 2.75920782e-01 -1.61526778e-01 2.25814543e+01] [-2.72398786e-01 9.61177618e-01 4.40055433e-02 -4.04051132e+00] [ 1.67397968e-01 2.30396823e-03 9.85886714e-01 1.80559607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.61, Y:-4.05, Z:1.81 [[ 9.47371023e-01 2.76071715e-01 -1.62088102e-01 2.26121948e+01] [-2.72518750e-01 9.61134310e-01 4.42082443e-02 -4.04875611e+00] [ 1.67993082e-01 2.29043731e-03 9.85785513e-01 1.81028476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.64, Y:-4.06, Z:1.82 [[ 9.47212098e-01 2.76273703e-01 -1.62671699e-01 2.26430430e+01] [-2.72689891e-01 9.61076272e-01 4.44142167e-02 -4.05764171e+00] [ 1.68610390e-01 2.28924454e-03 9.85680118e-01 1.81542008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:22.67, Y:-4.07, Z:1.82 [[ 9.47606839e-01 2.74482672e-01 -1.63403004e-01 2.26729286e+01] [-2.70831375e-01 9.61590107e-01 4.46635491e-02 -4.06806783e+00] [ 1.69386082e-01 1.93117558e-03 9.85547881e-01 1.81881124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:-4.08, Z:1.83 [[ 9.47602818e-01 2.74174648e-01 -1.63942554e-01 2.27031341e+01] [-2.70488846e-01 9.61678136e-01 4.48435830e-02 -4.07808108e+00] [ 1.69954943e-01 1.85072658e-03 9.85450096e-01 1.82645286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:-4.09, Z:1.83 [[ 9.47882072e-01 2.73126693e-01 -1.64077381e-01 2.27335900e+01] [-2.69410770e-01 9.61976713e-01 4.49292877e-02 -4.08804875e+00] [ 1.70110008e-01 1.61654737e-03 9.85423753e-01 1.83204780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.77, Y:-4.07, Z:1.80 [[ 9.51928519e-01 2.58738365e-01 -1.63971194e-01 2.27704827e+01] [-2.62392134e-01 9.64961113e-01 -6.47035844e-04 -4.07345847e+00] [ 1.58058413e-01 4.36406835e-02 9.86464915e-01 1.80179071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.78, Y:-4.12, Z:1.86 [[ 0.94897713 0.27685748 -0.1509713 22.78493308] [-0.26669753 0.96009124 0.08424508 -4.12171766] [ 0.16827011 -0.03968298 0.98494184 1.86356667] [ 0. 0. 0. 1. ]] SLAMing on 23.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:-4.12, Z:1.85 [[ 9.49345094e-01 2.70257901e-01 -1.60326418e-01 2.28239258e+01] [-2.66654540e-01 9.62787463e-01 4.39961155e-02 -4.11509493e+00] [ 1.66250563e-01 9.84270819e-04 9.86083050e-01 1.85063231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:-4.12, Z:1.86 [[ 9.49567862e-01 2.70168624e-01 -1.59153354e-01 2.28554079e+01] [-2.66608785e-01 9.62812588e-01 4.37227227e-02 -4.12311901e+00] [ 1.65047360e-01 9.13989896e-04 9.86285219e-01 1.85690116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.89, Y:-4.11, Z:1.83 [[ 9.53147345e-01 2.57875124e-01 -1.58147271e-01 2.28923443e+01] [-2.60498855e-01 9.65464707e-01 4.27157903e-03 -4.10765946e+00] [ 1.53787142e-01 3.71257387e-02 9.87406297e-01 1.82950657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:22.92, Y:-4.13, Z:1.85 [[ 9.53639454e-01 2.60534727e-01 -1.50643443e-01 2.29181799e+01] [-2.58416598e-01 9.65441389e-01 3.38198976e-02 -4.12596644e+00] [ 1.54248672e-01 6.67677728e-03 9.88009498e-01 1.84571793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.94, Y:-4.16, Z:1.89 [[ 0.95039016 0.27298228 -0.14912823 22.94076582] [-0.26329631 0.96125617 0.08161884 -4.16004778] [ 0.16563093 -0.03830483 0.98544362 1.8916389 ] [ 0. 0. 0. 1. ]] SLAMing on 23.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:-4.15, Z:1.88 [[ 9.50840749e-01 2.65178487e-01 -1.59944493e-01 2.29788445e+01] [-2.61455348e-01 9.64199299e-01 4.42810649e-02 -4.15482779e+00] [ 1.65960754e-01 -2.85897827e-04 9.86132317e-01 1.87993566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:-4.16, Z:1.89 [[ 9.51403904e-01 2.62623008e-01 -1.60809721e-01 2.30103316e+01] [-2.58814373e-01 9.64898201e-01 4.45710807e-02 -4.16415079e+00] [ 1.66870402e-01 -7.85233155e-04 9.85978525e-01 1.88527043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:-4.17, Z:1.89 [[ 9.52938821e-01 2.56255997e-01 -1.61989095e-01 2.30409834e+01] [-2.52290704e-01 9.66606953e-01 4.49488410e-02 -4.17331977e+00] [ 1.68098195e-01 -1.96515273e-03 9.85768297e-01 1.89001424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:23.07, Y:-4.18, Z:1.89 [[ 9.53984203e-01 2.52148986e-01 -1.62280712e-01 2.30714893e+01] [-2.48102165e-01 9.67684545e-01 4.50770153e-02 -4.18136053e+00] [ 1.68402660e-01 -2.74056454e-03 9.85714479e-01 1.89250959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.759999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:23.10, Y:-4.19, Z:1.90 [[ 9.54758203e-01 2.48860491e-01 -1.62804271e-01 2.31033370e+01] [-2.44731758e-01 9.68533451e-01 4.52694277e-02 -4.19003524e+00] [ 1.68947155e-01 -3.37798182e-03 9.85619322e-01 1.89675022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:23.13, Y:-4.20, Z:1.90 [[ 9.55497130e-01 2.46021044e-01 -1.62784765e-01 2.31343895e+01] [-2.41843980e-01 9.69256528e-01 4.53130517e-02 -4.19827033e+00] [ 1.68928160e-01 -3.92797554e-03 9.85620539e-01 1.90246539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:23.17, Y:-4.21, Z:1.91 [[ 9.56710708e-01 2.41371679e-01 -1.62617140e-01 2.31656988e+01] [-2.37127982e-01 9.70420905e-01 4.53165249e-02 -4.20643343e+00] [ 1.68745198e-01 -4.79373040e-03 9.85648050e-01 1.90808724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:-4.21, Z:1.92 [[ 9.56948555e-01 2.40526200e-01 -1.62470335e-01 2.31965651e+01] [-2.36269540e-01 9.70629831e-01 4.53258743e-02 -4.21463069e+00] [ 1.68600614e-01 -4.98773873e-03 9.85671830e-01 1.91587500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:23.23, Y:-4.22, Z:1.92 [[ 9.57339086e-01 2.38651901e-01 -1.62932946e-01 2.32285350e+01] [-2.34335095e-01 9.71090257e-01 4.55057766e-02 -4.22298098e+00] [ 1.69082637e-01 -5.38355115e-03 9.85587175e-01 1.91866007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:-4.21, Z:1.90 [[ 9.60330332e-01 2.27133677e-01 -1.61789819e-01 2.32622843e+01] [-2.28262932e-01 9.73527714e-01 1.18246778e-02 -4.20856613e+00] [ 1.60192655e-01 2.55750217e-02 9.86754393e-01 1.89726254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.939999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:-4.25, Z:1.95 [[ 0.9569103 0.24544796 -0.1551708 23.28291541] [-0.23662966 0.96883526 0.0732437 -4.24903922] [ 0.16831246 -0.03336964 0.98516871 1.94546206] [ 0. 0. 0. 1. ]] SLAMing on 23.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:-4.25, Z:1.94 [[ 9.56332930e-01 2.42893458e-01 -1.62573355e-01 2.33191633e+01] [-2.38631617e-01 9.70041259e-01 4.55511452e-02 -4.24656730e+00] [ 1.68766938e-01 -4.76691750e-03 9.85644458e-01 1.93839460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:-4.25, Z:1.94 [[ 9.55267780e-01 2.47506226e-01 -1.61876916e-01 2.33508163e+01] [-2.43338466e-01 9.68878117e-01 4.54046812e-02 -4.25337428e+00] [ 1.68076943e-01 -3.98274841e-03 9.85765834e-01 1.94398941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:23.38, Y:-4.26, Z:1.95 [[ 9.54745930e-01 2.49859752e-01 -1.61339128e-01 2.33826550e+01] [-2.45744847e-01 9.68275328e-01 4.53029647e-02 -4.26065712e+00] [ 1.67540085e-01 -3.60456170e-03 9.85858675e-01 1.94752281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:-4.27, Z:1.96 [[ 9.53673113e-01 2.54241589e-01 -1.60837833e-01 2.34137425e+01] [-2.50205758e-01 9.67136469e-01 4.52120522e-02 -4.26814048e+00] [ 1.67046918e-01 -2.87496652e-03 9.85944756e-01 1.95524321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:23.45, Y:-4.28, Z:1.96 [[ 9.52785912e-01 2.57363176e-01 -1.61131007e-01 2.34458282e+01] [-2.53348313e-01 9.66311816e-01 4.53443121e-02 -4.27573083e+00] [ 1.67372752e-01 -2.38115315e-03 9.85890811e-01 1.95808609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.119999999999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:23.48, Y:-4.28, Z:1.97 [[ 9.50529322e-01 2.65556034e-01 -1.61164515e-01 2.34774724e+01] [-2.61647657e-01 9.64094920e-01 4.54036284e-02 -4.28165320e+00] [ 1.67435098e-01 -9.89162333e-04 9.85882604e-01 1.96523873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.51, Y:-4.29, Z:1.97 [[ 9.49316192e-01 2.69857192e-01 -1.61170296e-01 2.35084382e+01] [-2.66001556e-01 9.62900316e-01 4.54549699e-02 -4.28887365e+00] [ 1.67457280e-01 -2.79589220e-04 9.85879293e-01 1.97160734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:23.54, Y:-4.30, Z:1.97 [[ 9.48283032e-01 2.72824338e-01 -1.62253420e-01 2.35406518e+01] [-2.68953878e-01 9.62063841e-01 4.57927646e-02 -4.29617677e+00] [ 1.68591529e-01 2.14184761e-04 9.85685980e-01 1.97356932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:23.57, Y:-4.30, Z:1.98 [[ 9.47329254e-01 2.75974404e-01 -1.62497425e-01 2.35722728e+01] [-2.72129591e-01 9.61164710e-01 4.59117182e-02 -4.30384784e+00] [ 1.68857249e-01 7.26843901e-04 9.85640249e-01 1.97886953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.61, Y:-4.29, Z:1.95 [[ 9.50113042e-01 2.66693430e-01 -1.61739984e-01 2.36074938e+01] [-2.69530139e-01 9.62981184e-01 4.55456086e-03 -4.28532041e+00] [ 1.56967232e-01 3.92664526e-02 9.86822899e-01 1.95186088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:23.63, Y:-4.33, Z:2.00 [[ 0.94546291 0.28719239 -0.15368938 23.62656062] [-0.27769458 0.95728848 0.08052634 -4.33249559] [ 0.17025162 -0.03345596 0.98483252 2.0038959 ] [ 0. 0. 0. 1. ]] SLAMing on 24.3 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:23.66, Y:-4.33, Z:1.99 [[ 9.45269793e-01 2.82718240e-01 -1.62896945e-01 2.36641739e+01] [-2.78926218e-01 9.59201349e-01 4.61837345e-02 -4.32804120e+00] [ 1.69307953e-01 1.78013956e-03 9.85561590e-01 1.99404484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:23.69, Y:-4.34, Z:2.00 [[ 9.45153671e-01 2.83547433e-01 -1.62127699e-01 2.36944080e+01] [-2.79794913e-01 9.58956388e-01 4.60157809e-02 -4.33674678e+00] [ 1.68521049e-01 1.87052119e-03 9.85696280e-01 2.00021588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.73, Y:-4.35, Z:2.01 [[ 9.45082792e-01 2.83882831e-01 -1.61953866e-01 2.37256432e+01] [-2.80135272e-01 9.58857129e-01 4.60134211e-02 -4.34603888e+00] [ 1.68353040e-01 1.88249786e-03 9.85724967e-01 2.00733853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.76, Y:-4.36, Z:2.01 [[ 9.45458975e-01 2.82820205e-01 -1.61617009e-01 2.37563815e+01] [-2.79064388e-01 9.59171538e-01 4.59676894e-02 -4.35613362e+00] [ 1.68019027e-01 1.64098732e-03 9.85782387e-01 2.01232560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.419999999999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:23.79, Y:-4.37, Z:2.02 [[ 9.45660544e-01 2.81733674e-01 -1.62333830e-01 2.37865734e+01] [-2.77919683e-01 9.59491616e-01 4.62221584e-02 -4.36526369e+00] [ 1.68780288e-01 1.40529518e-03 9.85652697e-01 2.01650202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.82, Y:-4.37, Z:2.02 [[ 9.45775380e-01 2.81452263e-01 -1.62152870e-01 2.38166777e+01] [-2.77634715e-01 9.59574339e-01 4.62174421e-02 -4.37468627e+00] [ 1.68605737e-01 1.30794704e-03 9.85682705e-01 2.02364576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.85, Y:-4.37, Z:2.01 [[ 9.49008960e-01 2.70781956e-01 -1.61428393e-01 2.38491755e+01] [-2.71588337e-01 9.62254794e-01 1.74781489e-02 -4.36546293e+00] [ 1.60068013e-01 2.72551490e-02 9.86729643e-01 2.00516758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509999999999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:23.87, Y:-4.40, Z:2.04 [[ 9.46134054e-01 2.83233860e-01 -1.56872344e-01 2.38710963e+01] [-2.75358920e-01 9.58767270e-01 7.03049594e-02 -4.40283940e+00] [ 1.70316814e-01 -2.33217169e-02 9.85113334e-01 2.04473607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:-4.38, Z:2.01 [[ 9.49420554e-01 2.67934439e-01 -1.63742936e-01 2.39094065e+01] [-2.69632087e-01 9.62886247e-01 1.21906978e-02 -4.38119130e+00] [ 1.60932129e-01 3.25762507e-02 9.86427715e-01 2.01200240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:23.93, Y:-4.42, Z:2.06 [[ 0.94587989 0.28370889 -0.15754525 23.92975266] [-0.27480077 0.95847919 0.07617206 -4.42390082] [ 0.17261453 -0.02875607 0.98456961 2.05718251] [ 0. 0. 0. 1. ]] SLAMing on 24.599999999999998 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:23.97, Y:-4.42, Z:2.05 [[ 9.45771361e-01 2.78408365e-01 -1.67347889e-01 2.39661163e+01] [-2.74245044e-01 9.60462652e-01 4.79702998e-02 -4.42347953e+00] [ 1.74086730e-01 5.25393336e-04 9.84730184e-01 2.04880535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.00, Y:-4.43, Z:2.06 [[ 9.45864484e-01 2.78333511e-01 -1.66945602e-01 2.39965578e+01] [-2.74180047e-01 9.60484380e-01 4.79067475e-02 -4.43321172e+00] [ 1.73682697e-01 4.59862131e-04 9.84801558e-01 2.05658631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:24.03, Y:-4.44, Z:2.06 [[ 9.46073885e-01 2.76991534e-01 -1.67987782e-01 2.40274454e+01] [-2.72755292e-01 9.60872345e-01 4.82585416e-02 -4.44339273e+00] [ 1.74782021e-01 1.63410548e-04 9.84607139e-01 2.06007029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:24.06, Y:-4.44, Z:2.04 [[ 9.49420890e-01 2.65800108e-01 -1.67183359e-01 2.40588974e+01] [-2.65714417e-01 9.63770176e-01 2.33001555e-02 -4.43509156e+00] [ 1.67319519e-01 2.23013744e-02 9.85650459e-01 2.04346791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.08, Y:-4.45, Z:2.06 [[ 9.50359491e-01 2.65935558e-01 -1.61539833e-01 2.40848493e+01] [-2.62718901e-01 9.63985707e-01 4.13562120e-02 -4.45389947e+00] [ 1.66720178e-01 3.13629885e-03 9.85999263e-01 2.05856809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:24.11, Y:-4.48, Z:2.09 [[ 9.47808803e-01 2.74164784e-01 -1.62764074e-01 2.41121588e+01] [-2.66265599e-01 9.61430887e-01 6.89440432e-02 -4.48399074e+00] [ 1.75388437e-01 -2.20072975e-02 9.84253308e-01 2.08739535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.779999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:24.15, Y:-4.47, Z:2.06 [[ 9.51296502e-01 2.59154773e-01 -1.66954391e-01 2.41470753e+01] [-2.58669598e-01 9.65641478e-01 2.50314749e-02 -4.46980700e+00] [ 1.67705111e-01 1.93736707e-02 9.85646821e-01 2.06366928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:24.17, Y:-4.51, Z:2.10 [[ 9.50076841e-01 2.66604491e-01 -1.62098864e-01 2.41716550e+01] [-2.58995688e-01 9.63566940e-01 6.67831213e-02 -4.50608573e+00] [ 1.73997786e-01 -2.14661903e-02 9.84512048e-01 2.09833933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:-4.51, Z:2.10 [[ 9.50753374e-01 2.62165866e-01 -1.65339291e-01 2.42049737e+01] [-2.57748484e-01 9.65018043e-01 4.80197451e-02 -4.50925586e+00] [ 1.72144537e-01 -3.03898309e-03 9.85067014e-01 2.09857924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:-4.52, Z:2.10 [[ 9.51447679e-01 2.60230159e-01 -1.64400664e-01 2.42360725e+01] [-2.55825720e-01 9.65540560e-01 4.77977743e-02 -4.51943713e+00] [ 1.71173932e-01 -3.41916312e-03 9.85234893e-01 2.10439127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.9 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:24.27, Y:-4.53, Z:2.11 [[ 9.51976405e-01 2.57993906e-01 -1.64863788e-01 2.42663380e+01] [-2.53522232e-01 9.66138743e-01 4.79833979e-02 -4.52912033e+00] [ 1.71660717e-01 -3.88242707e-03 9.85148479e-01 2.10796964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:-4.54, Z:2.12 [[ 9.52559517e-01 2.56061846e-01 -1.64507441e-01 2.42972018e+01] [-2.51572808e-01 9.66650980e-01 4.79270870e-02 -4.53932502e+00] [ 1.71293578e-01 -4.26780394e-03 9.85210788e-01 2.11548292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:-4.53, Z:2.09 [[ 9.55854120e-01 2.44175951e-01 -1.63465615e-01 2.43305348e+01] [-2.44824304e-01 9.69427330e-01 1.64837124e-02 -4.52796303e+00] [ 1.62492961e-01 2.42643310e-02 9.86411314e-01 2.09392137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:24.35, Y:-4.57, Z:2.14 [[ 0.95272509 0.25957826 -0.15790512 24.3521122 ] [-0.25076225 0.96523484 0.07375629 -4.56670359] [ 0.17156106 -0.03067283 0.98469588 2.13682139] [ 0. 0. 0. 1. ]] SLAMing on 25.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:-4.55, Z:2.10 [[ 9.55412661e-01 2.45161805e-01 -1.64567120e-01 2.43904783e+01] [-2.45892303e-01 9.69161090e-01 1.62405605e-02 -4.54563964e+00] [ 1.63473614e-01 2.49493510e-02 9.86232177e-01 2.10423531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:-4.56, Z:2.12 [[ 9.55186213e-01 2.50559627e-01 -1.57604481e-01 2.44170326e+01] [-2.47729383e-01 9.68096352e-01 3.76776708e-02 -4.56240294e+00] [ 1.62016826e-01 3.05406917e-03 9.86783269e-01 2.11891322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:-4.57, Z:2.13 [[ 9.54941042e-01 2.51941064e-01 -1.56886283e-01 2.44477144e+01] [-2.48354660e-01 9.67741398e-01 4.23857265e-02 -4.57373929e+00] [ 1.62504056e-01 -1.51243040e-03 9.86706717e-01 2.12688384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:-4.60, Z:2.16 [[ 0.95099689 0.26561668 -0.15828045 24.47243975] [-0.25591084 0.96344951 0.07921284 -4.60341409] [ 0.17353548 -0.03482549 0.98421168 2.16334419] [ 0. 0. 0. 1. ]] SLAMing on 25.14 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:24.51, Y:-4.60, Z:2.15 [[ 9.50561109e-01 2.61214677e-01 -1.67929954e-01 2.45096583e+01] [-2.56500035e-01 9.65272255e-01 4.95702059e-02 -4.60108341e+00] [ 1.75046591e-01 -4.04547066e-03 9.84551840e-01 2.15223846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169999999999998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:24.54, Y:-4.61, Z:2.16 [[ 9.50206136e-01 2.62608449e-01 -1.67765021e-01 2.45409114e+01] [-2.57915450e-01 9.64894859e-01 4.95734949e-02 -4.60988868e+00] [ 1.74894025e-01 -3.83584808e-03 9.84579792e-01 2.15702746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.2 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:24.57, Y:-4.62, Z:2.17 [[ 9.49138417e-01 2.66279351e-01 -1.68022537e-01 2.45710200e+01] [-2.61619549e-01 9.63890537e-01 4.97015579e-02 -4.61785583e+00] [ 1.75189832e-01 -3.21567763e-03 9.84529422e-01 2.16532672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:24.60, Y:-4.63, Z:2.17 [[ 9.48641758e-01 2.67282228e-01 -1.69230689e-01 2.46030263e+01] [-2.62561562e-01 9.63613300e-01 5.01082189e-02 -4.62659822e+00] [ 1.76465979e-01 -3.10127480e-03 9.84301854e-01 2.16786143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.259999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:24.63, Y:-4.64, Z:2.17 [[ 9.48226032e-01 2.68952502e-01 -1.68914012e-01 2.46341952e+01] [-2.64266587e-01 9.63149266e-01 5.00665827e-02 -4.63534557e+00] [ 1.76154939e-01 -2.83610769e-03 9.84358367e-01 2.17420430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:24.66, Y:-4.64, Z:2.18 [[ 9.47882079e-01 2.70262364e-01 -1.68753726e-01 2.46644661e+01] [-2.65596820e-01 9.62783092e-01 5.00704105e-02 -4.64403448e+00] [ 1.76005381e-01 -2.64039184e-03 9.84385663e-01 2.17980816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:24.69, Y:-4.65, Z:2.19 [[ 9.47441883e-01 2.71593425e-01 -1.69088408e-01 2.46946605e+01] [-2.66924289e-01 9.62409011e-01 5.02027857e-02 -4.65310997e+00] [ 1.76366954e-01 -2.43041868e-03 9.84321487e-01 2.18563877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:24.73, Y:-4.66, Z:2.19 [[ 9.47089871e-01 2.72389082e-01 -1.69779164e-01 2.47254224e+01] [-2.67685339e-01 9.62184346e-01 5.04563559e-02 -4.66249394e+00] [ 1.77102614e-01 -2.33931058e-03 9.84189612e-01 2.18988601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.75, Y:-4.67, Z:2.20 [[ 9.46826736e-01 2.73831891e-01 -1.68923734e-01 2.47546333e+01] [-2.69189276e-01 9.61775257e-01 5.02542359e-02 -4.67165041e+00] [ 1.76227880e-01 -2.10959642e-03 9.84347136e-01 2.19838404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:24.79, Y:-4.68, Z:2.20 [[ 9.46890027e-01 2.73421606e-01 -1.69233277e-01 2.47860493e+01] [-2.68749223e-01 9.61891721e-01 5.03802798e-02 -4.68073950e+00] [ 1.76559145e-01 -2.22327286e-03 9.84287522e-01 2.20236521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.439999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:-4.69, Z:2.21 [[ 9.46815838e-01 2.74088329e-01 -1.68568554e-01 2.48166791e+01] [-2.69454038e-01 9.61702138e-01 5.02346442e-02 -4.68990409e+00] [ 1.75881468e-01 -2.14147926e-03 9.84409022e-01 2.20948772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:-4.68, Z:2.19 [[ 9.50025053e-01 2.63383170e-01 -1.67575964e-01 2.48525451e+01] [-2.64514444e-01 9.64249913e-01 1.59441089e-02 -4.67959306e+00] [ 1.65784519e-01 2.91789601e-02 9.85730228e-01 2.18657283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:-4.70, Z:2.20 [[ 9.50117635e-01 2.68062791e-01 -1.59432808e-01 2.48785323e+01] [-2.64504861e-01 9.63401106e-01 4.35371900e-02 -4.70028701e+00] [ 1.65268444e-01 8.05300724e-04 9.86248292e-01 2.20355741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:-4.71, Z:2.21 [[ 9.49905376e-01 2.68138210e-01 -1.60566738e-01 2.49085754e+01] [-2.64594991e-01 9.63379708e-01 4.34629588e-02 -4.70974808e+00] [ 1.66340817e-01 1.19945650e-03 9.86067591e-01 2.20909711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:-4.72, Z:2.22 [[ 9.49935104e-01 2.68914222e-01 -1.59086262e-01 2.49367745e+01] [-2.64391754e-01 9.63152097e-01 4.93461126e-02 -4.72135302e+00] [ 1.66494138e-01 -4.81450890e-03 9.86030690e-01 2.21772083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:24.96, Y:-4.75, Z:2.25 [[ 0.94718135 0.27715216 -0.1613511 24.9610854 ] [-0.26745738 0.96029039 0.07942869 -4.74710184] [ 0.17695775 -0.03207882 0.98369553 2.24833271] [ 0. 0. 0. 1. ]] SLAMing on 25.619999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:-4.75, Z:2.24 [[ 9.46737411e-01 2.73595403e-01 -1.69805269e-01 2.49962288e+01] [-2.68811698e-01 9.61841235e-01 5.10069492e-02 -4.74573889e+00] [ 1.77280977e-01 -2.64454421e-03 9.84156726e-01 2.24295839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:-4.75, Z:2.25 [[ 9.46440640e-01 2.74524543e-01 -1.69959963e-01 2.50276410e+01] [-2.69738155e-01 9.61576790e-01 5.11018978e-02 -4.75493185e+00] [ 1.77458281e-01 -2.52022585e-03 9.84125097e-01 2.24917441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:25.06, Y:-4.76, Z:2.25 [[ 9.45996914e-01 2.75104404e-01 -1.71485878e-01 2.50590694e+01] [-2.70230891e-01 9.61411147e-01 5.16127135e-02 -4.76373232e+00] [ 1.79067320e-01 -2.48468605e-03 9.83833686e-01 2.25272308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709999999999997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:25.09, Y:-4.77, Z:2.26 [[ 9.45517108e-01 2.76664036e-01 -1.71622868e-01 2.50901755e+01] [-2.71798757e-01 9.60964092e-01 5.17054046e-02 -4.77230309e+00] [ 1.79228439e-01 -2.24146253e-03 9.83804931e-01 2.25756086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:25.12, Y:-4.78, Z:2.26 [[ 9.44595144e-01 2.79397677e-01 -1.72269996e-01 2.51207229e+01] [-2.74530940e-01 9.60173823e-01 5.19518355e-02 -4.77992737e+00] [ 1.79924363e-01 -1.78000759e-03 9.83678837e-01 2.26354895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:25.15, Y:-4.79, Z:2.27 [[ 9.44166838e-01 2.80689792e-01 -1.72517311e-01 2.51520626e+01] [-2.75824157e-01 9.59797259e-01 5.20601156e-02 -4.78943813e+00] [ 1.80194385e-01 -1.56899287e-03 9.83629769e-01 2.26913332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:-4.80, Z:2.28 [[ 9.43586835e-01 2.82867618e-01 -1.72133073e-01 2.51810485e+01] [-2.78049891e-01 9.59158206e-01 5.19980284e-02 -4.79868007e+00] [ 1.79811408e-01 -1.20307297e-03 9.83700366e-01 2.27752622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:25.21, Y:-4.81, Z:2.28 [[ 9.42981193e-01 2.84070241e-01 -1.73466332e-01 2.52126327e+01] [-2.79187641e-01 9.58802917e-01 5.24521459e-02 -4.80798961e+00] [ 1.81220119e-01 -1.03173108e-03 9.83442019e-01 2.28049383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:25.24, Y:-4.82, Z:2.29 [[ 9.42636561e-01 2.84732423e-01 -1.74252007e-01 2.52433118e+01] [-2.79806256e-01 9.58606553e-01 5.27440671e-02 -4.81706846e+00] [ 1.82057061e-01 -9.61684461e-04 9.83287497e-01 2.28537641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:-4.83, Z:2.29 [[ 9.42380571e-01 2.86044326e-01 -1.73486319e-01 2.52739891e+01] [-2.81174493e-01 9.58216090e-01 5.25626290e-02 -4.82668994e+00] [ 1.81272624e-01 -7.54072713e-04 9.83432594e-01 2.29427038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.919999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:25.31, Y:-4.81, Z:2.26 [[ 9.46703512e-01 2.70463365e-01 -1.74934356e-01 2.53132673e+01] [-2.74415607e-01 9.61609758e-01 1.65771725e-03 -4.80898551e+00] [ 1.68666935e-01 4.64353507e-02 9.84578703e-01 2.25865943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:25.32, Y:-4.86, Z:2.33 [[ 0.9430726 0.29232024 -0.15862831 25.32419348] [-0.27989641 0.9551976 0.09620575 -4.86225227] [ 0.17964427 -0.04632951 0.98264007 2.32642243] [ 0. 0. 0. 1. ]] SLAMing on 25.98 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:25.36, Y:-4.86, Z:2.31 [[ 9.43123213e-01 2.84615132e-01 -1.71792989e-01 2.53635440e+01] [-2.79788811e-01 9.58641152e-01 5.22050160e-02 -4.85563320e+00] [ 1.79546166e-01 -1.17000624e-03 9.83748853e-01 2.31124312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.39, Y:-4.87, Z:2.32 [[ 9.43054816e-01 2.85217715e-01 -1.71167956e-01 2.53924589e+01] [-2.80426821e-01 9.58462121e-01 5.20688135e-02 -4.86527598e+00] [ 1.78908950e-01 -1.10365965e-03 9.83865016e-01 2.31938120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:25.42, Y:-4.88, Z:2.32 [[ 9.43453452e-01 2.84012972e-01 -1.70974312e-01 2.54230391e+01] [-2.79204263e-01 9.58819445e-01 5.20600678e-02 -4.87520668e+00] [ 1.78719230e-01 -1.37949386e-03 9.83899148e-01 2.32247642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:25.45, Y:-4.89, Z:2.33 [[ 9.43611470e-01 2.84207905e-01 -1.69774146e-01 2.54535144e+01] [-2.79461328e-01 9.58761681e-01 5.17436493e-02 -4.88527069e+00] [ 1.77478900e-01 -1.38059260e-03 9.84123638e-01 2.32933566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.099999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:25.48, Y:-4.90, Z:2.33 [[ 9.43589515e-01 2.84797237e-01 -1.68906365e-01 2.54835274e+01] [-2.80099448e-01 9.58586880e-01 5.15314631e-02 -4.89510302e+00] [ 1.76587444e-01 -1.31396857e-03 9.84284079e-01 2.33480452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:25.51, Y:-4.90, Z:2.34 [[ 9.43387726e-01 2.85876005e-01 -1.68209717e-01 2.55145532e+01] [-2.81225518e-01 9.58265922e-01 5.13676122e-02 -4.90457703e+00] [ 1.75874407e-01 -1.15471005e-03 9.84411936e-01 2.33896806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:25.55, Y:-4.89, Z:2.31 [[ 9.46241442e-01 2.76075861e-01 -1.68550445e-01 2.55508643e+01] [-2.77486518e-01 9.60602810e-01 1.56036625e-02 -4.89477036e+00] [ 1.66217826e-01 3.20056441e-02 9.85569517e-01 2.31487405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:25.57, Y:-4.93, Z:2.36 [[ 0.94256775 0.29380234 -0.15889061 25.56752604] [-0.28396256 0.95532584 0.08196215 -4.93425406] [ 0.17587297 -0.0321359 0.9838882 2.36336334] [ 0. 0. 0. 1. ]] SLAMing on 26.22 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:25.60, Y:-4.93, Z:2.35 [[ 9.41416622e-01 2.91483329e-01 -1.69623741e-01 2.56035954e+01] [-2.86824504e-01 9.56575885e-01 5.19064593e-02 -4.93224148e+00] [ 1.77387848e-01 -2.13358195e-04 9.84140999e-01 2.35350540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:25.63, Y:-4.94, Z:2.36 [[ 9.40678668e-01 2.93862205e-01 -1.69613230e-01 2.56330919e+01] [-2.89233281e-01 9.55847775e-01 5.19532426e-02 -4.94164330e+00] [ 1.77391523e-01 1.86484096e-04 9.84140342e-01 2.36114764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.279999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:25.66, Y:-4.95, Z:2.36 [[ 9.40188652e-01 2.94814274e-01 -1.70674668e-01 2.56643397e+01] [-2.90133333e-01 9.55554520e-01 5.23278856e-02 -4.95131365e+00] [ 1.78515958e-01 3.20326140e-04 9.83936964e-01 2.36493991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:25.70, Y:-4.96, Z:2.37 [[ 9.39630091e-01 2.96175752e-01 -1.71391994e-01 2.56950655e+01] [-2.91467780e-01 9.55133312e-01 5.26012333e-02 -4.96074629e+00] [ 1.79281413e-01 5.29542330e-04 9.83797690e-01 2.36966534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.73, Y:-4.97, Z:2.38 [[ 9.39030321e-01 2.98464593e-01 -1.70707183e-01 2.57261064e+01] [-2.93822347e-01 9.54420272e-01 5.24439893e-02 -4.97033679e+00] [ 1.78579070e-01 9.11089122e-04 9.83925142e-01 2.37730015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369999999999997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:25.76, Y:-4.98, Z:2.38 [[ 9.38882722e-01 2.98293447e-01 -1.71814595e-01 2.57574001e+01] [-2.93577573e-01 9.54473848e-01 5.28382525e-02 -4.98043762e+00] [ 1.79753842e-01 8.31989413e-04 9.83711271e-01 2.37843188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.4 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:25.79, Y:-4.99, Z:2.39 [[ 9.38628973e-01 2.99238971e-01 -1.71556664e-01 2.57881676e+01] [-2.94543273e-01 9.54177718e-01 5.28123385e-02 -4.99034963e+00] [ 1.79499056e-01 9.59670298e-04 9.83757677e-01 2.38701889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:-4.98, Z:2.36 [[ 9.41939798e-01 2.88456086e-01 -1.71879327e-01 2.58252337e+01] [-2.90543769e-01 9.56767265e-01 1.34431571e-02 -4.97952182e+00] [ 1.68326274e-01 3.72758227e-02 9.85026283e-01 2.36241269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.459999999999997 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:25.84, Y:-5.02, Z:2.41 [[ 0.93858505 0.30491374 -0.16151074 25.84030104] [-0.29421284 0.95176559 0.0870693 -5.02254385] [ 0.18026899 -0.03420341 0.98302249 2.41343996] [ 0. 0. 0. 1. ]] SLAMing on 26.49 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:25.88, Y:-5.02, Z:2.40 [[ 9.38716674e-01 2.98466977e-01 -1.72419459e-01 2.58778425e+01] [-2.93684354e-01 9.54419722e-01 5.32211921e-02 -5.02048823e+00] [ 1.80445300e-01 6.77276836e-04 9.83584788e-01 2.40326546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:25.91, Y:-5.03, Z:2.41 [[ 9.39039804e-01 2.97728061e-01 -1.71936758e-01 2.59088390e+01] [-2.92950268e-01 9.54650601e-01 5.31259867e-02 -5.03070335e+00] [ 1.79956626e-01 4.81503212e-04 9.83674428e-01 2.40911960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:25.94, Y:-5.04, Z:2.42 [[ 9.39464654e-01 2.96643311e-01 -1.71490264e-01 2.59381995e+01] [-2.91862933e-01 9.54988323e-01 5.30408476e-02 -5.04017383e+00] [ 1.79505412e-01 2.21649873e-04 9.83756961e-01 2.41569983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:25.97, Y:-5.05, Z:2.42 [[ 9.39979556e-01 2.95107981e-01 -1.71317583e-01 2.59686667e+01] [-2.90305799e-01 9.55463902e-01 5.30214517e-02 -5.05042024e+00] [ 1.79334820e-01 -1.04592760e-04 9.83788093e-01 2.42078302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.61 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:26.00, Y:-5.06, Z:2.43 [[ 9.41401953e-01 2.90928811e-01 -1.70654007e-01 2.59982765e+01] [-2.86086204e-01 9.56744232e-01 5.28692602e-02 -5.06207753e+00] [ 1.78653428e-01 -9.49467795e-04 9.83911607e-01 2.42702933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:26.03, Y:-5.07, Z:2.43 [[ 9.42020882e-01 2.88944297e-01 -1.70610232e-01 2.60273726e+01] [-2.84065697e-01 9.57344947e-01 5.28898173e-02 -5.07209925e+00] [ 1.78615055e-01 -1.35879777e-03 9.83918094e-01 2.43438834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:26.06, Y:-5.08, Z:2.44 [[ 9.42485128e-01 2.87020125e-01 -1.71292824e-01 2.60582563e+01] [-2.82061361e-01 9.57922899e-01 5.31517425e-02 -5.08287150e+00] [ 1.79340938e-01 -1.77963982e-03 9.83785373e-01 2.44024910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.7 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:26.09, Y:-5.09, Z:2.44 [[ 9.43001054e-01 2.84748738e-01 -1.72241600e-01 2.60883185e+01] [-2.79686943e-01 9.58599485e-01 5.34999164e-02 -5.09373502e+00] [ 1.80344743e-01 -2.27675092e-03 9.83600829e-01 2.44483458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:-5.07, Z:2.41 [[ 9.49015128e-01 2.64025269e-01 -1.72223531e-01 2.61282007e+01] [-2.68897660e-01 9.63154868e-01 -5.17191083e-03 -5.07441105e+00] [ 1.64512417e-01 5.12187262e-02 9.85044317e-01 2.40851280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.759999999999998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:26.14, Y:-5.13, Z:2.48 [[ 0.94482027 0.28725407 -0.15747937 26.13663166] [-0.27341907 0.95626848 0.10388748 -5.13367298] [ 0.18043465 -0.05509713 0.98204259 2.48293924] [ 0. 0. 0. 1. ]] SLAMing on 26.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.18, Y:-5.12, Z:2.47 [[ 9.45036588e-01 2.77717963e-01 -1.72564715e-01 2.61762678e+01] [-2.72494002e-01 9.60655264e-01 5.37445970e-02 -5.12435005e+00] [ 1.80701042e-01 -3.76776060e-03 9.83530852e-01 2.46710226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:26.21, Y:-5.11, Z:2.44 [[ 9.48975991e-01 2.62982439e-01 -1.74025299e-01 2.62139007e+01] [-2.64786841e-01 9.64216731e-01 1.31918331e-02 -5.11094761e+00] [ 1.71267325e-01 3.35608761e-02 9.84652817e-01 2.43659791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849999999999998 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:26.23, Y:-5.15, Z:2.49 [[ 0.94654014 0.27826716 -0.16318439 26.22979247] [-0.26678658 0.9596433 0.08893627 -5.15455407] [ 0.18134685 -0.04064635 0.98257885 2.49295433] [ 0. 0. 0. 1. ]] SLAMing on 26.88 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:26.27, Y:-5.13, Z:2.45 [[ 9.49986116e-01 2.58834482e-01 -1.74731483e-01 2.62747774e+01] [-2.60489290e-01 9.65378056e-01 1.38035778e-02 -5.13016781e+00] [ 1.72254781e-01 3.24024727e-02 9.84519360e-01 2.44948971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:26.29, Y:-5.17, Z:2.51 [[ 0.94726102 0.27535261 -0.16394358 26.28857295] [-0.26367691 0.96044087 0.08959813 -5.1730821 ] [ 0.1821292 -0.04164468 0.98239232 2.50517208] [ 0. 0. 0. 1. ]] SLAMing on 26.939999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:26.34, Y:-5.14, Z:2.45 [[ 9.51137642e-01 2.53894113e-01 -1.75712738e-01 2.63355861e+01] [-2.57340985e-01 9.66315118e-01 3.27251639e-03 -5.14245341e+00] [ 1.70624748e-01 4.21054754e-02 9.84436044e-01 2.45431486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:26.35, Y:-5.19, Z:2.52 [[ 0.9476738 0.27530889 -0.1616149 26.34632917] [-0.26199458 0.95997521 0.09902746 -5.19439387] [ 0.18240944 -0.0515035 0.98187279 2.52198163] [ 0. 0. 0. 1. ]] SLAMing on 27.0 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:26.39, Y:-5.19, Z:2.51 [[ 9.47274549e-01 2.68023034e-01 -1.75597786e-01 2.63866714e+01] [-2.62379527e-01 9.63393372e-01 5.50472052e-02 -5.18828760e+00] [ 1.83923662e-01 -6.07155246e-03 9.82921779e-01 2.50689393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:26.43, Y:-5.16, Z:2.46 [[ 9.51949495e-01 2.49477439e-01 -1.77632108e-01 2.64290258e+01] [-2.54722547e-01 9.66988939e-01 -6.98677930e-03 -5.16421456e+00] [ 1.70025240e-01 5.18979640e-02 9.84072162e-01 2.46443630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:26.44, Y:-5.22, Z:2.54 [[ 0.94771571 0.2761746 -0.15988287 26.43557688] [-0.26108173 0.95912373 0.10916959 -5.22364827] [ 0.18349733 -0.06171924 0.98108076 2.54438087] [ 0. 0. 0. 1. ]] SLAMing on 27.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:-5.18, Z:2.48 [[ 9.51649533e-01 2.49936056e-01 -1.78592088e-01 2.64888383e+01] [-2.55068062e-01 9.66904501e-01 -5.99749262e-03 -5.18058232e+00] [ 1.71182504e-01 5.12606489e-02 9.83904922e-01 2.47626581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.119999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:-5.21, Z:2.51 [[ 9.51264675e-01 2.61587703e-01 -1.63301538e-01 2.65094133e+01] [-2.57239377e-01 9.65174127e-01 4.76110045e-02 -5.21262816e+00] [ 1.70068873e-01 -3.28308073e-03 9.85426710e-01 2.50652513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:26.53, Y:-5.25, Z:2.56 [[ 0.94610048 0.28104052 -0.16096616 26.52653291] [-0.26603648 0.95782026 0.10865053 -5.24916095] [ 0.18471185 -0.05997145 0.98096124 2.56281097] [ 0. 0. 0. 1. ]] SLAMing on 27.18 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:26.58, Y:-5.20, Z:2.49 [[ 9.50200739e-01 2.54089930e-01 -1.80435207e-01 2.65810315e+01] [-2.60552155e-01 9.65376763e-01 -1.26601491e-02 -5.20267128e+00] [ 1.70971139e-01 5.90424650e-02 9.83505392e-01 2.48877391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209999999999997 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:26.59, Y:-5.26, Z:2.56 [[ 0.94765322 0.27926185 -0.15481017 26.58767685] [-0.26664079 0.95885513 0.09746552 -5.25693053] [ 0.17565892 -0.05108481 0.98312476 2.55573847] [ 0. 0. 0. 1. ]] SLAMing on 27.24 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:26.63, Y:-5.25, Z:2.54 [[ 9.46737141e-01 2.75712669e-01 -1.66346958e-01 2.66262255e+01] [-2.70159641e-01 9.61209336e-01 5.55911910e-02 -5.24981009e+00] [ 1.75221445e-01 -7.69001073e-03 9.84499014e-01 2.54270762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:26.66, Y:-5.26, Z:2.54 [[ 9.45548267e-01 2.78608968e-01 -1.68272151e-01 2.66587749e+01] [-2.73698801e-01 9.60399016e-01 5.21794709e-02 -5.25553185e+00] [ 1.76146077e-01 -3.28232238e-03 9.84358566e-01 2.54487222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.3 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:26.69, Y:-5.26, Z:2.55 [[ 9.44981035e-01 2.80675496e-01 -1.68024130e-01 2.66887762e+01] [-2.75801403e-01 9.59798182e-01 5.21635527e-02 -5.26391779e+00] [ 1.75910286e-01 -2.95227713e-03 9.84401775e-01 2.54952393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:26.73, Y:-5.24, Z:2.51 [[ 9.49331336e-01 2.64736413e-01 -1.69365424e-01 2.67304253e+01] [-2.70200122e-01 9.62755909e-01 -9.64126624e-03 -5.24030450e+00] [ 1.60505169e-01 5.49153145e-02 9.85506164e-01 2.50722756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:-5.30, Z:2.59 [[ 0.94396822 0.29407077 -0.14982113 26.73826176] [-0.28052221 0.95406667 0.10518591 -5.30037933] [ 0.17387145 -0.057264 0.983102 2.5882037 ] [ 0. 0. 0. 1. ]] SLAMing on 27.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:-5.26, Z:2.52 [[ 9.48101588e-01 2.70058934e-01 -1.67843828e-01 2.67889026e+01] [-2.74403084e-01 9.61610675e-01 -2.80288080e-03 -5.26010554e+00] [ 1.60643474e-01 4.87142798e-02 9.85809613e-01 2.52364445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.419999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:-5.29, Z:2.55 [[ 9.47504640e-01 2.78619403e-01 -1.56863586e-01 2.68106337e+01] [-2.75992915e-01 9.60378957e-01 3.87320275e-02 -5.28541000e+00] [ 1.61439981e-01 6.59446241e-03 9.86860500e-01 2.54655696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:26.83, Y:-5.33, Z:2.60 [[ 0.94249894 0.29633758 -0.15453087 26.82882248] [-0.28289033 0.95357758 0.10326115 -5.32578389] [ 0.17795733 -0.05360824 0.98257689 2.60047737] [ 0. 0. 0. 1. ]] SLAMing on 27.48 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:26.87, Y:-5.32, Z:2.58 [[ 9.42066739e-01 2.89432363e-01 -1.69526298e-01 2.68688553e+01] [-2.84493577e-01 9.57196461e-01 5.32760769e-02 -5.31667245e+00] [ 1.77689794e-01 -1.96047698e-03 9.84084597e-01 2.58440286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509999999999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:26.90, Y:-5.33, Z:2.59 [[ 9.41611411e-01 2.90556939e-01 -1.70131171e-01 2.69004378e+01] [-2.85591629e-01 9.56856004e-01 5.35164401e-02 -5.32629248e+00] [ 1.78340606e-01 -1.80365229e-03 9.83967162e-01 2.58918535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.94, Y:-5.31, Z:2.56 [[ 9.45803146e-01 2.76187702e-01 -1.70812069e-01 2.69387070e+01] [-2.79619892e-01 9.60101963e-01 4.11552509e-03 -5.30857287e+00] [ 1.65133660e-01 4.38699758e-02 9.85295032e-01 2.55562571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:-5.36, Z:2.62 [[ 0.94101106 0.29961586 -0.15725303 26.95116559] [-0.28744118 0.95300472 0.09570567 -5.36103359] [ 0.17853782 -0.0448591 0.98290992 2.62206831] [ 0. 0. 0. 1. ]] SLAMing on 27.599999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:-5.36, Z:2.61 [[ 9.40549109e-01 2.93520480e-01 -1.70918404e-01 2.69903433e+01] [-2.88526344e-01 9.55951742e-01 5.39334431e-02 -5.35560547e+00] [ 1.79220316e-01 -1.41258973e-03 9.83807950e-01 2.60848459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:27.02, Y:-5.36, Z:2.61 [[ 9.40278450e-01 2.93068162e-01 -1.73168961e-01 2.70206294e+01] [-2.87922819e-01 9.56090258e-01 5.46979800e-02 -5.36461021e+00] [ 1.81595393e-01 -1.57203650e-03 9.83372077e-01 2.61092581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:27.05, Y:-5.37, Z:2.62 [[ 9.40237963e-01 2.92847519e-01 -1.73761055e-01 2.70514501e+01] [-2.87653511e-01 9.56157698e-01 5.49355435e-02 -5.37454716e+00] [ 1.82230708e-01 -1.66950593e-03 9.83254383e-01 2.61615526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.08, Y:-5.39, Z:2.62 [[ 9.40122586e-01 2.93501841e-01 -1.73280675e-01 2.70815426e+01] [-2.88337971e-01 9.55957186e-01 5.48367862e-02 -5.38514115e+00] [ 1.81743604e-01 -1.58990319e-03 9.83344667e-01 2.62379356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-5.37, Z:2.60 [[ 9.43964068e-01 2.80551925e-01 -1.73846066e-01 2.71174810e+01] [-2.82396973e-01 9.59187303e-01 1.45487808e-02 -5.37289883e+00] [ 1.70832628e-01 3.53600766e-02 9.84665364e-01 2.59612104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:27.13, Y:-5.42, Z:2.65 [[ 0.94037604 0.29827393 -0.16347957 27.13351903] [-0.28705556 0.9537729 0.08897397 -5.41898868] [ 0.182461 -0.03674127 0.98252637 2.64925417] [ 0. 0. 0. 1. ]] SLAMing on 27.779999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:-5.42, Z:2.64 [[ 9.40164475e-01 2.92916425e-01 -1.74042318e-01 2.71698018e+01] [-2.87664002e-01 9.56136196e-01 5.52539272e-02 -5.41701076e+00] [ 1.82592943e-01 -1.88206981e-03 9.83186796e-01 2.64172784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:27.20, Y:-5.43, Z:2.65 [[ 9.40519004e-01 2.91964684e-01 -1.73725724e-01 2.72002129e+01] [-2.86708939e-01 9.56426801e-01 5.51883909e-02 -5.42856274e+00] [ 1.82269000e-01 -2.09701241e-03 9.83246467e-01 2.64708054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:27.23, Y:-5.44, Z:2.65 [[ 9.40657793e-01 2.91559927e-01 -1.73654036e-01 2.72309416e+01] [-2.86291703e-01 9.56549972e-01 5.52196707e-02 -5.43956386e+00] [ 1.82208607e-01 -2.22710384e-03 9.83257374e-01 2.65185708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.27, Y:-5.43, Z:2.63 [[ 9.43599968e-01 2.81526017e-01 -1.74247532e-01 2.72658304e+01] [-2.82127093e-01 9.59128552e-01 2.18340243e-02 -5.43162102e+00] [ 1.73272629e-01 2.85573650e-02 9.84459787e-01 2.63181401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:-5.47, Z:2.68 [[ 0.94013509 0.29794296 -0.16545698 27.28322999] [-0.28767697 0.9540848 0.08345153 -5.47134138] [ 0.18272378 -0.03085755 0.98267992 2.67872038] [ 0. 0. 0. 1. ]] SLAMing on 27.93 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:27.32, Y:-5.47, Z:2.67 [[ 9.39882513e-01 2.93426961e-01 -1.74703978e-01 2.73200645e+01] [-2.88099179e-01 9.55979365e-01 5.56984456e-02 -5.47163038e+00] [ 1.83356823e-01 -2.01792250e-03 9.83044355e-01 2.66910149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.959999999999997 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:27.35, Y:-5.48, Z:2.68 [[ 9.39424317e-01 2.95102018e-01 -1.74346644e-01 2.73508600e+01] [-2.89814696e-01 9.55464165e-01 5.56387534e-02 -5.48257755e+00] [ 1.83001079e-01 -1.74017834e-03 9.83111172e-01 2.67551783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:27.38, Y:-5.49, Z:2.68 [[ 9.38251116e-01 2.98470658e-01 -1.74928872e-01 2.73804927e+01] [-2.93195584e-01 9.54418131e-01 5.58782741e-02 -5.49373534e+00] [ 1.83633312e-01 -1.13948032e-03 9.82994155e-01 2.68119316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:27.41, Y:-5.50, Z:2.69 [[ 9.37514383e-01 3.00599757e-01 -1.75232896e-01 2.74109608e+01] [-2.95336497e-01 9.53750078e-01 5.60101941e-02 -5.50420474e+00] [ 1.83965039e-01 -7.57692891e-04 9.82932495e-01 2.68612902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:-5.51, Z:2.70 [[ 9.36528469e-01 3.04211669e-01 -1.74269005e-01 2.74408774e+01] [-2.99058769e-01 9.52604456e-01 5.57548431e-02 -5.51483892e+00] [ 1.82970705e-01 -9.93237991e-05 9.83118361e-01 2.69521610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:27.47, Y:-5.53, Z:2.70 [[ 9.35887156e-01 3.06338051e-01 -1.73989165e-01 2.74702972e+01] [-3.01228125e-01 9.51922754e-01 5.57197231e-02 -5.52526233e+00] [ 1.82693316e-01 2.63056715e-04 9.83169916e-01 2.70074354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.50, Y:-5.54, Z:2.71 [[ 9.35085818e-01 3.09092242e-01 -1.73425772e-01 2.75010726e+01] [-3.04056087e-01 9.51031756e-01 5.55742277e-02 -5.53615034e+00] [ 1.82110980e-01 7.64489445e-04 9.83277685e-01 2.70755427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:27.53, Y:-5.55, Z:2.71 [[ 9.34531083e-01 3.10910747e-01 -1.73165128e-01 2.75322054e+01] [-3.05910671e-01 9.50438517e-01 5.55453564e-02 -5.54680105e+00] [ 1.81852456e-01 1.06419839e-03 9.83325252e-01 2.71186163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:-5.56, Z:2.72 [[ 9.32825591e-01 3.16442452e-01 -1.72338596e-01 2.75617204e+01] [-3.11573711e-01 9.48609433e-01 5.53350446e-02 -5.55767942e+00] [ 1.80992375e-01 2.07823041e-03 9.83482303e-01 2.71991884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.2 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:27.60, Y:-5.55, Z:2.70 [[ 9.34241422e-01 3.09908206e-01 -1.76493256e-01 2.75981639e+01] [-3.10047965e-01 9.50323153e-01 2.74984569e-02 -5.55395202e+00] [ 1.76247625e-01 2.90311773e-02 9.83917662e-01 2.70157299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:27.62, Y:-5.59, Z:2.74 [[ 9.31279595e-01 3.24317557e-01 -1.65941069e-01 2.76164451e+01] [-3.14885268e-01 9.45663125e-01 8.10464225e-02 -5.58733472e+00] [ 1.83209128e-01 -2.32244814e-02 9.82799592e-01 2.74140498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.259999999999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:27.65, Y:-5.59, Z:2.73 [[ 9.30389718e-01 3.22150265e-01 -1.74911921e-01 2.76521540e+01] [-3.17206978e-01 9.46683476e-01 5.63038950e-02 -5.58848689e+00] [ 1.83724540e-01 3.09871683e-03 9.82972884e-01 2.73399692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:27.68, Y:-5.60, Z:2.74 [[ 9.30354325e-01 3.22157876e-01 -1.75086074e-01 2.76817663e+01] [-3.17194438e-01 9.46681045e-01 5.64153228e-02 -5.59829312e+00] [ 1.83925308e-01 3.05008901e-03 9.82935490e-01 2.73895629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:27.71, Y:-5.61, Z:2.75 [[ 9.30318814e-01 3.22501582e-01 -1.74641442e-01 2.77124526e+01] [-3.17559894e-01 9.46563978e-01 5.63236137e-02 -5.60872904e+00] [ 1.83473752e-01 3.06020006e-03 9.83019846e-01 2.74727874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:27.74, Y:-5.62, Z:2.75 [[ 9.30550048e-01 3.21400523e-01 -1.75437485e-01 2.77431271e+01] [-3.16383519e-01 9.46939199e-01 5.66358768e-02 -5.61931210e+00] [ 1.84331432e-01 2.80301075e-03 9.82860146e-01 2.75125442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:27.78, Y:-5.61, Z:2.73 [[ 9.34102551e-01 3.09290803e-01 -1.78302056e-01 2.77794743e+01] [-3.10683819e-01 9.50286251e-01 2.07751355e-02 -5.60993695e+00] [ 1.75863550e-01 3.59894565e-02 9.83756459e-01 2.72805660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:27.80, Y:-5.65, Z:2.78 [[ 0.93098526 0.32488893 -0.1664741 27.79547781] [-0.31417584 0.94529291 0.08783423 -5.65143684] [ 0.18590315 -0.02947023 0.98212602 2.77750745] [ 0. 0. 0. 1. ]] SLAMing on 28.439999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:27.83, Y:-5.65, Z:2.77 [[ 9.31478902e-01 3.18280423e-01 -1.76194856e-01 2.78311525e+01] [-3.13136274e-01 9.47994390e-01 5.70290395e-02 -5.65009517e+00] [ 1.85182961e-01 2.05165343e-03 9.82701919e-01 2.76950711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:27.86, Y:-5.66, Z:2.77 [[ 9.31986469e-01 3.16343566e-01 -1.76997092e-01 2.78620012e+01] [-3.11107331e-01 9.48643302e-01 5.73420845e-02 -5.66094688e+00] [ 1.86046906e-01 1.62304604e-03 9.82539523e-01 2.77441391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.5 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:27.90, Y:-5.65, Z:2.75 [[ 9.35970496e-01 3.03669396e-01 -1.78168821e-01 2.78963656e+01] [-3.03889913e-01 9.52332150e-01 2.67282234e-02 -5.65321489e+00] [ 1.77792439e-01 2.91268789e-02 9.83636861e-01 2.75427666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529999999999998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:27.92, Y:-5.69, Z:2.80 [[ 9.33348356e-01 3.16721988e-01 -1.68961618e-01 2.79152517e+01] [-3.06793255e-01 9.48180799e-01 8.26502952e-02 -5.69197178e+00] [ 1.86383327e-01 -2.53052326e-02 9.82151160e-01 2.79858451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:27.95, Y:-5.69, Z:2.79 [[ 9.34625074e-01 3.09493336e-01 -1.75185178e-01 2.79507828e+01] [-3.04212377e-01 9.50901608e-01 5.69294491e-02 -5.69434990e+00] [ 1.84203153e-01 8.58087956e-05 9.82888189e-01 2.79442519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:27.98, Y:-5.70, Z:2.80 [[ 9.34946758e-01 3.08798442e-01 -1.74694253e-01 2.79806889e+01] [-3.03525024e-01 9.51127495e-01 5.68247173e-02 -5.70386470e+00] [ 1.83703891e-01 -1.04007873e-04 9.82981622e-01 2.79980870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.619999999999997 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:28.02, Y:-5.69, Z:2.77 [[ 9.39834681e-01 2.92623219e-01 -1.76302084e-01 2.80187026e+01] [-2.95797815e-01 9.55211861e-01 8.59958464e-03 -5.68527528e+00] [ 1.70922280e-01 4.40675833e-02 9.84298543e-01 2.76529143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:28.03, Y:-5.74, Z:2.83 [[ 0.93522821 0.31510131 -0.16142914 28.03107094] [-0.30270801 0.9481351 0.09699326 -5.73718841] [ 0.18361933 -0.04184493 0.98210638 2.83159636] [ 0. 0. 0. 1. ]] SLAMing on 28.68 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:28.08, Y:-5.71, Z:2.78 [[ 9.39136708e-01 2.94279451e-01 -1.77262090e-01 2.80777515e+01] [-2.96419992e-01 9.54941492e-01 1.48975019e-02 -5.70762268e+00] [ 1.73658954e-01 3.85532365e-02 9.84050921e-01 2.78119501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709999999999997 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:28.09, Y:-5.75, Z:2.84 [[ 0.93482594 0.31450074 -0.16489316 28.09274897] [-0.30271765 0.94853672 0.09295226 -5.75206859] [ 0.18564077 -0.03697812 0.98192165 2.83888893] [ 0. 0. 0. 1. ]] SLAMing on 28.74 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.13, Y:-5.75, Z:2.83 [[ 9.34518066e-01 3.09392075e-01 -1.75933306e-01 2.81303817e+01] [-3.04004599e-01 9.50934534e-01 5.74866644e-02 -5.74829244e+00] [ 1.85086975e-01 -2.37792059e-04 9.82722115e-01 2.82843523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:28.16, Y:-5.76, Z:2.83 [[ 9.34046640e-01 3.10705167e-01 -1.76122610e-01 2.81600155e+01] [-3.05319201e-01 9.50506338e-01 5.76011039e-02 -5.75753746e+00] [ 1.85302618e-01 -2.85029958e-05 9.82681504e-01 2.83479308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.799999999999997 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:28.20, Y:-5.74, Z:2.81 [[ 9.37556256e-01 2.99139625e-01 -1.77492960e-01 2.81983136e+01] [-3.01184775e-01 9.53432327e-01 1.59539787e-02 -5.74477228e+00] [ 1.73999993e-01 3.85004247e-02 9.83992744e-01 2.80757583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.21, Y:-5.79, Z:2.86 [[ 0.93327576 0.31874407 -0.16552516 28.21182493] [-0.30693147 0.94714618 0.09331225 -5.7888376 ] [ 0.18651926 -0.03628118 0.98178116 2.86367312] [ 0. 0. 0. 1. ]] SLAMing on 28.86 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.25, Y:-5.78, Z:2.85 [[ 9.32372395e-01 3.14641601e-01 -1.77995450e-01 2.82507905e+01] [-3.09182843e-01 9.49210344e-01 5.83583129e-02 -5.78429480e+00] [ 1.87317075e-01 6.21459126e-04 9.82299306e-01 2.85278475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.28, Y:-5.79, Z:2.86 [[ 9.32311143e-01 3.14832387e-01 -1.77978935e-01 2.82820013e+01] [-3.09367468e-01 9.49147091e-01 5.84086352e-02 -5.79464458e+00] [ 1.87317119e-01 6.05871261e-04 9.82299308e-01 2.85877792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.919999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.31, Y:-5.80, Z:2.86 [[ 9.31907227e-01 3.15644990e-01 -1.78653744e-01 2.83134342e+01] [-3.10145274e-01 9.48877075e-01 5.86703202e-02 -5.80379269e+00] [ 1.88039434e-01 7.33318880e-04 9.82161205e-01 2.86367696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:28.35, Y:-5.79, Z:2.83 [[ 9.35350662e-01 3.03797494e-01 -1.81180082e-01 2.83517498e+01] [-3.05996958e-01 9.51891560e-01 1.63804628e-02 -5.79008912e+00] [ 1.77440134e-01 4.01190771e-02 9.83313510e-01 2.83497811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:28.38, Y:-5.81, Z:2.85 [[ 9.35713289e-01 3.08785552e-01 -1.70564134e-01 2.83750918e+01] [-3.06068395e-01 9.51052516e-01 4.26760993e-02 -5.80867299e+00] [ 1.75393212e-01 1.22716974e-02 9.84421976e-01 2.84988132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:28.39, Y:-5.85, Z:2.90 [[ 0.9307266 0.32586071 -0.16602046 28.39193197] [-0.3119507 0.94431671 0.10465516 -5.84806719] [ 0.1908789 -0.04561515 0.98055316 2.9029637 ] [ 0. 0. 0. 1. ]] SLAMing on 29.04 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.43, Y:-5.84, Z:2.89 [[ 9.30533918e-01 3.18404009e-01 -1.80901946e-01 2.84313620e+01] [-3.12774286e-01 9.47954467e-01 5.96202557e-02 -5.84157280e+00] [ 1.90470136e-01 1.10280699e-03 9.81692371e-01 2.88813746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:28.46, Y:-5.85, Z:2.89 [[ 9.30525750e-01 3.17962068e-01 -1.81719434e-01 2.84625311e+01] [-3.12683566e-01 9.48098505e-01 5.77772639e-02 -5.85109688e+00] [ 1.90658902e-01 3.05744881e-03 9.81651585e-01 2.89377704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.099999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:28.49, Y:-5.86, Z:2.90 [[ 9.30659951e-01 3.18726772e-01 -1.79681107e-01 2.84922709e+01] [-3.12748571e-01 9.47846115e-01 6.14497686e-02 -5.86259181e+00] [ 1.89895726e-01 -9.93829086e-04 9.81803761e-01 2.90201292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:28.53, Y:-5.84, Z:2.86 [[ 9.35628749e-01 3.01119095e-01 -1.84190484e-01 2.85341027e+01] [-3.06059988e-01 9.52010740e-01 1.68352351e-03 -5.84061643e+00] [ 1.75858260e-01 5.47981843e-02 9.82889125e-01 2.86023175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:28.54, Y:-5.90, Z:2.94 [[ 0.93095674 0.32638694 -0.16367993 28.54077462] [-0.31176271 0.94389077 0.1089689 -5.89930402] [ 0.190062 -0.05041603 0.98047675 2.93670102] [ 0. 0. 0. 1. ]] SLAMing on 29.189999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:28.59, Y:-5.86, Z:2.87 [[ 9.36552904e-01 2.98556840e-01 -1.83664018e-01 2.85936723e+01] [-3.04962446e-01 9.52338627e-01 -7.00329829e-03 -5.85735809e+00] [ 1.72819456e-01 6.25695875e-02 9.82964131e-01 2.86821184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:28.60, Y:-5.92, Z:2.96 [[ 0.93068804 0.3286432 -0.16066556 28.59674937] [-0.31285627 0.9426903 0.11599983 -5.92302673] [ 0.18958041 -0.05769442 0.98016867 2.95560856] [ 0. 0. 0. 1. ]] SLAMing on 29.25 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:28.64, Y:-5.91, Z:2.94 [[ 9.30443590e-01 3.19325873e-01 -1.79737898e-01 2.86394118e+01] [-3.13731028e-01 9.47644433e-01 5.95220137e-02 -5.91364802e+00] [ 1.89334538e-01 1.00747946e-03 9.81912123e-01 2.93516027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.279999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:28.68, Y:-5.89, Z:2.89 [[ 9.35547797e-01 3.01503158e-01 -1.83973276e-01 2.86821865e+01] [-3.06825946e-01 9.51765517e-01 -4.89362026e-04 -5.89240434e+00] [ 1.74951876e-01 5.69055960e-02 9.82931124e-01 2.89191606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:28.69, Y:-5.95, Z:2.97 [[ 0.93044872 0.32709985 -0.16513892 28.68829389] [-0.31183952 0.94352454 0.11188184 -5.95310062] [ 0.19240915 -0.05260348 0.97990387 2.9701403 ] [ 0. 0. 0. 1. ]] SLAMing on 29.34 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.73, Y:-5.95, Z:2.95 [[ 9.30413859e-01 3.17813524e-01 -1.82550307e-01 2.87293985e+01] [-3.11982002e-01 9.48153071e-01 6.06051562e-02 -5.94610036e+00] [ 1.92346773e-01 5.64533100e-04 9.81326857e-01 2.95197796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369999999999997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:28.77, Y:-5.93, Z:2.92 [[ 9.34559947e-01 3.03732593e-01 -1.85321929e-01 2.87695466e+01] [-3.06698289e-01 9.51715781e-01 1.31617735e-02 -5.93369385e+00] [ 1.80371464e-01 4.45374523e-02 9.82589716e-01 2.92082497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.4 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:28.78, Y:-5.98, Z:2.98 [[ 0.93127412 0.32252642 -0.16942613 28.77934103] [-0.30908368 0.94563265 0.10122338 -5.98255136] [ 0.1928621 -0.04189986 0.98033087 2.98275749] [ 0. 0. 0. 1. ]] SLAMing on 29.43 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:28.82, Y:-5.98, Z:2.97 [[ 9.31418809e-01 3.14948701e-01 -1.82390562e-01 2.88176888e+01] [-3.09048646e-01 9.49108684e-01 6.06765253e-02 -5.97958174e+00] [ 1.92218459e-01 -1.47700736e-04 9.81352150e-01 2.97103360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.459999999999997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:28.85, Y:-5.99, Z:2.98 [[ 9.31676876e-01 3.14371079e-01 -1.82068732e-01 2.88468968e+01] [-3.08469895e-01 9.49300122e-01 6.06267502e-02 -5.98987762e+00] [ 1.91897166e-01 -3.21818702e-04 9.81414986e-01 2.97682778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:28.89, Y:-5.97, Z:2.95 [[ 9.35598571e-01 3.02531979e-01 -1.82015701e-01 2.88863542e+01] [-3.05187409e-01 9.52190448e-01 1.39282332e-02 -5.97489559e+00] [ 1.77527348e-01 4.25176649e-02 9.83196974e-01 2.94540788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:28.90, Y:-6.02, Z:3.01 [[ 0.93083414 0.3241194 -0.16880292 28.8979347 ] [-0.31102543 0.94515708 0.09970597 -6.02141648] [ 0.19186191 -0.04030772 0.98059385 3.00693847] [ 0. 0. 0. 1. ]] SLAMing on 29.549999999999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:28.94, Y:-6.02, Z:2.99 [[ 9.30185548e-01 3.18905726e-01 -1.81807547e-01 2.89369995e+01] [-3.13081039e-01 9.47786319e-01 6.06741929e-02 -6.01676060e+00] [ 1.91664053e-01 4.82238142e-04 9.81460472e-01 2.99407633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:28.98, Y:-6.00, Z:2.96 [[ 9.33288836e-01 3.08572125e-01 -1.83725863e-01 2.89766564e+01] [-3.11154811e-01 9.50235385e-01 1.53426441e-02 -6.00424070e+00] [ 1.79317128e-01 4.28480677e-02 9.82857777e-01 2.96338608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:28.99, Y:-6.05, Z:3.02 [[ 0.9288934 0.32963928 -0.16880462 28.98740264] [-0.31658244 0.94328432 0.09995124 -6.0499106 ] [ 0.1921786 -0.03940347 0.98056859 3.02478841] [ 0. 0. 0. 1. ]] SLAMing on 29.64 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.03, Y:-6.05, Z:3.01 [[ 9.28510196e-01 3.23721872e-01 -1.81859743e-01 2.90254082e+01] [-3.17960453e-01 9.46151318e-01 6.08180395e-02 -6.04686822e+00] [ 1.91754965e-01 1.35403654e-03 9.81441898e-01 3.01291920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.06, Y:-6.06, Z:3.02 [[ 9.28320169e-01 3.24076800e-01 -1.82197399e-01 2.90561491e+01] [-3.18289910e-01 9.46029772e-01 6.09852744e-02 -6.05801655e+00] [ 1.92128077e-01 1.37773368e-03 9.81368893e-01 3.01923649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:-6.07, Z:3.02 [[ 9.28372551e-01 3.23715462e-01 -1.82572468e-01 2.90854555e+01] [-3.17886154e-01 9.46153655e-01 6.11690643e-02 -6.06857682e+00] [ 1.92542980e-01 1.24957955e-03 9.81287745e-01 3.02494926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.12, Y:-6.06, Z:3.00 [[ 9.31527190e-01 3.13110993e-01 -1.84982701e-01 2.91231028e+01] [-3.13949660e-01 9.49096707e-01 2.55157232e-02 -6.06387985e+00] [ 1.83555725e-01 3.43066660e-02 9.82410479e-01 3.00107253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.759999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-6.10, Z:3.05 [[ 0.92860517 0.32815669 -0.1732213 29.13582321] [-0.31624743 0.94408976 0.09317772 -6.10236029] [ 0.19411335 -0.03174452 0.98046535 3.05180972] [ 0. 0. 0. 1. ]] SLAMing on 29.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:-6.10, Z:3.04 [[ 9.28635687e-01 3.22490750e-01 -1.83399773e-01 2.91734577e+01] [-3.16558398e-01 9.46572212e-01 6.15778189e-02 -6.10182625e+00] [ 1.93459406e-01 8.73378151e-04 9.81107892e-01 3.04306439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:-6.11, Z:3.05 [[ 9.28497413e-01 3.22995766e-01 -1.83211052e-01 2.92033155e+01] [-3.17073796e-01 9.46399962e-01 6.15736936e-02 -6.11210540e+00] [ 1.93278975e-01 9.20408642e-04 9.81143410e-01 3.04911566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:29.23, Y:-6.12, Z:3.06 [[ 9.28380264e-01 3.23138233e-01 -1.83553176e-01 2.92340966e+01] [-3.17185687e-01 9.46351349e-01 6.17443461e-02 -6.12296142e+00] [ 1.93657755e-01 8.98207900e-04 9.81068737e-01 3.05538306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:-6.13, Z:3.06 [[ 9.28368749e-01 3.23645001e-01 -1.82716661e-01 2.92644215e+01] [-3.17745458e-01 9.46178114e-01 6.15207377e-02 -6.13377672e+00] [ 1.92793385e-01 9.43458651e-04 9.81238921e-01 3.06245769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:-6.12, Z:3.03 [[ 9.32456757e-01 3.10343610e-01 -1.84962806e-01 2.93048694e+01] [-3.13148776e-01 9.49591720e-01 1.46085023e-02 -6.12120678e+00] [ 1.80172804e-01 4.42990796e-02 9.82636938e-01 3.02983729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.939999999999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:29.31, Y:-6.17, Z:3.09 [[ 0.92870993 0.33001563 -0.16907856 29.31494787] [-0.31646803 0.94305796 0.10241908 -6.16746072] [ 0.19325078 -0.04160965 0.98026669 3.09266315] [ 0. 0. 0. 1. ]] SLAMing on 29.97 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.35, Y:-6.16, Z:3.08 [[ 9.28672193e-01 3.23105078e-01 -1.82129258e-01 2.93544574e+01] [-3.17206199e-01 9.46362841e-01 6.14621882e-02 -6.16379250e+00] [ 1.92219107e-01 6.94304541e-04 9.81351789e-01 3.07995071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:-6.17, Z:3.09 [[ 9.28745278e-01 3.23153101e-01 -1.81670806e-01 2.93851995e+01] [-3.17273650e-01 9.46346478e-01 6.13659147e-02 -6.17430208e+00] [ 1.91754113e-01 6.46056115e-04 9.81442786e-01 3.08655584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-6.16, Z:3.05 [[ 9.33569544e-01 3.07297824e-01 -1.84434145e-01 2.94270235e+01] [-3.10887198e-01 9.50395605e-01 9.86629262e-03 -6.15883554e+00] [ 1.78317291e-01 4.81273441e-02 9.82795351e-01 3.04940392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-6.21, Z:3.12 [[ 0.92929039 0.32957368 -0.16673499 29.43464317] [-0.31539586 0.94300666 0.10613149 -6.21060054] [ 0.19221035 -0.04603945 0.9802732 3.11948274] [ 0. 0. 0. 1. ]] SLAMing on 30.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:-6.20, Z:3.10 [[ 9.29398871e-01 3.21073335e-01 -1.82015527e-01 2.94734820e+01] [-3.15098858e-01 9.47054334e-01 6.16506215e-02 -6.20494476e+00] [ 1.92172964e-01 5.48665320e-05 9.81361070e-01 3.10349542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.119999999999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:29.50, Y:-6.22, Z:3.11 [[ 9.29720842e-01 3.20144200e-01 -1.82007820e-01 2.95044854e+01] [-3.14141907e-01 9.47368806e-01 6.17025697e-02 -6.21553214e+00] [ 1.92182251e-01 -1.89881475e-04 9.81359234e-01 3.10863034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:29.53, Y:-6.23, Z:3.11 [[ 9.30357738e-01 3.18424472e-01 -1.81770004e-01 2.95345816e+01] [-3.12394125e-01 9.47948045e-01 6.16799444e-02 -6.22622159e+00] [ 1.91948923e-01 -6.00532236e-04 9.81404733e-01 3.11388166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.56, Y:-6.24, Z:3.12 [[ 9.30389745e-01 3.18599097e-01 -1.81299578e-01 2.95642814e+01] [-3.12592966e-01 9.47889359e-01 6.15743521e-02 -6.23737078e+00] [ 1.91469473e-01 -6.15173062e-04 9.81498376e-01 3.12128249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:-6.25, Z:3.13 [[ 9.30359893e-01 3.18562931e-01 -1.81516191e-01 2.95950807e+01] [-3.12530399e-01 9.47901471e-01 6.17053621e-02 -6.24787414e+00] [ 1.91716506e-01 -6.78866471e-04 9.81450111e-01 3.12705563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:29.63, Y:-6.25, Z:3.11 [[ 9.31331904e-01 3.13738017e-01 -1.84903602e-01 2.96329437e+01] [-3.12284616e-01 9.49239984e-01 3.77063744e-02 -6.24969747e+00] [ 1.87347816e-01 2.26254009e-02 9.82033038e-01 3.11454513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:29.66, Y:-6.27, Z:3.13 [[ 9.31244891e-01 3.18124979e-01 -1.77706078e-01 2.96576732e+01] [-3.12664425e-01 9.48048356e-01 5.86964403e-02 -6.26758309e+00] [ 1.87146759e-01 9.01608723e-04 9.82331552e-01 3.12948302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.299999999999997 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:29.68, Y:-6.29, Z:3.16 [[ 9.29970492e-01 3.24251738e-01 -1.73250381e-01 2.96789929e+01] [-3.13618976e-01 9.45614253e-01 8.63528902e-02 -6.28693614e+00] [ 1.91828104e-01 -2.59710328e-02 9.81084851e-01 3.15542198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:29.71, Y:-6.29, Z:3.15 [[ 9.29335261e-01 3.21033463e-01 -1.82410222e-01 2.97149989e+01] [-3.14952546e-01 9.47067789e-01 6.21891963e-02 -6.28870348e+00] [ 1.92719659e-01 -3.44048904e-04 9.81253797e-01 3.14896418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:29.74, Y:-6.30, Z:3.15 [[ 9.28981450e-01 3.21753160e-01 -1.82943622e-01 2.97446189e+01] [-3.15638563e-01 9.46823553e-01 6.24296172e-02 -6.29875405e+00] [ 1.93302256e-01 -2.51894466e-04 9.81139223e-01 3.15490076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:29.77, Y:-6.31, Z:3.16 [[ 9.28730288e-01 3.22469043e-01 -1.82958380e-01 2.97741268e+01] [-3.16356491e-01 9.46579998e-01 6.24890225e-02 -6.30881058e+00] [ 1.93335518e-01 -1.55376853e-04 9.81132689e-01 3.16035153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.419999999999998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:29.80, Y:-6.32, Z:3.17 [[ 9.28592340e-01 3.23025989e-01 -1.82675877e-01 2.98047566e+01] [-3.16932838e-01 9.46390090e-01 6.24449682e-02 -6.31931589e+00] [ 1.93053988e-01 -8.99349559e-05 9.81188132e-01 3.16622322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:29.84, Y:-6.33, Z:3.17 [[ 9.28460359e-01 3.23803177e-01 -1.81969407e-01 2.98352452e+01] [-3.17761176e-01 9.46124464e-01 6.22602015e-02 -6.33022561e+00] [ 1.92325758e-01 1.66836536e-05 9.81331138e-01 3.17306277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:29.87, Y:-6.34, Z:3.18 [[ 9.28452651e-01 3.24237320e-01 -1.81234201e-01 2.98660358e+01] [-3.18241533e-01 9.45975770e-01 6.20658445e-02 -6.34051458e+00] [ 1.91567226e-01 5.10521245e-05 9.81479493e-01 3.17950962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509999999999998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:29.90, Y:-6.35, Z:3.19 [[ 9.28386870e-01 3.24831231e-01 -1.80506205e-01 2.98953226e+01] [-3.18883960e-01 9.45771990e-01 6.18737659e-02 -6.35030546e+00] [ 1.90816244e-01 1.17741463e-04 9.81625767e-01 3.18553346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:29.93, Y:-6.36, Z:3.19 [[ 9.28012637e-01 3.26060647e-01 -1.80213763e-01 2.99260228e+01] [-3.20145389e-01 9.45348800e-01 6.18269918e-02 -6.35965527e+00] [ 1.90524214e-01 3.18375696e-04 9.81682445e-01 3.19074581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:29.96, Y:-6.37, Z:3.20 [[ 9.27805974e-01 3.26953569e-01 -1.79659230e-01 2.99552399e+01] [-3.21080465e-01 9.45040299e-01 6.16941575e-02 -6.36963447e+00] [ 1.89956337e-01 4.44861103e-04 9.81792438e-01 3.19771395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.599999999999998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:29.99, Y:-6.38, Z:3.20 [[ 9.27518529e-01 3.27424554e-01 -1.80284608e-01 2.99854033e+01] [-3.21508533e-01 9.44877198e-01 6.19624361e-02 -6.37981934e+00] [ 1.90634838e-01 4.91732275e-04 9.81660897e-01 3.20388257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:30.02, Y:-6.39, Z:3.21 [[ 9.27672517e-01 3.26973092e-01 -1.80311668e-01 3.00160425e+01] [-3.21039753e-01 9.45033579e-01 6.20081613e-02 -6.39022523e+00] [ 1.90675581e-01 3.63946266e-04 9.81653040e-01 3.20937693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:30.05, Y:-6.40, Z:3.21 [[ 9.28033674e-01 3.25981992e-01 -1.80247723e-01 3.00452661e+01] [-3.20023222e-01 9.45375973e-01 6.20435904e-02 -6.40053577e+00] [ 1.90626960e-01 1.04916072e-04 9.81662544e-01 3.21457943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689999999999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:30.07, Y:-6.41, Z:3.22 [[ 9.28548657e-01 3.24928194e-01 -1.79496689e-01 3.00743054e+01] [-3.18989688e-01 9.45738676e-01 6.18379828e-02 -6.41126121e+00] [ 1.89849865e-01 -1.61983180e-04 9.81813120e-01 3.22208767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:30.10, Y:-6.42, Z:3.23 [[ 9.29791620e-01 3.21551047e-01 -1.79143709e-01 3.01044521e+01] [-3.15563865e-01 9.46891817e-01 6.17683892e-02 -6.42250198e+00] [ 1.89491402e-01 -9.00449578e-04 9.81881967e-01 3.22950565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:30.14, Y:-6.43, Z:3.24 [[ 9.30463609e-01 3.20117647e-01 -1.78219426e-01 3.01352364e+01] [-3.14155991e-01 9.47376987e-01 6.15049391e-02 -6.43355771e+00] [ 1.88529799e-01 -1.23940723e-03 9.82066687e-01 3.23559924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.779999999999998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:30.16, Y:-6.44, Z:3.24 [[ 9.31258322e-01 3.17618413e-01 -1.78539862e-01 3.01648206e+01] [-3.11578690e-01 9.48216901e-01 6.16719370e-02 -6.44463845e+00] [ 1.88882657e-01 -1.80328831e-03 9.81998009e-01 3.24265108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:30.20, Y:-6.46, Z:3.25 [[ 9.31200200e-01 3.17797810e-01 -1.78523780e-01 3.01958342e+01] [-3.11752436e-01 9.48156765e-01 6.17184564e-02 -6.45548106e+00] [ 1.88882520e-01 -1.81701568e-03 9.81998010e-01 3.24881573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:30.23, Y:-6.47, Z:3.25 [[ 9.31386579e-01 3.17041977e-01 -1.78895013e-01 3.02261195e+01] [-3.10950054e-01 9.48409374e-01 6.18847659e-02 -6.46601120e+00] [ 1.89285776e-01 -2.01122655e-03 9.81919982e-01 3.25445447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.869999999999997 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:30.26, Y:-6.48, Z:3.26 [[ 9.31150026e-01 3.17241213e-01 -1.79771083e-01 3.02559154e+01] [-3.11081844e-01 9.48342699e-01 6.22431655e-02 -6.47687948e+00] [ 1.90230691e-01 -2.03420530e-03 9.81737310e-01 3.26210831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.9 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:30.29, Y:-6.49, Z:3.27 [[ 9.30954392e-01 3.17222030e-01 -1.80815108e-01 3.02870926e+01] [-3.10978859e-01 9.48348962e-01 6.26609608e-02 -6.48708385e+00] [ 1.91353258e-01 -2.10482061e-03 9.81518976e-01 3.26755253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:30.33, Y:-6.47, Z:3.23 [[ 9.34025038e-01 3.03241108e-01 -1.88791047e-01 3.03283057e+01] [-3.06968179e-01 9.51668289e-01 9.89973398e-03 -6.46573778e+00] [ 1.82668459e-01 4.87062445e-02 9.81967380e-01 3.22546439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.959999999999997 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:30.34, Y:-6.51, Z:3.28 [[ 9.31096629e-01 3.19043926e-01 -1.76833369e-01 3.03441725e+01] [-3.09051046e-01 9.47487440e-01 8.21888208e-02 -6.50665112e+00] [ 1.93769240e-01 -2.18751964e-02 9.80803221e-01 3.27895055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:30.38, Y:-6.50, Z:3.25 [[ 9.32603416e-01 3.11613327e-01 -1.82065929e-01 3.03832587e+01] [-3.09914282e-01 9.49986502e-01 3.84549477e-02 -6.49551260e+00] [ 1.84943250e-01 2.05616163e-02 9.82534078e-01 3.25074907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:30.40, Y:-6.53, Z:3.30 [[ 0.92965012 0.32613356 -0.17142802 30.39784165] [-0.31381038 0.94467885 0.09541971 -6.52980491] [ 0.19306399 -0.03491105 0.9805649 3.29707584] [ 0. 0. 0. 1. ]] SLAMing on 31.049999999999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:30.43, Y:-6.53, Z:3.29 [[ 9.29934166e-01 3.21333045e-01 -1.78794635e-01 3.04342321e+01] [-3.14161665e-01 9.46940827e-01 6.78639694e-02 -6.52985493e+00] [ 1.91114875e-01 -6.93860370e-03 9.81543153e-01 3.28853541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:30.48, Y:-6.50, Z:3.24 [[ 9.35611543e-01 3.01606534e-01 -1.83478989e-01 3.04784210e+01] [-3.07443313e-01 9.51559786e-01 -3.54734473e-03 -6.50388684e+00] [ 1.73521325e-01 5.97283250e-02 9.83017231e-01 3.24002221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:30.50, Y:-6.54, Z:3.27 [[ 9.35139579e-01 3.13401070e-01 -1.65208164e-01 3.04967451e+01] [-3.08672206e-01 9.49620816e-01 5.42381347e-02 -6.53871966e+00] [ 1.73883401e-01 2.74942062e-04 9.84766209e-01 3.27329743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:30.51, Y:-6.58, Z:3.33 [[ 0.93014146 0.32970465 -0.16165304 30.51228981] [-0.31389858 0.94235998 0.11586779 -6.57741648] [ 0.1905375 -0.05703078 0.98002191 3.32998263] [ 0. 0. 0. 1. ]] SLAMing on 31.169999999999998 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:30.55, Y:-6.57, Z:3.31 [[ 9.29744151e-01 3.21183806e-01 -1.80046594e-01 3.05542920e+01] [-3.15118795e-01 9.47016316e-01 6.21308471e-02 -6.56999210e+00] [ 1.90462484e-01 -1.02972588e-03 9.81693935e-01 3.31027279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.2 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:30.59, Y:-6.56, Z:3.28 [[ 9.32542480e-01 3.11639452e-01 -1.82333145e-01 3.05931705e+01] [-3.12832258e-01 9.49531409e-01 2.29364668e-02 -6.56216995e+00] [ 1.80278956e-01 3.56504598e-02 9.82969248e-01 3.28357157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.23 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:30.60, Y:-6.60, Z:3.34 [[ 0.92829605 0.33096626 -0.16949274 30.60478275] [-0.31855053 0.94296614 0.09664585 -6.60475 ] [ 0.19181243 -0.03572396 0.98078121 3.33889121] [ 0. 0. 0. 1. ]] SLAMing on 31.259999999999998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:30.64, Y:-6.60, Z:3.33 [[ 9.27489430e-01 3.26770860e-01 -1.81615423e-01 3.06429440e+01] [-3.20677804e-01 9.45103595e-01 6.28087659e-02 -6.60408067e+00] [ 1.92169464e-01 -1.44314597e-05 9.81361756e-01 3.32828392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.67, Y:-6.62, Z:3.34 [[ 9.26711571e-01 3.29031959e-01 -1.81503812e-01 3.06715601e+01] [-3.22978567e-01 9.44318701e-01 6.28254386e-02 -6.61524592e+00] [ 1.92069021e-01 4.00780163e-04 9.81381338e-01 3.33570479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:30.70, Y:-6.63, Z:3.34 [[ 9.26326349e-01 3.30072590e-01 -1.81580783e-01 3.07027424e+01] [-3.24023661e-01 9.43955382e-01 6.29039188e-02 -6.62584067e+00] [ 1.92167016e-01 5.66912549e-04 9.81362072e-01 3.33949516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349999999999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:30.73, Y:-6.64, Z:3.35 [[ 9.25429301e-01 3.32631905e-01 -1.81484504e-01 3.07331975e+01] [-3.26627500e-01 9.43056161e-01 6.29249763e-02 -6.63768347e+00] [ 1.92080934e-01 1.04521292e-03 9.81378532e-01 3.34597622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:30.76, Y:-6.65, Z:3.35 [[ 9.24966409e-01 3.33824561e-01 -1.81654358e-01 3.07641595e+01] [-3.27820733e-01 9.42634406e-01 6.30392271e-02 -6.64780825e+00] [ 1.92277690e-01 1.24089726e-03 9.81339773e-01 3.35107442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:30.80, Y:-6.65, Z:3.34 [[ 9.25747788e-01 3.30461988e-01 -1.83809433e-01 3.07997538e+01] [-3.28361777e-01 9.43588522e-01 4.26526033e-02 -6.64721454e+00] [ 1.87535535e-01 2.08704388e-02 9.82036073e-01 3.33964047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.439999999999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:30.82, Y:-6.67, Z:3.37 [[ 9.23586352e-01 3.40380131e-01 -1.76435874e-01 3.08206418e+01] [-3.30943467e-01 9.40139135e-01 8.13316024e-02 -6.67258935e+00] [ 1.93557931e-01 -1.67264581e-02 9.80946254e-01 3.37101115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.47 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:30.86, Y:-6.68, Z:3.37 [[ 9.23172054e-01 3.38148035e-01 -1.82782014e-01 3.08556113e+01] [-3.32125362e-01 9.41090760e-01 6.35682811e-02 -6.67602775e+00] [ 1.93509953e-01 2.02208176e-03 9.81096228e-01 3.36923911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.5 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:30.89, Y:-6.68, Z:3.37 [[ 9.22719831e-01 3.39380323e-01 -1.82781593e-01 3.08872835e+01] [-3.33370529e-01 9.40646607e-01 6.36242999e-02 -6.68463936e+00] [ 1.93525720e-01 2.22659302e-03 9.81092675e-01 3.37482408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529999999999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:30.92, Y:-6.69, Z:3.38 [[ 9.22299478e-01 3.38869070e-01 -1.85826333e-01 3.09186404e+01] [-3.33788558e-01 9.40802437e-01 5.89573862e-02 -6.69231299e+00] [ 1.94804701e-01 7.65033706e-03 9.80812215e-01 3.37779147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:-6.71, Z:3.39 [[ 9.22310717e-01 3.41838656e-01 -1.80247813e-01 3.09460491e+01] [-3.34801855e-01 9.39752612e-01 6.90850606e-02 -6.70606926e+00] [ 1.93004297e-01 -3.37058975e-03 9.81192122e-01 3.38850543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:30.98, Y:-6.71, Z:3.39 [[ 9.22238304e-01 3.40559969e-01 -1.83017533e-01 3.09784784e+01] [-3.34524114e-01 9.40219946e-01 6.38754336e-02 -6.71416952e+00] [ 1.93830150e-01 2.31540636e-03 9.81032370e-01 3.39033687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.619999999999997 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:31.01, Y:-6.72, Z:3.40 [[ 9.22304659e-01 3.40163970e-01 -1.83419165e-01 3.10084648e+01] [-3.34082226e-01 9.40363606e-01 6.40730382e-02 -6.72462369e+00] [ 1.94276047e-01 2.18222149e-03 9.80944471e-01 3.39535370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:31.04, Y:-6.73, Z:3.40 [[ 9.22880330e-01 3.38609690e-01 -1.83399497e-01 3.10392409e+01] [-3.32488117e-01 9.40925198e-01 6.41203835e-02 -6.73460030e+00] [ 1.94276991e-01 1.80271272e-03 9.80945055e-01 3.39910656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:-6.75, Z:3.41 [[ 9.23645411e-01 3.36477321e-01 -1.83472526e-01 3.10675636e+01] [-3.30296898e-01 9.41690679e-01 6.42076670e-02 -6.74638329e+00] [ 1.94378791e-01 1.29528904e-03 9.80925689e-01 3.40644597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:-6.76, Z:3.41 [[ 9.24338437e-01 3.34686019e-01 -1.83258620e-01 3.10965033e+01] [-3.28477237e-01 9.42329293e-01 6.41732647e-02 -6.75761821e+00] [ 1.94167861e-01 8.78470024e-04 9.80967925e-01 3.41269348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:-6.77, Z:3.42 [[ 9.26134331e-01 3.30205078e-01 -1.82317875e-01 3.11263477e+01] [-3.23963549e-01 9.43909208e-01 6.38985524e-02 -6.77037528e+00] [ 1.93191148e-01 -1.14296997e-04 9.81161132e-01 3.41954663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:31.16, Y:-6.78, Z:3.43 [[ 9.26909289e-01 3.28098484e-01 -1.82182749e-01 3.11553253e+01] [-3.21814861e-01 9.44643327e-01 6.39075822e-02 -6.78151744e+00] [ 1.93065699e-01 -6.07415424e-04 9.81185643e-01 3.42536132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.799999999999997 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:31.19, Y:-6.79, Z:3.43 [[ 9.27775591e-01 3.25911219e-01 -1.81698457e-01 3.11856027e+01] [-3.19612416e-01 9.45399744e-01 6.37748133e-02 -6.79266478e+00] [ 1.92562602e-01 -1.09563212e-03 9.81284079e-01 3.43130584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:31.22, Y:-6.80, Z:3.44 [[ 9.29259534e-01 3.22590434e-01 -1.80033693e-01 3.12161206e+01] [-3.16334758e-01 9.46536894e-01 6.32473675e-02 -6.80344891e+00] [ 1.90811528e-01 -1.82230450e-03 9.81625000e-01 3.43652289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:31.25, Y:-6.81, Z:3.44 [[ 9.29748916e-01 3.21610227e-01 -1.79259073e-01 3.12470023e+01] [-3.15379630e-01 9.46869884e-01 6.30326217e-02 -6.81413765e+00] [ 1.90006953e-01 -2.06985165e-03 9.81780563e-01 3.44247808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:-6.82, Z:3.45 [[ 9.30362177e-01 3.20725569e-01 -1.77655084e-01 3.12771623e+01] [-3.14580282e-01 9.47169411e-01 6.25248228e-02 -6.82438995e+00] [ 1.88322771e-01 -2.28394391e-03 9.82104535e-01 3.44838248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.919999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:-6.83, Z:3.45 [[ 9.30713557e-01 3.20025901e-01 -1.77075400e-01 3.13068344e+01] [-3.13897479e-01 9.47405567e-01 6.23784038e-02 -6.83483565e+00] [ 1.87724925e-01 -2.47290444e-03 9.82218528e-01 3.45442527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:-6.85, Z:3.46 [[ 9.30854016e-01 3.19688906e-01 -1.76945767e-01 3.13370615e+01] [-3.13553196e-01 9.47519018e-01 6.23867258e-02 -6.84604760e+00] [ 1.87603824e-01 -2.59102354e-03 9.82241361e-01 3.46066689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:-6.86, Z:3.47 [[ 9.30848190e-01 3.19692165e-01 -1.76970525e-01 3.13667148e+01] [-3.13544083e-01 9.47517770e-01 6.24514441e-02 -6.85691520e+00] [ 1.87647954e-01 -2.64475278e-03 9.82232788e-01 3.46644907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:31.40, Y:-6.87, Z:3.47 [[ 9.30293250e-01 3.20697675e-01 -1.78065914e-01 3.13978303e+01] [-3.14483704e-01 9.47178329e-01 6.28745874e-02 -6.86670554e+00] [ 1.88823909e-01 -2.49297614e-03 9.82007799e-01 3.47232677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:31.43, Y:-6.88, Z:3.48 [[ 9.29807967e-01 3.22097038e-01 -1.78074824e-01 3.14283146e+01] [-3.15897120e-01 9.46703955e-01 6.29335499e-02 -6.87702252e+00] [ 1.88854850e-01 -2.26279200e-03 9.82002406e-01 3.47845267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:-6.89, Z:3.48 [[ 9.29484680e-01 3.23623717e-01 -1.76991297e-01 3.14586285e+01] [-3.17516531e-01 9.46183764e-01 6.26062130e-02 -6.88709673e+00] [ 1.87727147e-01 -1.99385312e-03 9.82219193e-01 3.48421211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.1 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:31.49, Y:-6.90, Z:3.49 [[ 9.28844064e-01 3.25205389e-01 -1.77454671e-01 3.14897584e+01] [-3.19083475e-01 9.45641818e-01 6.28274466e-02 -6.89590297e+00] [ 1.88240381e-01 -1.73404787e-03 9.82121455e-01 3.48975479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129999999999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:31.52, Y:-6.91, Z:3.50 [[ 9.28786169e-01 3.25820745e-01 -1.76626993e-01 3.15196735e+01] [-3.19756572e-01 9.45430113e-01 6.25910141e-02 -6.90604752e+00] [ 1.87381929e-01 -1.65602639e-03 9.82285738e-01 3.49532668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.55, Y:-6.92, Z:3.50 [[ 9.28846059e-01 3.25834346e-01 -1.76286636e-01 3.15501857e+01] [-3.19787089e-01 9.45425375e-01 6.25066188e-02 -6.91662772e+00] [ 1.87032662e-01 -1.68483645e-03 9.82352251e-01 3.50102193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:31.58, Y:-6.93, Z:3.51 [[ 9.28833156e-01 3.25315289e-01 -1.77310269e-01 3.15802058e+01] [-3.19176789e-01 9.45603789e-01 6.29257678e-02 -6.92720475e+00] [ 1.88135977e-01 -1.85421703e-03 9.82141240e-01 3.50727884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:-6.94, Z:3.51 [[ 9.30237582e-01 3.22727788e-01 -1.74656279e-01 3.16097005e+01] [-3.16717599e-01 9.46488795e-01 6.20396938e-02 -6.93835153e+00] [ 1.85332145e-01 -2.39493728e-03 9.82673018e-01 3.51319936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:31.64, Y:-6.95, Z:3.52 [[ 9.30607947e-01 3.21746352e-01 -1.74493937e-01 3.16397782e+01] [-3.15720382e-01 9.46822223e-01 6.20348196e-02 -6.94949009e+00] [ 1.85174214e-01 -2.63880358e-03 9.82702166e-01 3.51929885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:31.67, Y:-6.96, Z:3.53 [[ 9.30816549e-01 3.21027495e-01 -1.74705178e-01 3.16704675e+01] [-3.14963717e-01 9.47065619e-01 6.21656647e-02 -6.96096825e+00] [ 1.85414155e-01 -2.83903728e-03 9.82656365e-01 3.52564539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:31.70, Y:-6.97, Z:3.53 [[ 9.30424750e-01 3.18378407e-01 -1.81507507e-01 3.17024093e+01] [-3.14206565e-01 9.47924945e-01 5.20819786e-02 -6.96776128e+00] [ 1.88637271e-01 8.57248842e-03 9.82009416e-01 3.52717803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.339999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:-6.99, Z:3.54 [[ 9.31312519e-01 3.21864758e-01 -1.70470140e-01 3.17272709e+01] [-3.13762356e-01 9.46670851e-01 7.32631182e-02 -6.98632725e+00] [ 1.84959929e-01 -1.47437463e-02 9.82635460e-01 3.54268073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:31.76, Y:-6.99, Z:3.54 [[ 9.30762697e-01 3.18726367e-01 -1.79148832e-01 3.17608062e+01] [-3.13427569e-01 9.47844123e-01 5.79195765e-02 -6.99105886e+00] [ 1.88265664e-01 2.24080160e-03 9.82115583e-01 3.54169195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.4 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:31.79, Y:-7.01, Z:3.55 [[ 9.30931703e-01 3.21262363e-01 -1.73656728e-01 3.17878075e+01] [-3.14081278e-01 9.46948600e-01 6.81270811e-02 -7.00596270e+00] [ 1.86330663e-01 -8.87933247e-03 9.82446966e-01 3.55189781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.82, Y:-7.02, Z:3.56 [[ 9.30725095e-01 3.21130280e-01 -1.75003258e-01 3.18186569e+01] [-3.15007101e-01 9.47030184e-01 6.24848562e-02 -7.01529647e+00] [ 1.85799147e-01 -3.02895471e-03 9.82583077e-01 3.55507044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:31.85, Y:-7.02, Z:3.56 [[ 9.29939502e-01 3.20692964e-01 -1.79912606e-01 3.18506017e+01] [-3.15245671e-01 9.47181191e-01 5.88893758e-02 -7.02484652e+00] [ 1.89295245e-01 1.95311325e-03 9.81918273e-01 3.55911078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:-7.04, Z:3.57 [[ 9.30228737e-01 3.23133114e-01 -1.73952543e-01 3.18780242e+01] [-3.16058445e-01 9.46319553e-01 6.77226960e-02 -7.03935152e+00] [ 1.86498138e-01 -8.01842771e-03 9.82422592e-01 3.56906843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.519999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:-7.05, Z:3.57 [[ 9.29949763e-01 3.23043963e-01 -1.75601927e-01 3.19097949e+01] [-3.16888374e-01 9.46379884e-01 6.28241418e-02 -7.04902168e+00] [ 1.86481091e-01 -2.77708661e-03 9.82454625e-01 3.57252933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:31.94, Y:-7.06, Z:3.58 [[ 9.29116279e-01 3.25063429e-01 -1.76285868e-01 3.19403507e+01] [-3.18884821e-01 9.45689082e-01 6.31239369e-02 -7.06040737e+00] [ 1.87230904e-01 -2.43459002e-03 9.82312914e-01 3.57782232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:31.97, Y:-7.07, Z:3.58 [[ 9.28456375e-01 3.26664020e-01 -1.76803220e-01 3.19713467e+01] [-3.20466530e-01 9.45138029e-01 6.33664688e-02 -7.07139294e+00] [ 1.87802992e-01 -2.17348763e-03 9.82204313e-01 3.58361800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.00, Y:-7.08, Z:3.59 [[ 9.27928464e-01 3.28741746e-01 -1.75720317e-01 3.20017561e+01] [-3.22646887e-01 9.44418149e-01 6.30344883e-02 -7.08261717e+00] [ 1.86675524e-01 -1.79588252e-03 9.82419983e-01 3.58911407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.03, Y:-7.09, Z:3.60 [[ 9.27095381e-01 3.30772631e-01 -1.76305478e-01 3.20314305e+01] [-3.24662231e-01 9.43709369e-01 6.33013578e-02 -7.09359133e+00] [ 1.87319488e-01 -1.44666660e-03 9.82297977e-01 3.59537559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.06, Y:-7.10, Z:3.60 [[ 9.25773918e-01 3.33949193e-01 -1.77258540e-01 3.20615840e+01] [-3.27819279e-01 9.42590683e-01 6.36971261e-02 -7.10468234e+00] [ 1.88353853e-01 -8.60371038e-04 9.82100853e-01 3.60100540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.699999999999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.09, Y:-7.12, Z:3.61 [[ 9.25732799e-01 3.34072642e-01 -1.77240672e-01 3.20925014e+01] [-3.27935458e-01 9.42546911e-01 6.37468090e-02 -7.11591723e+00] [ 1.88353713e-01 -8.89010976e-04 9.82100855e-01 3.60708059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:32.12, Y:-7.13, Z:3.61 [[ 9.25183797e-01 3.35062937e-01 -1.78235155e-01 3.21218931e+01] [-3.28869085e-01 9.42195475e-01 6.41312016e-02 -7.12642669e+00] [ 1.89420345e-01 -7.17116216e-04 9.81895829e-01 3.61228155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:32.15, Y:-7.14, Z:3.62 [[ 9.24969311e-01 3.36065766e-01 -1.77458658e-01 3.21513849e+01] [-3.29934337e-01 9.41838355e-01 6.39049816e-02 -7.13752048e+00] [ 1.88613647e-01 -5.60442227e-04 9.82051210e-01 3.61806207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:-7.15, Z:3.62 [[ 9.24930591e-01 3.36796227e-01 -1.76271673e-01 3.21813972e+01] [-3.30750477e-01 9.41577448e-01 6.35297641e-02 -7.14910141e+00] [ 1.87370017e-01 -4.58682272e-04 9.82289299e-01 3.62398746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-7.16, Z:3.63 [[ 9.24921441e-01 3.37453189e-01 -1.75059059e-01 3.22099380e+01] [-3.31492573e-01 9.41342236e-01 6.31464103e-02 -7.16108707e+00] [ 1.86099443e-01 -3.74690931e-04 9.82530843e-01 3.63007815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.24, Y:-7.17, Z:3.64 [[ 9.24925388e-01 3.37435414e-01 -1.75072464e-01 3.22399218e+01] [-3.31463975e-01 9.41348585e-01 6.32018562e-02 -7.17241109e+00] [ 1.86130761e-01 -4.26786687e-04 9.82524889e-01 3.63608229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.879999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:32.27, Y:-7.18, Z:3.64 [[ 9.25037448e-01 3.36338568e-01 -1.76584506e-01 3.22710005e+01] [-3.30772706e-01 9.41738988e-01 6.09679916e-02 -7.18291478e+00] [ 1.86802401e-01 2.01165964e-03 9.82395448e-01 3.64067182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:32.30, Y:-7.20, Z:3.65 [[ 9.25389421e-01 3.37007819e-01 -1.73436297e-01 3.22985844e+01] [-3.30510256e-01 9.41494504e-01 6.59626357e-02 -7.19590282e+00] [ 1.85519245e-01 -3.71865024e-03 9.82633595e-01 3.64828536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:-7.21, Z:3.65 [[ 9.25473402e-01 3.36644822e-01 -1.73692967e-01 3.23281992e+01] [-3.30731852e-01 9.41631447e-01 6.28224579e-02 -7.20560191e+00] [ 1.84703615e-01 -6.94717281e-04 9.82794023e-01 3.65273901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.36, Y:-7.22, Z:3.66 [[ 9.25551497e-01 3.36395088e-01 -1.73760673e-01 3.23581557e+01] [-3.30463471e-01 9.41720614e-01 6.28981710e-02 -7.21665405e+00] [ 1.84792644e-01 -7.93941067e-04 9.82777212e-01 3.65838197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.39, Y:-7.23, Z:3.66 [[ 9.25533263e-01 3.36216833e-01 -1.74202238e-01 3.23885678e+01] [-3.30241143e-01 9.41784189e-01 6.31136236e-02 -7.22827145e+00] [ 1.85280776e-01 -8.85011738e-04 9.82685225e-01 3.66445155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.42, Y:-7.24, Z:3.67 [[ 9.25922329e-01 3.34520261e-01 -1.75396794e-01 3.24181199e+01] [-3.28420503e-01 9.42387678e-01 6.36037598e-02 -7.23930193e+00] [ 1.86568523e-01 -1.28823824e-03 9.82441106e-01 3.66969942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:32.45, Y:-7.25, Z:3.67 [[ 9.26185357e-01 3.33513679e-01 -1.75924163e-01 3.24487347e+01] [-3.27348649e-01 9.42743991e-01 6.38484902e-02 -7.25058553e+00] [ 1.87145792e-01 -1.54699969e-03 9.82330932e-01 3.67499152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089999999999996 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:32.48, Y:-7.26, Z:3.68 [[ 9.26622377e-01 3.32082742e-01 -1.76329303e-01 3.24782898e+01] [-3.25852801e-01 9.43248359e-01 6.40506413e-02 -7.26135623e+00] [ 1.87592439e-01 -1.89336008e-03 9.82245128e-01 3.68002620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:32.51, Y:-7.27, Z:3.69 [[ 9.27829934e-01 3.28860600e-01 -1.76017955e-01 3.25088174e+01] [-3.22585530e-01 9.44374925e-01 6.39888842e-02 -7.27323685e+00] [ 1.87270366e-01 -2.58995686e-03 9.82304995e-01 3.68580625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.54, Y:-7.28, Z:3.69 [[ 9.28428033e-01 3.27949314e-01 -1.74558401e-01 3.25384544e+01] [-3.21752327e-01 9.44691159e-01 6.35142028e-02 -7.28403694e+00] [ 1.85733218e-01 -2.80379464e-03 9.82596209e-01 3.69162136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:32.57, Y:-7.29, Z:3.70 [[ 9.28968282e-01 3.26839888e-01 -1.73763109e-01 3.25688369e+01] [-3.20670719e-01 9.45074766e-01 6.32769775e-02 -7.29493918e+00] [ 1.84900570e-01 -3.06156392e-03 9.82752464e-01 3.69796679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.60, Y:-7.31, Z:3.70 [[ 9.29515304e-01 3.25949196e-01 -1.72506293e-01 3.25996174e+01] [-3.19844192e-01 9.45381638e-01 6.28748851e-02 -7.30622789e+00] [ 1.83578300e-01 -3.26803193e-03 9.82999658e-01 3.70427273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:32.63, Y:-7.32, Z:3.71 [[ 9.30388246e-01 3.23365462e-01 -1.72662934e-01 3.26299706e+01] [-3.17194664e-01 9.46266383e-01 6.29879205e-02 -7.31686289e+00] [ 1.83753248e-01 -3.83545963e-03 9.82964920e-01 3.71030896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:-7.33, Z:3.72 [[ 9.30855447e-01 3.22331341e-01 -1.72077435e-01 3.26602423e+01] [-3.16174923e-01 9.46618123e-01 6.28295012e-02 -7.32774545e+00] [ 1.83143536e-01 -4.07861370e-03 9.83077723e-01 3.71572181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.3 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:32.69, Y:-7.34, Z:3.72 [[ 9.31104673e-01 3.21526586e-01 -1.72234556e-01 3.26912394e+01] [-3.15334697e-01 9.46890811e-01 6.29430012e-02 -7.33871765e+00] [ 1.83325167e-01 -4.29499098e-03 9.83042947e-01 3.72149677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:-7.35, Z:3.73 [[ 9.31124939e-01 3.21509866e-01 -1.72156191e-01 3.27211748e+01] [-3.15312999e-01 9.46896237e-01 6.29700571e-02 -7.34929277e+00] [ 1.83259545e-01 -4.34990554e-03 9.83054941e-01 3.72676164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:-7.36, Z:3.73 [[ 9.30969429e-01 3.21993877e-01 -1.72092604e-01 3.27513818e+01] [-3.15800153e-01 9.46731972e-01 6.29986982e-02 -7.35998652e+00] [ 1.83210766e-01 -4.30299136e-03 9.83064240e-01 3.73228753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:-7.37, Z:3.74 [[ 9.30590418e-01 3.22981212e-01 -1.72292225e-01 3.27805435e+01] [-3.16779080e-01 9.46396196e-01 6.31288708e-02 -7.37014169e+00] [ 1.83446146e-01 -4.16854957e-03 9.83020923e-01 3.73813412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.81, Y:-7.38, Z:3.74 [[ 9.29778008e-01 3.25444075e-01 -1.72043627e-01 3.28109876e+01] [-3.19291872e-01 9.45553940e-01 6.30907778e-02 -7.37866086e+00] [ 1.83209049e-01 -3.72828602e-03 9.83066907e-01 3.74313841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449999999999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:32.84, Y:-7.39, Z:3.75 [[ 9.29170309e-01 3.27338198e-01 -1.71733053e-01 3.28420490e+01] [-3.21233949e-01 9.44901193e-01 6.30117838e-02 -7.38915707e+00] [ 1.82896930e-01 -3.38219183e-03 9.83126276e-01 3.74910489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:32.87, Y:-7.40, Z:3.75 [[ 9.28625304e-01 3.29110156e-01 -1.71293754e-01 3.28727130e+01] [-3.23056915e-01 9.44286517e-01 6.29063034e-02 -7.39975122e+00] [ 1.82453486e-01 -3.07875337e-03 9.83209666e-01 3.75477907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:-7.41, Z:3.76 [[ 9.27380827e-01 3.32627335e-01 -1.71242104e-01 3.29024927e+01] [-3.26626692e-01 9.43055195e-01 6.29436566e-02 -7.40953416e+00] [ 1.82427536e-01 -2.44049841e-03 9.83216272e-01 3.76060164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:32.94, Y:-7.41, Z:3.75 [[ 9.29169910e-01 3.26151008e-01 -1.73979305e-01 3.29374797e+01] [-3.24394809e-01 9.45106875e-01 3.92556128e-02 -7.40617112e+00] [ 1.77232295e-01 1.99628494e-02 9.83966564e-01 3.74582821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:-7.44, Z:3.78 [[ 9.26300009e-01 3.39217703e-01 -1.64011109e-01 3.29566109e+01] [-3.29675696e-01 9.40428708e-01 8.31130642e-02 -7.43738478e+00] [ 1.82434178e-01 -2.29171558e-02 9.82950952e-01 3.78019577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:-7.44, Z:3.78 [[ 9.25518791e-01 3.37413149e-01 -1.71951547e-01 3.29915061e+01] [-3.31419605e-01 9.41355252e-01 6.33350989e-02 -7.44070043e+00] [ 1.83237587e-01 -1.62971059e-03 9.83067307e-01 3.77638203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629999999999995 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:33.03, Y:-7.43, Z:3.76 [[ 9.27136883e-01 3.31032951e-01 -1.75597224e-01 3.30282436e+01] [-3.30569016e-01 9.43213204e-01 3.27563444e-02 -7.43472683e+00] [ 1.76469049e-01 2.76773865e-02 9.83916987e-01 3.75702112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:33.05, Y:-7.45, Z:3.77 [[ 9.27272235e-01 3.34889760e-01 -1.67376973e-01 3.30536997e+01] [-3.31664284e-01 9.42189956e-01 4.77167611e-02 -7.45054811e+00] [ 1.73680758e-01 1.12665362e-02 9.84737559e-01 3.76596691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:33.07, Y:-7.49, Z:3.81 [[ 0.92283965 0.3510735 -0.15847515 33.07118747] [-0.3388069 0.93556648 0.09962548 -7.4869158 ] [ 0.1832399 -0.03824587 0.98232397 3.81061637] [ 0. 0. 0. 1. ]] SLAMing on 33.72 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:33.12, Y:-7.47, Z:3.77 [[ 9.24301398e-01 3.38562235e-01 -1.76188927e-01 3.31175106e+01] [-3.39441391e-01 9.40265997e-01 2.60652312e-02 -7.46538414e+00] [ 1.74489160e-01 3.57136848e-02 9.84011212e-01 3.76945382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:33.14, Y:-7.49, Z:3.79 [[ 9.23268887e-01 3.46158835e-01 -1.66579179e-01 3.31415715e+01] [-3.42249144e-01 9.38137617e-01 5.25674258e-02 -7.48717800e+00] [ 1.74470873e-01 8.47771264e-03 9.84625839e-01 3.78620490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:33.17, Y:-7.51, Z:3.80 [[ 9.22191278e-01 3.51717183e-01 -1.60805067e-01 3.31666295e+01] [-3.45241699e-01 9.36081988e-01 6.75179983e-02 -7.50523273e+00] [ 1.74273967e-01 -6.74789455e-03 9.84674083e-01 3.80015423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.20, Y:-7.51, Z:3.80 [[ 9.20805605e-01 3.53267536e-01 -1.65284862e-01 3.31983709e+01] [-3.48526053e-01 9.35512275e-01 5.78478447e-02 -7.51392355e+00] [ 1.75061783e-01 4.33946081e-03 9.84547887e-01 3.80326987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.839999999999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.22, Y:-7.54, Z:3.84 [[ 9.17035121e-01 3.65505065e-01 -1.59538816e-01 3.32187935e+01] [-3.55160652e-01 9.30445077e-01 9.01824232e-02 -7.54147314e+00] [ 1.81404238e-01 -2.60385396e-02 9.83063831e-01 3.83606629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:-7.54, Z:3.83 [[ 9.16583901e-01 3.62223581e-01 -1.69316361e-01 3.32550962e+01] [-3.56723219e-01 9.32087309e-01 6.29427844e-02 -7.54254474e+00] [ 1.80616992e-01 2.70673449e-03 9.83549783e-01 3.82905925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:-7.55, Z:3.83 [[ 9.16272968e-01 3.63009179e-01 -1.69316814e-01 3.32853322e+01] [-3.57512022e-01 9.31781327e-01 6.29977211e-02 -7.55365000e+00] [ 1.80634996e-01 2.80968737e-03 9.83546188e-01 3.83472943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.32, Y:-7.57, Z:3.84 [[ 9.15610268e-01 3.64543992e-01 -1.69603993e-01 3.33153433e+01] [-3.59043961e-01 9.31181121e-01 6.31597514e-02 -7.56506002e+00] [ 1.80956544e-01 3.06557250e-03 9.83486315e-01 3.83931042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:33.35, Y:-7.58, Z:3.84 [[ 9.15226069e-01 3.65100459e-01 -1.70478436e-01 3.33454921e+01] [-3.59542401e-01 9.30962833e-01 6.35410559e-02 -7.57579181e+00] [ 1.81907956e-01 3.13979527e-03 9.83310550e-01 3.84416899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:-7.59, Z:3.85 [[ 9.14430616e-01 3.66372556e-01 -1.72011044e-01 3.33760003e+01] [-3.60725864e-01 9.30462122e-01 6.41645556e-02 -7.58688796e+00] [ 1.83557893e-01 3.37479842e-03 9.83003108e-01 3.85038375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.019999999999996 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:33.41, Y:-7.60, Z:3.85 [[ 9.14396157e-01 3.66377206e-01 -1.72184237e-01 3.34066062e+01] [-3.60708617e-01 9.30460467e-01 6.42853998e-02 -7.59768469e+00] [ 1.83763331e-01 3.32601544e-03 9.82964890e-01 3.85375257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:33.44, Y:-7.61, Z:3.86 [[ 9.14193407e-01 3.66516590e-01 -1.72962433e-01 3.34365123e+01] [-3.60788034e-01 9.30405607e-01 6.46328102e-02 -7.60872606e+00] [ 1.84614215e-01 3.31588735e-03 9.82805472e-01 3.85902862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:33.47, Y:-7.62, Z:3.86 [[ 9.14545122e-01 3.65508859e-01 -1.73235370e-01 3.34663226e+01] [-3.59734225e-01 9.30802806e-01 6.47875236e-02 -7.62009629e+00] [ 1.84928382e-01 3.06757791e-03 9.82747212e-01 3.86476110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:33.50, Y:-7.63, Z:3.87 [[ 9.14811944e-01 3.65110240e-01 -1.72666211e-01 3.34966547e+01] [-3.59356431e-01 9.30959698e-01 6.46296901e-02 -7.63229616e+00] [ 1.84342246e-01 2.92470101e-03 9.82857763e-01 3.87163865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:33.53, Y:-7.64, Z:3.88 [[ 9.15245683e-01 3.64190202e-01 -1.72310294e-01 3.35254670e+01] [-3.58433521e-01 9.31320737e-01 6.45530448e-02 -7.64379829e+00] [ 1.83985736e-01 2.67988970e-03 9.82925260e-01 3.87797736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:33.55, Y:-7.66, Z:3.89 [[ 9.15618875e-01 3.63351426e-01 -1.72098275e-01 3.35549060e+01] [-3.57584489e-01 9.31648914e-01 6.45262381e-02 -7.65588818e+00] [ 1.83780872e-01 2.45823215e-03 9.82964164e-01 3.88500643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.199999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.58, Y:-7.67, Z:3.89 [[ 9.16256756e-01 3.61998793e-01 -1.71553000e-01 3.35846488e+01] [-3.56235111e-01 9.32176133e-01 6.43754869e-02 -7.66732355e+00] [ 1.83221461e-01 2.12872725e-03 9.83069359e-01 3.89249540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-7.68, Z:3.90 [[ 9.16809510e-01 3.60751405e-01 -1.71227177e-01 3.36151422e+01] [-3.54977792e-01 9.32660229e-01 6.43091349e-02 -7.67891531e+00] [ 1.82896389e-01 1.82261884e-03 9.83130505e-01 3.89811714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:33.64, Y:-7.69, Z:3.90 [[ 9.17708749e-01 3.58629306e-01 -1.70867411e-01 3.36447877e+01] [-3.52833055e-01 9.33479094e-01 6.42309641e-02 -7.69037617e+00] [ 1.82536262e-01 1.34235285e-03 9.83198205e-01 3.90224331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.67, Y:-7.70, Z:3.91 [[ 9.19351287e-01 3.54161719e-01 -1.71355441e-01 3.36743664e+01] [-3.48245020e-01 9.35184106e-01 6.44677713e-02 -7.70356082e+00] [ 1.83080902e-01 4.05150339e-04 9.83097767e-01 3.90868025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:33.70, Y:-7.72, Z:3.91 [[ 9.20511548e-01 3.51146979e-01 -1.71330935e-01 3.37036613e+01] [-3.45169867e-01 9.36320318e-01 6.45137598e-02 -7.71564022e+00] [ 1.83074447e-01 -2.47385008e-04 9.83099021e-01 3.91364407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:33.73, Y:-7.73, Z:3.92 [[ 9.21580135e-01 3.48412534e-01 -1.71168811e-01 3.37333635e+01] [-3.42393672e-01 9.37340936e-01 6.44867686e-02 -7.72758144e+00] [ 1.82911532e-01 -8.22606988e-04 9.83129033e-01 3.91972036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.379999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:33.76, Y:-7.74, Z:3.93 [[ 9.22180531e-01 3.46828601e-01 -1.71151948e-01 3.37629360e+01] [-3.40773413e-01 9.37927771e-01 6.45366315e-02 -7.73891290e+00] [ 1.82911315e-01 -1.19039173e-03 9.83128697e-01 3.92739412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:33.79, Y:-7.75, Z:3.93 [[ 9.23215417e-01 3.44541045e-01 -1.70190371e-01 3.37940523e+01] [-3.38505398e-01 9.38769738e-01 6.42298641e-02 -7.74979379e+00] [ 1.81899394e-01 -1.68764164e-03 9.83315698e-01 3.93229684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:33.82, Y:-7.76, Z:3.94 [[ 9.24407881e-01 3.41019155e-01 -1.70809851e-01 3.38235928e+01] [-3.34868940e-01 9.40053171e-01 6.45199929e-02 -7.75970541e+00] [ 1.82572895e-01 -2.44387620e-03 9.83189283e-01 3.93815304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:33.85, Y:-7.77, Z:3.94 [[ 9.24961784e-01 3.39422544e-01 -1.70991330e-01 3.38527087e+01] [-3.33222360e-01 9.40629804e-01 6.46407787e-02 -7.77059460e+00] [ 1.82780079e-01 -2.81211526e-03 9.83149803e-01 3.94412527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.5 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:33.88, Y:-7.78, Z:3.95 [[ 9.24904147e-01 3.38779214e-01 -1.72571619e-01 3.38825382e+01] [-3.32441836e-01 9.40861062e-01 6.52907969e-02 -7.78260487e+00] [ 1.84485081e-01 -3.01770307e-03 9.82830681e-01 3.95271055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:33.91, Y:-7.79, Z:3.96 [[ 9.26102264e-01 3.34975605e-01 -1.73568261e-01 3.39131356e+01] [-3.28487240e-01 9.42218927e-01 6.57238701e-02 -7.79277176e+00] [ 1.85555193e-01 -3.85206597e-03 9.82626293e-01 3.95888619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:33.94, Y:-7.80, Z:3.96 [[ 9.26950334e-01 3.32765496e-01 -1.73292249e-01 3.39429860e+01] [-3.26248718e-01 9.42999608e-01 6.56773442e-02 -7.80293287e+00] [ 1.85269677e-01 -4.34326208e-03 9.82678118e-01 3.96317882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589999999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:33.97, Y:-7.82, Z:3.98 [[ 9.26630259e-01 3.33299333e-01 -1.73976771e-01 3.39708344e+01] [-3.25035649e-01 9.42733855e-01 7.48645794e-02 -7.81726045e+00] [ 1.88966107e-01 -1.28231320e-02 9.81899882e-01 3.97735595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:34.00, Y:-7.83, Z:3.98 [[ 9.26552910e-01 3.32067862e-01 -1.76721931e-01 3.40023743e+01] [-3.25226723e-01 9.43243197e-01 6.72298257e-02 -7.82578005e+00] [ 1.89016624e-01 -4.81729608e-03 9.81962071e-01 3.97966623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:34.03, Y:-7.84, Z:4.00 [[ 9.25611822e-01 3.35204104e-01 -1.75729805e-01 3.40298833e+01] [-3.26294527e-01 9.42024886e-01 7.82367910e-02 -7.84281324e+00] [ 1.91767143e-01 -1.50772250e-02 9.81324635e-01 3.99538879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:34.06, Y:-7.84, Z:3.98 [[ 9.27522034e-01 3.27750969e-01 -1.79672421e-01 3.40642555e+01] [-3.24188201e-01 9.44686047e-01 4.97019402e-02 -7.83933855e+00] [ 1.86023888e-01 1.21480343e-02 9.82470121e-01 3.98294019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:34.09, Y:-7.86, Z:4.00 [[ 9.27954591e-01 3.30175265e-01 -1.72871545e-01 3.40911148e+01] [-3.23599210e-01 9.43905939e-01 6.57657189e-02 -7.85621178e+00] [ 1.84888692e-01 -5.08650548e-03 9.82746305e-01 3.99535169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:34.12, Y:-7.87, Z:4.00 [[ 9.27553974e-01 3.30867085e-01 -1.73696854e-01 3.41210851e+01] [-3.24228698e-01 9.43663973e-01 6.61366644e-02 -7.86784519e+00] [ 1.85793909e-01 -5.02782099e-03 9.82575872e-01 4.00367255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769999999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.15, Y:-7.88, Z:4.02 [[ 9.26537505e-01 3.34155132e-01 -1.72825347e-01 3.41463003e+01] [-3.24793616e-01 9.42333239e-01 8.07290188e-02 -7.88481805e+00] [ 1.89835085e-01 -1.86658942e-02 9.81638541e-01 4.02198623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.8 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.18, Y:-7.89, Z:4.01 [[ 9.27022688e-01 3.29760933e-01 -1.78568370e-01 3.41824662e+01] [-3.25490159e-01 9.44026570e-01 5.35723075e-02 -7.88519901e+00] [ 1.86239340e-01 8.45950267e-03 9.82467987e-01 4.01028702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:34.21, Y:-7.90, Z:4.02 [[ 9.26795945e-01 3.32765284e-01 -1.74116462e-01 3.42102947e+01] [-3.26105231e-01 9.42997609e-01 6.64145178e-02 -7.90098273e+00] [ 1.86291853e-01 -4.77241688e-03 9.82482860e-01 4.02147691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:34.24, Y:-7.91, Z:4.03 [[ 9.25595365e-01 3.35422541e-01 -1.75399373e-01 3.42400153e+01] [-3.28699325e-01 9.42057861e-01 6.69607339e-02 -7.91068770e+00] [ 1.87696498e-01 -4.32488948e-03 9.82217552e-01 4.02591288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:34.27, Y:-7.92, Z:4.03 [[ 9.24603076e-01 3.37766230e-01 -1.76133829e-01 3.42705626e+01] [-3.31021193e-01 9.41221950e-01 6.72771190e-02 -7.92188716e+00] [ 1.88504965e-01 -3.90060089e-03 9.82064490e-01 4.03331461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:34.30, Y:-7.94, Z:4.05 [[ 9.23349340e-01 3.40951432e-01 -1.76573266e-01 3.42987274e+01] [-3.32711104e-01 9.40019315e-01 7.52795373e-02 -7.93589020e+00] [ 1.91648947e-01 -1.07614249e-02 9.81404541e-01 4.04593869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949999999999996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:34.33, Y:-7.94, Z:4.04 [[ 9.21752168e-01 3.43079980e-01 -1.80745865e-01 3.43324498e+01] [-3.37528848e-01 9.39296730e-01 6.16111213e-02 -7.94126300e+00] [ 1.90911542e-01 4.21675900e-03 9.81598188e-01 4.04399587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:34.36, Y:-7.96, Z:4.05 [[ 9.20831305e-01 3.46494895e-01 -1.78916171e-01 3.43613058e+01] [-3.39663387e-01 9.38049015e-01 6.85042324e-02 -7.95501425e+00] [ 1.91568505e-01 -2.30956903e-03 9.81476527e-01 4.05370978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:34.39, Y:-7.97, Z:4.06 [[ 9.20027128e-01 3.48598304e-01 -1.78967331e-01 3.43905760e+01] [-3.41790509e-01 9.37270238e-01 6.85838856e-02 -7.96579193e+00] [ 1.91648979e-01 -1.92970034e-03 9.81461637e-01 4.05953867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:34.42, Y:-7.98, Z:4.07 [[ 9.19274358e-01 3.50492434e-01 -1.79136003e-01 3.44213342e+01] [-3.43696283e-01 9.36564213e-01 6.87047312e-02 -7.97689673e+00] [ 1.91852858e-01 -1.59011921e-03 9.81422413e-01 4.06580856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:34.45, Y:-7.99, Z:4.07 [[ 9.18664110e-01 3.52115609e-01 -1.79083364e-01 3.44519409e+01] [-3.45342477e-01 9.35955602e-01 6.87436142e-02 -7.98805668e+00] [ 1.91819778e-01 -1.30719846e-03 9.81429297e-01 4.07238013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.1 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:34.48, Y:-8.00, Z:4.08 [[ 9.18321679e-01 3.53277376e-01 -1.78550807e-01 3.44812938e+01] [-3.46555170e-01 9.35517957e-01 6.85978601e-02 -7.99868114e+00] [ 1.91271558e-01 -1.11719683e-03 9.81536521e-01 4.07758603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129999999999995 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:34.51, Y:-8.01, Z:4.08 [[ 9.17473939e-01 3.55360755e-01 -1.78774452e-01 3.45110800e+01] [-3.48650042e-01 9.34728941e-01 6.87383135e-02 -8.00924344e+00] [ 1.91532553e-01 -7.35890825e-04 9.81485985e-01 4.08396855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:34.54, Y:-8.02, Z:4.09 [[ 9.16871619e-01 3.57143233e-01 -1.78311934e-01 3.45391892e+01] [-3.49675226e-01 9.34039343e-01 7.27855949e-02 -8.02161294e+00] [ 1.92545244e-01 -4.38378035e-03 9.81278305e-01 4.09455345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:34.57, Y:-8.03, Z:4.10 [[ 9.16033631e-01 3.57645715e-01 -1.81581742e-01 3.45716781e+01] [-3.51672968e-01 9.33848281e-01 6.52189494e-02 -8.03131284e+00] [ 1.92895075e-01 4.11463912e-03 9.81210762e-01 4.09589823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:34.60, Y:-8.04, Z:4.11 [[ 9.14323328e-01 3.62050319e-01 -1.81472914e-01 3.45996735e+01] [-3.55240328e-01 9.32158383e-01 6.98931923e-02 -8.04449028e+00] [ 1.94466351e-01 5.61521414e-04 9.80909029e-01 4.10525452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:34.63, Y:-8.05, Z:4.11 [[ 9.13572381e-01 3.63056885e-01 -1.83235374e-01 3.46279454e+01] [-3.55798436e-01 9.31766633e-01 7.22385992e-02 -8.05477038e+00] [ 1.96959328e-01 -8.00329770e-04 9.80411333e-01 4.11083007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:34.66, Y:-8.07, Z:4.12 [[ 9.12581746e-01 3.65076758e-01 -1.84156231e-01 3.46583522e+01] [-3.58615236e-01 9.30970644e-01 6.84746114e-02 -8.06509205e+00] [ 1.96442535e-01 3.55254988e-03 9.80508904e-01 4.11542881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309999999999995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:34.69, Y:-8.08, Z:4.12 [[ 9.11519856e-01 3.67324689e-01 -1.84943574e-01 3.46872063e+01] [-3.60478994e-01 9.30089947e-01 7.06228396e-02 -8.07720177e+00] [ 1.97955672e-01 2.29415286e-03 9.80208289e-01 4.12134343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.339999999999996 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:34.72, Y:-8.09, Z:4.13 [[ 9.09380009e-01 3.71212543e-01 -1.87694556e-01 3.47166750e+01] [-3.64274797e-01 9.28541910e-01 7.15107862e-02 -8.09110887e+00] [ 2.00827963e-01 3.34191704e-03 9.79620825e-01 4.12783664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:34.75, Y:-8.10, Z:4.13 [[ 9.09802499e-01 3.70426935e-01 -1.87198555e-01 3.47465295e+01] [-3.64839190e-01 9.28814421e-01 6.47775981e-02 -8.10001066e+00] [ 1.97868085e-01 9.36254845e-03 9.80183944e-01 4.12901612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.4 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:34.77, Y:-8.11, Z:4.14 [[ 9.09188772e-01 3.72428459e-01 -1.86206391e-01 3.47737255e+01] [-3.65719412e-01 9.28052226e-01 7.04867183e-02 -8.11460420e+00] [ 1.99060515e-01 4.01355879e-03 9.79978981e-01 4.13826736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:34.80, Y:-8.13, Z:4.15 [[ 9.07651990e-01 3.75851266e-01 -1.86825294e-01 3.48008225e+01] [-3.67443473e-01 9.26674605e-01 7.91168199e-02 -8.13190163e+00] [ 2.02862412e-01 -3.16280425e-03 9.79202144e-01 4.15149337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:34.83, Y:-8.15, Z:4.16 [[ 9.07687383e-01 3.78488609e-01 -1.81245654e-01 3.48279894e+01] [-3.69167624e-01 9.25558864e-01 8.40003209e-02 -8.14749018e+00] [ 1.99546686e-01 -9.33600421e-03 9.79843844e-01 4.16100849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:34.86, Y:-8.15, Z:4.16 [[ 9.06594857e-01 3.75055846e-01 -1.93439596e-01 3.48623944e+01] [-3.70386221e-01 9.26860950e-01 6.11786526e-02 -8.15320815e+00] [ 2.02237019e-01 1.61831092e-02 9.79202888e-01 4.15831565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.519999999999996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:34.89, Y:-8.17, Z:4.17 [[ 9.06712272e-01 3.79172700e-01 -1.84664341e-01 3.48873568e+01] [-3.71017666e-01 9.25322704e-01 7.82546173e-02 -8.17283043e+00] [ 2.00546121e-01 -2.44068923e-03 9.79681222e-01 4.17287997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:34.92, Y:-8.18, Z:4.17 [[ 9.05565719e-01 3.78738974e-01 -1.91069407e-01 3.49188880e+01] [-3.72711448e-01 9.25453267e-01 6.79884375e-02 -8.18149662e+00] [ 2.02575678e-01 9.64575706e-03 9.79219104e-01 4.17498544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.95, Y:-8.20, Z:4.19 [[ 9.04640622e-01 3.82431373e-01 -1.88073364e-01 3.49468918e+01] [-3.75427325e-01 9.23972600e-01 7.29997105e-02 -8.19738096e+00] [ 2.01692015e-01 4.56937658e-03 9.79438335e-01 4.18503605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:34.98, Y:-8.21, Z:4.19 [[ 9.04080608e-01 3.82781903e-01 -1.90042809e-01 3.49757620e+01] [-3.75623238e-01 9.23827099e-01 7.38286782e-02 -8.20924148e+00] [ 2.03826979e-01 4.63741892e-03 9.78995943e-01 4.18993660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:35.00, Y:-8.22, Z:4.20 [[ 9.04294602e-01 3.82334908e-01 -1.89924434e-01 3.50049689e+01] [-3.75163013e-01 9.24012973e-01 7.38426712e-02 -8.22182059e+00] [ 2.03725272e-01 4.47709386e-03 9.79017860e-01 4.19647054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:35.03, Y:-8.23, Z:4.20 [[ 9.04478477e-01 3.81842575e-01 -1.90039292e-01 3.50339087e+01] [-3.74638020e-01 9.24217333e-01 7.39504996e-02 -8.23467024e+00] [ 2.03875057e-01 4.30930891e-03 9.78987431e-01 4.20320337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.699999999999996 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:35.06, Y:-8.25, Z:4.21 [[ 9.05155383e-01 3.80156057e-01 -1.90197542e-01 3.50622187e+01] [-3.72890130e-01 9.24914237e-01 7.40716238e-02 -8.24869438e+00] [ 2.04075191e-01 3.87645725e-03 9.78947542e-01 4.21133495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.09, Y:-8.26, Z:4.22 [[ 9.05429897e-01 3.80065843e-01 -1.89067862e-01 3.50915450e+01] [-3.72872086e-01 9.24951735e-01 7.36932578e-02 -8.26152642e+00] [ 2.02886937e-01 3.77404941e-03 9.79194897e-01 4.21876516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:35.12, Y:-8.28, Z:4.23 [[ 9.05836857e-01 3.81591510e-01 -1.83976921e-01 3.51205607e+01] [-3.73211411e-01 9.24324634e-01 7.96066237e-02 -8.27780590e+00] [ 2.00431612e-01 -3.44832765e-03 9.79701627e-01 4.22748822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:35.15, Y:-8.28, Z:4.23 [[ 9.05331790e-01 3.77901926e-01 -1.93815592e-01 3.51517469e+01] [-3.71722876e-01 9.25793815e-01 6.87598379e-02 -8.28302312e+00] [ 2.05417752e-01 9.79522223e-03 9.78625363e-01 4.22748963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:35.19, Y:-8.28, Z:4.20 [[ 9.09187041e-01 3.65455309e-01 -1.99552856e-01 3.51923973e+01] [-3.67607673e-01 9.29573437e-01 2.75286233e-02 -8.27558794e+00] [ 1.95559515e-01 4.83284934e-02 9.79500297e-01 4.19765844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:35.21, Y:-8.31, Z:4.23 [[ 9.09220214e-01 3.74105307e-01 -1.82657661e-01 3.52099563e+01] [-3.66614354e-01 9.27385913e-01 7.44935130e-02 -8.30554498e+00] [ 1.97262560e-01 -7.66087631e-04 9.80350394e-01 4.22795197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.879999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:-8.33, Z:4.27 [[ 0.90634297 0.38341227 -0.17758788 35.22837579] [-0.36837422 0.92285746 0.11240347 -8.33408799] [ 0.20698517 -0.03645729 0.97766457 4.26966432] [ 0. 0. 0. 1. ]] SLAMing on 35.91 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:35.27, Y:-8.33, Z:4.26 [[ 9.07491488e-01 3.73273279e-01 -1.92681752e-01 3.52666791e+01] [-3.65585274e-01 9.27719232e-01 7.53951833e-02 -8.33340521e+00] [ 2.06897574e-01 2.02112385e-03 9.78360521e-01 4.25837091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:35.30, Y:-8.35, Z:4.27 [[ 9.08329391e-01 3.71538389e-01 -1.92085769e-01 3.52965092e+01] [-3.63846577e-01 9.28416281e-01 7.52255114e-02 -8.34529290e+00] [ 2.06284721e-01 1.56020657e-03 9.78490766e-01 4.26525992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:35.33, Y:-8.36, Z:4.27 [[ 9.09327619e-01 3.69236454e-01 -1.91801259e-01 3.53258581e+01] [-3.61503446e-01 9.29334972e-01 7.51782423e-02 -8.35655454e+00] [ 2.06006166e-01 9.75164212e-04 9.78550208e-01 4.27077940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.0 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:35.36, Y:-8.37, Z:4.28 [[ 9.10308911e-01 3.66913798e-01 -1.91603629e-01 3.53559828e+01] [-3.59133276e-01 9.30254864e-01 7.51610174e-02 -8.36839078e+00] [ 2.05817823e-01 3.91495301e-04 9.78590247e-01 4.27673996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:35.40, Y:-8.36, Z:4.25 [[ 9.16914574e-01 3.48281729e-01 -1.94852511e-01 3.53955671e+01] [-3.48929269e-01 9.36597938e-01 3.21351580e-02 -8.35890463e+00] [ 1.93690549e-01 3.85245498e-02 9.80305988e-01 4.24650288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.059999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:35.42, Y:-8.38, Z:4.26 [[ 9.18786378e-01 3.49579872e-01 -1.83372583e-01 3.54184533e+01] [-3.44829659e-01 9.36856208e-01 5.82490592e-02 -8.38030385e+00] [ 1.92156442e-01 9.71386321e-03 9.81316230e-01 4.26231817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.44, Y:-8.40, Z:4.28 [[ 9.19807397e-01 3.49201159e-01 -1.78921500e-01 3.54436259e+01] [-3.41856319e-01 9.37037000e-01 7.13856935e-02 -8.39768109e+00] [ 1.92584032e-01 -4.49564362e-03 9.81270187e-01 4.27612361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:35.48, Y:-8.40, Z:4.27 [[ 9.21151275e-01 3.43344108e-01 -1.83289803e-01 3.54758955e+01] [-3.38288088e-01 9.39179816e-01 5.91814337e-02 -8.40432007e+00] [ 1.92461680e-01 7.48970381e-03 9.81275907e-01 4.27388001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:-8.44, Z:4.33 [[ 0.91861789 0.35584137 -0.17180829 35.48865044] [-0.33832244 0.93291892 0.1232892 -8.44356272] [ 0.20415461 -0.05512906 0.97738513 4.33308994] [ 0. 0. 0. 1. ]] SLAMing on 36.18 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:35.55, Y:-8.41, Z:4.26 [[ 9.23140211e-01 3.27730573e-01 -2.01009507e-01 3.55459743e+01] [-3.32304234e-01 9.43101640e-01 1.15409466e-02 -8.40731862e+00] [ 1.93354716e-01 5.61423982e-02 9.79521304e-01 4.26284872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.55, Y:-8.47, Z:4.35 [[ 0.9201177 0.35313313 -0.16935292 35.54552289] [-0.3344294 0.9334826 0.12948829 -8.46759003] [ 0.2038146 -0.06250787 0.97701196 4.34809075] [ 0. 0. 0. 1. ]] SLAMing on 36.24 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:35.59, Y:-8.46, Z:4.33 [[ 9.19969186e-01 3.42194507e-01 -1.91205688e-01 3.55884002e+01] [-3.33811343e-01 9.39612324e-01 7.54895263e-02 -8.46052340e+00] [ 2.05491322e-01 -5.62141048e-03 9.78642793e-01 4.32669455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:-8.44, Z:4.28 [[ 9.25476808e-01 3.25097174e-01 -1.94433807e-01 3.56313515e+01] [-3.27532897e-01 9.44619245e-01 2.04128437e-02 -8.44362766e+00] [ 1.90302073e-01 4.47918545e-02 9.80703223e-01 4.28340963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.3 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:35.64, Y:-8.50, Z:4.36 [[ 0.92179541 0.34688536 -0.17310049 35.63640483] [-0.32963425 0.93632502 0.12098235 -8.49685654] [ 0.20404532 -0.05446113 0.97744539 4.35922318] [ 0. 0. 0. 1. ]] SLAMing on 36.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:-8.49, Z:4.34 [[ 9.21241995e-01 3.39238429e-01 -1.90343045e-01 3.56774840e+01] [-3.30870066e-01 9.40679677e-01 7.51448320e-02 -8.49272989e+00] [ 2.04543849e-01 -6.24775906e-03 9.78837463e-01 4.34221713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:35.71, Y:-8.50, Z:4.35 [[ 9.21084508e-01 3.39283322e-01 -1.91023970e-01 3.57083724e+01] [-3.30843149e-01 9.40663028e-01 7.54710429e-02 -8.50324233e+00] [ 2.05295252e-01 -6.31623658e-03 9.78679705e-01 4.34789366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:35.74, Y:-8.51, Z:4.35 [[ 9.20933944e-01 3.39732194e-01 -1.90952106e-01 3.57379811e+01] [-3.31301221e-01 9.40501483e-01 7.54749064e-02 -8.51331349e+00] [ 2.05231995e-01 -6.24473742e-03 9.78693431e-01 4.35299536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.77, Y:-8.52, Z:4.36 [[ 9.20712219e-01 3.41231180e-01 -1.89341731e-01 3.57688125e+01] [-3.32962153e-01 9.39960780e-01 7.48995103e-02 -8.52353824e+00] [ 2.03531849e-01 -5.91726404e-03 9.79050444e-01 4.35907609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:35.80, Y:-8.53, Z:4.37 [[ 9.20454736e-01 3.42166971e-01 -1.88904322e-01 3.57980817e+01] [-3.33943562e-01 9.39621547e-01 7.47866717e-02 -8.53400906e+00] [ 2.03088101e-01 -5.75436393e-03 9.79143560e-01 4.36549253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.83, Y:-8.55, Z:4.37 [[ 9.19876366e-01 3.44187911e-01 -1.88048273e-01 3.58281725e+01] [-3.36069860e-01 9.38885614e-01 7.45040430e-02 -8.54521171e+00] [ 2.02199209e-01 -5.33715169e-03 9.79329870e-01 4.37153509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:35.86, Y:-8.56, Z:4.38 [[ 9.19836219e-01 3.44305849e-01 -1.88028754e-01 3.58586851e+01] [-3.36180180e-01 9.38842210e-01 7.45532717e-02 -8.55743119e+00] [ 2.02198459e-01 -5.36525910e-03 9.79329872e-01 4.37776854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:35.89, Y:-8.57, Z:4.38 [[ 9.19285113e-01 3.46165574e-01 -1.87307970e-01 3.58895312e+01] [-3.38135056e-01 9.38160303e-01 7.42962317e-02 -8.56811471e+00] [ 2.01443700e-01 -4.96402866e-03 9.79487516e-01 4.38370049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:35.92, Y:-8.58, Z:4.39 [[ 9.17808629e-01 3.50642891e-01 -1.86217304e-01 3.59203657e+01] [-3.42785432e-01 9.36500636e-01 7.39236494e-02 -8.57647957e+00] [ 2.00313426e-01 -4.01518419e-03 9.79723639e-01 4.38993379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.6 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:35.95, Y:-8.58, Z:4.39 [[ 9.16432641e-01 3.52795458e-01 -1.88908917e-01 3.59503560e+01] [-3.46622303e-01 9.35686663e-01 6.59048443e-02 -8.58373778e+00] [ 2.00010484e-01 5.08269329e-03 9.79780574e-01 4.39092178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.99, Y:-8.58, Z:4.37 [[ 9.18423104e-01 3.44291475e-01 -1.94839375e-01 3.59925687e+01] [-3.46182752e-01 9.37824072e-01 2.53675408e-02 -8.57531219e+00] [ 1.91458885e-01 4.41518955e-02 9.80507066e-01 4.36759672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:-8.60, Z:4.39 [[ 9.17545786e-01 3.58655484e-01 -1.71685683e-01 3.60095064e+01] [-3.51851806e-01 9.33463567e-01 6.96137550e-02 -8.59992720e+00] [ 1.85229685e-01 -3.46588995e-03 9.82689143e-01 4.39038761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:36.02, Y:-8.64, Z:4.46 [[ 0.91057093 0.37993159 -0.16282682 36.02231397] [-0.35988679 0.92245784 0.13983218 -8.64429799] [ 0.20332754 -0.0687279 0.97669565 4.46017597] [ 0. 0. 0. 1. ]] SLAMing on 36.72 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:36.07, Y:-8.63, Z:4.44 [[ 9.09150932e-01 3.71543839e-01 -1.88148236e-01 3.60673809e+01] [-3.63822808e-01 9.28415410e-01 7.53511197e-02 -8.63375282e+00] [ 2.02675966e-01 -5.29212883e-05 9.79245858e-01 4.43535028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:36.10, Y:-8.65, Z:4.44 [[ 9.08030748e-01 3.74227000e-01 -1.88240040e-01 3.60970049e+01] [-3.66542898e-01 9.27337001e-01 7.54479360e-02 -8.64507015e+00] [ 2.02796609e-01 4.89003818e-04 9.79220760e-01 4.44158988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:36.13, Y:-8.66, Z:4.45 [[ 9.06293660e-01 3.78911954e-01 -1.87236572e-01 3.61279403e+01] [-3.71397643e-01 9.25431551e-01 7.51015052e-02 -8.65601250e+00] [ 2.01731489e-01 1.47520338e-03 9.79439753e-01 4.44709747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809999999999995 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:36.17, Y:-8.63, Z:4.40 [[ 9.11677976e-01 3.61040676e-01 -1.96196071e-01 3.61742384e+01] [-3.66765108e-01 9.30282244e-01 7.63551999e-03 -8.63286758e+00] [ 1.85274454e-01 6.49967377e-02 9.80534956e-01 4.40005698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.839999999999996 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:36.17, Y:-8.70, Z:4.49 [[ 0.9042396 0.393874 -0.16496671 36.17231036] [-0.37540932 0.91734066 0.13249132 -8.6983013 ] [ 0.20351556 -0.05787386 0.97735973 4.48653468] [ 0. 0. 0. 1. ]] SLAMing on 36.87 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:36.22, Y:-8.69, Z:4.46 [[ 9.02547917e-01 3.87116372e-01 -1.88542228e-01 3.62150740e+01] [-3.79637505e-01 9.22025410e-01 7.57925290e-02 -8.68950635e+00] [ 2.03181254e-01 3.17131182e-03 9.79136007e-01 4.46447489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.9 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:36.24, Y:-8.70, Z:4.47 [[ 9.01901861e-01 3.88428443e-01 -1.88934851e-01 3.62449926e+01] [-3.80934458e-01 9.21472545e-01 7.60084696e-02 -8.70154102e+00] [ 2.03622130e-01 3.41961504e-03 9.79043582e-01 4.47021700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:36.29, Y:-8.68, Z:4.42 [[ 9.07584883e-01 3.70163345e-01 -1.98163512e-01 3.62906796e+01] [-3.75670792e-01 9.26694021e-01 1.04712851e-02 -8.67979937e+00] [ 1.87513028e-01 6.49406634e-02 9.80113042e-01 4.42422378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:36.29, Y:-8.75, Z:4.51 [[ 0.90097226 0.40059161 -0.1666594 36.28978705] [-0.38236344 0.91462665 0.1313632 -8.74557921] [ 0.20505412 -0.05463014 0.97722482 4.50838219] [ 0. 0. 0. 1. ]] SLAMing on 36.99 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:36.33, Y:-8.74, Z:4.49 [[ 9.00969353e-01 3.90834838e-01 -1.88420684e-01 3.63326843e+01] [-3.83399904e-01 9.20452990e-01 7.59658231e-02 -8.73883433e+00] [ 2.03122472e-01 3.79759367e-03 9.79145975e-01 4.48864219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.019999999999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:36.36, Y:-8.75, Z:4.50 [[ 9.01257741e-01 3.90757470e-01 -1.87197978e-01 3.63626063e+01] [-3.83405885e-01 9.20486238e-01 7.55315440e-02 -8.75170023e+00] [ 2.01827677e-01 3.69941744e-03 9.79414061e-01 4.49514420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:36.40, Y:-8.74, Z:4.46 [[ 9.06236933e-01 3.76035697e-01 -1.93214324e-01 3.64028162e+01] [-3.78199932e-01 9.25329878e-01 2.70079324e-02 -8.73895494e+00] [ 1.88942933e-01 4.85980583e-02 9.80784786e-01 4.46257169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:36.42, Y:-8.77, Z:4.48 [[ 9.06708370e-01 3.82258479e-01 -1.78208829e-01 3.64238452e+01] [-3.77420093e-01 9.23985904e-01 6.16775762e-02 -8.76524268e+00] [ 1.88239222e-01 1.13360181e-02 9.82057783e-01 4.48328388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:36.44, Y:-8.81, Z:4.54 [[ 0.90312197 0.3963631 -0.16512724 36.43574992] [-0.38046622 0.91695642 0.1201515 -8.80612867] [ 0.1990381 -0.04568613 0.97892625 4.53606404] [ 0. 0. 0. 1. ]] SLAMing on 37.14 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:36.49, Y:-8.78, Z:4.48 [[ 9.08175972e-01 3.72276603e-01 -1.91380602e-01 3.64876993e+01] [-3.74663124e-01 9.26825200e-01 2.49518014e-02 -8.77733297e+00] [ 1.86665336e-01 4.90426275e-02 9.81198692e-01 4.48057847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:36.49, Y:-8.83, Z:4.55 [[ 0.90463516 0.39262934 -0.16576319 36.49232912] [-0.37745783 0.91871428 0.11614494 -8.83158156] [ 0.19789092 -0.04250018 0.97930226 4.54634684] [ 0. 0. 0. 1. ]] SLAMing on 37.199999999999996 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:36.53, Y:-8.83, Z:4.53 [[ 9.05033651e-01 3.83909978e-01 -1.83104396e-01 3.65312231e+01] [-3.76677108e-01 9.23368724e-01 7.41926936e-02 -8.82947966e+00] [ 1.97556188e-01 1.82434996e-03 9.80289868e-01 4.53208119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:36.56, Y:-8.84, Z:4.54 [[ 9.05352594e-01 3.83167602e-01 -1.83082683e-01 3.65610015e+01] [-3.75914084e-01 9.23677400e-01 7.42203603e-02 -8.84261500e+00] [ 1.97548174e-01 1.62776351e-03 9.80291829e-01 4.53790812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:36.59, Y:-8.86, Z:4.54 [[ 9.05513549e-01 3.82562186e-01 -1.83552134e-01 3.65901028e+01] [-3.75247047e-01 9.23928615e-01 7.44685734e-02 -8.85561769e+00] [ 1.98077929e-01 1.44509394e-03 9.80185210e-01 4.54414666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:36.62, Y:-8.87, Z:4.55 [[ 9.06303501e-01 3.80790033e-01 -1.83338255e-01 3.66199511e+01] [-3.73444574e-01 9.24660990e-01 7.44392598e-02 -8.86958964e+00] [ 1.97871460e-01 1.00211462e-03 9.80227464e-01 4.54947436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:36.66, Y:-8.86, Z:4.53 [[ 9.09916538e-01 3.68818095e-01 -1.89802812e-01 3.66572232e+01] [-3.68294982e-01 9.28875914e-01 3.93489960e-02 -8.86264310e+00] [ 1.90815882e-01 3.40991210e-02 9.81033409e-01 4.52508853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:36.68, Y:-8.89, Z:4.55 [[ 9.09927346e-01 3.74704549e-01 -1.77844671e-01 3.66771057e+01] [-3.67768151e-01 9.27144266e-01 7.17641787e-02 -8.88812284e+00] [ 1.91778031e-01 1.05417189e-04 9.81438320e-01 4.54715465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.379999999999995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:36.70, Y:-8.90, Z:4.56 [[ 9.10219995e-01 3.74139783e-01 -1.77535866e-01 3.67041713e+01] [-3.66624979e-01 9.27367871e-01 7.46656315e-02 -8.90123444e+00] [ 1.92576441e-01 -2.87306743e-03 9.81277769e-01 4.55570581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:-8.93, Z:4.59 [[ 9.08885560e-01 3.78695284e-01 -1.74690931e-01 3.67253478e+01] [-3.66371201e-01 9.25147203e-01 9.93720059e-02 -8.92837703e+00] [ 1.99246536e-01 -2.63160551e-02 9.79595980e-01 4.58727027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:36.76, Y:-8.93, Z:4.58 [[ 9.10135766e-01 3.71778897e-01 -1.82847855e-01 3.67602574e+01] [-3.64245797e-01 9.28320562e-01 7.44710251e-02 -8.93363037e+00] [ 1.97428179e-01 -1.17718086e-03 9.80316647e-01 4.58027056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.79, Y:-8.95, Z:4.59 [[ 9.11018619e-01 3.69458117e-01 -1.83155057e-01 3.67893268e+01] [-3.61842452e-01 9.29245768e-01 7.46481207e-02 -8.94670424e+00] [ 1.97775416e-01 -1.73255285e-03 9.80245828e-01 4.58859561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.5 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:36.82, Y:-8.96, Z:4.59 [[ 9.12321910e-01 3.66912925e-01 -1.81779093e-01 3.68180722e+01] [-3.59351425e-01 9.30252401e-01 7.41419177e-02 -8.96041452e+00] [ 1.96304066e-01 -2.31871974e-03 9.80540329e-01 4.59427864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:36.85, Y:-8.97, Z:4.60 [[ 9.14702145e-01 3.61399300e-01 -1.80860531e-01 3.68456573e+01] [-3.53797756e-01 9.32404452e-01 7.38179278e-02 -8.97462119e+00] [ 1.95312912e-01 -3.53336698e-03 9.80734613e-01 4.60154517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.559999999999995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:36.88, Y:-8.97, Z:4.59 [[ 9.18418156e-01 3.50544693e-01 -1.83375322e-01 3.68802931e+01] [-3.47397680e-01 9.36378816e-01 5.00955507e-02 -8.97452991e+00] [ 1.89269496e-01 1.76954982e-02 9.81765719e-01 4.58752150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.589999999999996 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:36.91, Y:-8.99, Z:4.59 [[ 9.19667128e-01 3.49510320e-01 -1.79038851e-01 3.69061474e+01] [-3.44794035e-01 9.36893737e-01 5.78549882e-02 -8.98863109e+00] [ 1.87961293e-01 8.52419679e-03 9.82139445e-01 4.59445598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:36.92, Y:-9.02, Z:4.63 [[ 9.17033499e-01 3.59777566e-01 -1.72074590e-01 3.69230449e+01] [-3.46376615e-01 9.32370272e-01 1.03483890e-01 -9.02396592e+00] [ 1.97668414e-01 -3.52955798e-02 9.79633309e-01 4.63461991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:36.97, Y:-9.01, Z:4.60 [[ 9.20921112e-01 3.40957472e-01 -1.88818185e-01 3.69667373e+01] [-3.39931689e-01 9.39648578e-01 3.88200698e-02 -9.00668546e+00] [ 1.90658732e-01 2.84350628e-02 9.81244462e-01 4.59725863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:36.98, Y:-9.05, Z:4.65 [[ 0.91717502 0.35871963 -0.17352296 36.97873536] [-0.34471822 0.93269252 0.10608498 -9.05011455] [ 0.19989833 -0.03748197 0.97909946 4.649137 ] [ 0. 0. 0. 1. ]] SLAMing on 37.71 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:37.02, Y:-9.05, Z:4.64 [[ 9.16719291e-01 3.52906555e-01 -1.87303779e-01 3.70155454e+01] [-3.44467161e-01 9.35639180e-01 7.69525773e-02 -9.05238218e+00] [ 2.02405824e-01 -6.02391091e-03 9.79283205e-01 4.64070368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:37.05, Y:-9.07, Z:4.65 [[ 9.16356933e-01 3.52813802e-01 -1.89241626e-01 3.70454577e+01] [-3.44182096e-01 9.35673224e-01 7.78094020e-02 -9.06546275e+00] [ 2.04520553e-01 -6.16760557e-03 9.78842839e-01 4.64617692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769999999999996 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:37.07, Y:-9.08, Z:4.65 [[ 9.16127863e-01 3.53176517e-01 -1.89673632e-01 3.70747668e+01] [-3.44499389e-01 9.35536417e-01 7.80498834e-02 -9.07796804e+00] [ 2.05011976e-01 -6.16122264e-03 9.78740072e-01 4.65254218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.8 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:37.11, Y:-9.08, Z:4.64 [[ 9.18610202e-01 3.45894523e-01 -1.91081857e-01 3.71063923e+01] [-3.40554908e-01 9.38231515e-01 6.11880667e-02 -9.07853864e+00] [ 2.00443637e-01 8.86588185e-03 9.79665119e-01 4.64385434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:37.14, Y:-9.08, Z:4.63 [[ 9.21252801e-01 3.38217997e-01 -1.92098575e-01 3.71406102e+01] [-3.37909153e-01 9.40513069e-01 3.53916835e-02 -9.07739661e+00] [ 1.92641325e-01 3.23071794e-02 9.80737256e-01 4.62842601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:37.15, Y:-9.13, Z:4.70 [[ 0.91659267 0.36137785 -0.17106705 37.14729622] [-0.34433232 0.93093564 0.12163091 -9.13024364] [ 0.20320713 -0.05258209 0.97772286 4.69540117] [ 0. 0. 0. 1. ]] SLAMing on 37.89 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:37.20, Y:-9.10, Z:4.64 [[ 9.21528879e-01 3.36095104e-01 -1.94485493e-01 3.71986921e+01] [-3.37155009e-01 9.41013140e-01 2.86490867e-02 -9.10069487e+00] [ 1.92642222e-01 3.91707972e-02 9.80486932e-01 4.64072532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:37.22, Y:-9.13, Z:4.66 [[ 9.22661148e-01 3.42172926e-01 -1.77803529e-01 3.72187809e+01] [-3.36661956e-01 9.39631056e-01 6.12552530e-02 -9.12526079e+00] [ 1.88029607e-01 3.34184200e-03 9.82157675e-01 4.66130672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949999999999996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:37.24, Y:-9.15, Z:4.68 [[ 9.21360107e-01 3.47636449e-01 -1.73909324e-01 3.72428485e+01] [-3.38348238e-01 9.37489395e-01 8.14500092e-02 -9.14725060e+00] [ 1.91353139e-01 -1.62028758e-02 9.81387509e-01 4.68113456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:37.26, Y:-9.18, Z:4.72 [[ 0.91687723 0.35914444 -0.17421657 37.26337561] [-0.34342859 0.93219827 0.11429432 -9.1762074 ] [ 0.20345255 -0.04496291 0.97805184 4.72048218] [ 0. 0. 0. 1. ]] SLAMing on 38.01 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:37.32, Y:-9.14, Z:4.66 [[ 9.22003573e-01 3.32678614e-01 -1.98076628e-01 3.73184065e+01] [-3.36606280e-01 9.41533542e-01 1.45190287e-02 -9.14207838e+00] [ 1.91325960e-01 5.32872407e-02 9.80079000e-01 4.65733756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:-9.17, Z:4.69 [[ 9.21179473e-01 3.44255945e-01 -1.81428284e-01 3.73364026e+01] [-3.39177629e-01 9.38850509e-01 5.93148941e-02 -9.17168768e+00] [ 1.90753542e-01 6.89675248e-03 9.81613733e-01 4.68556413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:37.37, Y:-9.18, Z:4.69 [[ 9.21094360e-01 3.45119845e-01 -1.80215072e-01 3.73658206e+01] [-3.39441034e-01 9.38551550e-01 6.24561681e-02 -9.18358289e+00] [ 1.90695998e-01 3.64436613e-03 9.81642376e-01 4.69011641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.1 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:37.40, Y:-9.19, Z:4.69 [[ 9.21605582e-01 3.45324409e-01 -1.77184094e-01 3.73952490e+01] [-3.40323894e-01 9.38463885e-01 5.88658167e-02 -9.19040044e+00] [ 1.86608677e-01 6.04891565e-03 9.82415702e-01 4.69107006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129999999999995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:37.40, Y:-9.25, Z:4.78 [[ 0.91365242 0.37341825 -0.16061775 37.39911275] [-0.34957662 0.92342921 0.15834984 -9.24680942] [ 0.20744984 -0.08852851 0.97423163 4.77709908] [ 0. 0. 0. 1. ]] SLAMing on 38.16 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:37.45, Y:-9.23, Z:4.75 [[ 9.12078415e-01 3.60898139e-01 -1.94590592e-01 3.74480932e+01] [-3.51767571e-01 9.32590289e-01 8.08389118e-02 -9.23137619e+00] [ 2.10647909e-01 -5.28076677e-03 9.77547734e-01 4.74539247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:37.48, Y:-9.24, Z:4.75 [[ 9.11091816e-01 3.62941458e-01 -1.95410338e-01 3.74780469e+01] [-3.53765836e-01 9.31799119e-01 8.12412114e-02 -9.24300464e+00] [ 2.11568985e-01 -4.88870103e-03 9.77350840e-01 4.75374157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:37.51, Y:-9.25, Z:4.76 [[ 9.10042918e-01 3.65336259e-01 -1.95834891e-01 3.75089532e+01] [-3.56160745e-01 9.30865199e-01 8.14831606e-02 -9.25411672e+00] [ 2.12064637e-01 -4.40447264e-03 9.77245716e-01 4.75870824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:37.54, Y:-9.27, Z:4.77 [[ 9.09065174e-01 3.67664093e-01 -1.96019450e-01 3.75385682e+01] [-3.58510133e-01 9.29950366e-01 8.16259905e-02 -9.26535465e+00] [ 2.12299305e-01 -3.92838612e-03 9.77196793e-01 4.76794018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:37.57, Y:-9.28, Z:4.77 [[ 9.08431303e-01 3.69265425e-01 -1.95947985e-01 3.75675731e+01] [-3.60140754e-01 9.29316940e-01 8.16618792e-02 -9.27662141e+00] [ 2.12252690e-01 -3.61535243e-03 9.77208128e-01 4.77267839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309999999999995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:37.60, Y:-9.29, Z:4.78 [[ 9.06690117e-01 3.73654285e-01 -1.95692378e-01 3.75971780e+01] [-3.64641215e-01 9.27564276e-01 8.16167724e-02 -9.28800817e+00] [ 2.12013715e-01 -2.64361444e-03 9.77263115e-01 4.78028114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.339999999999996 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:37.63, Y:-9.30, Z:4.79 [[ 9.05919437e-01 3.75950778e-01 -1.94861455e-01 3.76257025e+01] [-3.67053788e-01 9.26637124e-01 8.13336152e-02 -9.29956900e+00] [ 2.11143294e-01 -2.15706785e-03 9.77452739e-01 4.78760884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:37.64, Y:-9.33, Z:4.83 [[ 0.90271492 0.38794776 -0.18601696 37.6422377 ] [-0.36950895 0.92055159 0.1266803 -9.32772319] [ 0.22038355 -0.04562127 0.97434583 4.82944217] [ 0. 0. 0. 1. ]] SLAMing on 38.4 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:37.69, Y:-9.31, Z:4.78 [[ 0.90393305 0.37194681 -0.21109386 37.69471041] [-0.37209226 0.9273089 0.04056537 -9.30848207] [ 0.21083737 0.04187801 0.97662369 4.78251397] [ 0. 0. 0. 1. ]] SLAMing on 38.43 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:37.71, Y:-9.34, Z:4.81 [[ 9.04108312e-01 3.80555282e-01 -1.94334344e-01 3.77144720e+01] [-3.71796387e-01 9.24757460e-01 8.11855046e-02 -9.33611371e+00] [ 2.10607707e-01 -1.14768235e-03 9.77569985e-01 4.80822175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:37.74, Y:-9.35, Z:4.82 [[ 9.02189938e-01 3.85056527e-01 -1.94383092e-01 3.77437335e+01] [-3.76389656e-01 9.22892981e-01 8.12365188e-02 -9.34683687e+00] [ 2.10675443e-01 -1.26984790e-04 9.77556055e-01 4.81606455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:37.77, Y:-9.36, Z:4.82 [[ 9.01089127e-01 3.87272983e-01 -1.95084652e-01 3.77727514e+01] [-3.78580830e-01 9.21965034e-01 8.15906286e-02 -9.35885860e+00] [ 2.11459074e-01 3.34881413e-04 9.77386795e-01 4.82235334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.519999999999996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:37.80, Y:-9.37, Z:4.83 [[ 8.99757862e-01 3.89466964e-01 -1.96853433e-01 3.78029333e+01] [-3.80657074e-01 9.21040073e-01 8.23733951e-02 -9.37132014e+00] [ 2.13391617e-01 8.17542199e-04 9.76966401e-01 4.82878434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:37.83, Y:-9.38, Z:4.84 [[ 8.97924454e-01 3.92995620e-01 -1.98207257e-01 3.78314780e+01] [-3.84132785e-01 9.19538944e-01 8.30068331e-02 -9.38365031e+00] [ 2.14880614e-01 1.60404028e-03 9.76639006e-01 4.83611469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:37.86, Y:-9.40, Z:4.84 [[ 8.97027294e-01 3.94298489e-01 -1.99676576e-01 3.78604828e+01] [-3.85320072e-01 9.18980522e-01 8.36853802e-02 -9.39636598e+00] [ 2.16495903e-01 1.87132264e-03 9.76281733e-01 4.84312527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:37.89, Y:-9.41, Z:4.85 [[ 8.96424185e-01 3.95134197e-01 -2.00730284e-01 3.78902340e+01] [-3.86065560e-01 9.18621183e-01 8.41932657e-02 -9.40935842e+00] [ 2.17662729e-01 2.02217002e-03 9.76021950e-01 4.85003132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:37.92, Y:-9.42, Z:4.86 [[ 8.96098224e-01 3.95475304e-01 -2.01512425e-01 3.79201568e+01] [-3.86328539e-01 9.18474321e-01 8.45883050e-02 -9.42227935e+00] [ 2.18536574e-01 2.05057084e-03 9.75826604e-01 4.85652987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:37.95, Y:-9.44, Z:4.86 [[ 8.96404815e-01 3.95055305e-01 -2.00971923e-01 3.79483817e+01] [-3.85932612e-01 9.18655417e-01 8.44289269e-02 -9.43574168e+00] [ 2.17978041e-01 1.87912269e-03 9.75951865e-01 4.86373441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.699999999999996 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:37.98, Y:-9.45, Z:4.87 [[ 8.96675086e-01 3.94697791e-01 -2.00468063e-01 3.79774245e+01] [-3.85598352e-01 9.18809376e-01 8.42807334e-02 -9.44945180e+00] [ 2.17457356e-01 1.72772116e-03 9.76068293e-01 4.87130818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:38.01, Y:-9.46, Z:4.88 [[ 8.97134306e-01 3.94224475e-01 -1.99341668e-01 3.80060064e+01] [-3.85201623e-01 9.19012890e-01 8.38750080e-02 -9.46309266e+00] [ 2.16263144e-01 1.53958692e-03 9.76333899e-01 4.87864586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:38.03, Y:-9.48, Z:4.89 [[ 8.97980783e-01 3.92353764e-01 -1.99221075e-01 3.80347279e+01] [-3.83281413e-01 9.19813826e-01 8.38920954e-02 -9.47863113e+00] [ 2.16161678e-01 1.02424534e-03 9.76357045e-01 4.88624162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:38.06, Y:-9.49, Z:4.89 [[ 8.98404750e-01 3.91867025e-01 -1.98265325e-01 3.80631160e+01] [-3.82856102e-01 9.20021483e-01 8.35564224e-02 -9.49238632e+00] [ 2.15151365e-01 8.39602692e-04 9.76580353e-01 4.89339411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:38.09, Y:-9.51, Z:4.91 [[ 8.98467779e-01 3.92978651e-01 -1.95763712e-01 3.80882875e+01] [-3.82486806e-01 9.19525556e-01 9.04245286e-02 -9.50814752e+00] [ 2.15544646e-01 -6.36648835e-03 9.76473232e-01 4.90638194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:38.12, Y:-9.52, Z:4.90 [[ 8.99130735e-01 3.88025226e-01 -2.02485421e-01 3.81208209e+01] [-3.80419078e-01 9.21614714e-01 7.68612039e-02 -9.51814281e+00] [ 2.16437629e-01 7.92104635e-03 9.76264313e-01 4.90297405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.879999999999995 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:38.15, Y:-9.53, Z:4.90 [[ 9.00845451e-01 3.84241346e-01 -2.02079344e-01 3.81515455e+01] [-3.78778849e-01 9.23085003e-01 6.66382849e-02 -9.52629946e+00] [ 2.12141597e-01 1.65125857e-02 9.77099420e-01 4.89909967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:38.17, Y:-9.55, Z:4.93 [[ 8.99390978e-01 3.91317513e-01 -1.94849871e-01 3.81717828e+01] [-3.78811177e-01 9.20124219e-01 9.93655554e-02 -9.55243418e+00] [ 2.18169568e-01 -1.55571749e-02 9.75786869e-01 4.92684534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:38.20, Y:-9.56, Z:4.93 [[ 8.99294946e-01 3.87870142e-01 -2.02052846e-01 3.82045661e+01] [-3.78345201e-01 9.21713951e-01 8.54300991e-02 -9.56178492e+00] [ 2.19370712e-01 -3.81131764e-04 9.75641505e-01 4.92701616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:38.23, Y:-9.57, Z:4.93 [[ 8.99357824e-01 3.88550540e-01 -2.00459425e-01 3.82336103e+01] [-3.79178678e-01 9.21427371e-01 8.48241108e-02 -9.57384967e+00] [ 2.17667255e-01 -2.77287942e-04 9.76022996e-01 4.93307167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.0 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:38.27, Y:-9.57, Z:4.91 [[ 9.02379022e-01 3.77949839e-01 -2.07041105e-01 3.82726822e+01] [-3.76862568e-01 9.25114223e-01 4.62415248e-02 -9.56727538e+00] [ 2.09013648e-01 3.62986606e-02 9.77238815e-01 4.90923664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:38.28, Y:-9.61, Z:4.96 [[ 8.98428020e-01 3.96559062e-01 -1.88594812e-01 3.82827253e+01] [-3.80128456e-01 9.17364284e-01 1.18089486e-01 -9.60751156e+00] [ 2.19839601e-01 -3.44046480e-02 9.74929162e-01 4.96472664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.059999999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:38.33, Y:-9.59, Z:4.92 [[ 0.90200977 0.37877368 -0.20714456 38.33055523] [-0.37812912 0.92469307 0.04428426 -9.58912552] [ 0.20831885 0.03838255 0.97730754 4.92156866] [ 0. 0. 0. 1. ]] SLAMing on 39.089999999999996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:38.34, Y:-9.63, Z:4.98 [[ 8.98171498e-01 3.97278881e-01 -1.88301490e-01 3.83397740e+01] [-3.80497809e-01 9.16994914e-01 1.19757026e-01 -9.63172013e+00] [ 2.20248446e-01 -3.59140430e-02 9.74782439e-01 4.97916386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:38.38, Y:-9.63, Z:4.97 [[ 8.97985252e-01 3.90672107e-01 -2.02479114e-01 3.83780069e+01] [-3.81105964e-01 9.20529904e-01 8.59240331e-02 -9.63321254e+00] [ 2.19956203e-01 7.48356933e-06 9.75509748e-01 4.96894164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:38.41, Y:-9.65, Z:4.98 [[ 8.98292642e-01 3.90319586e-01 -2.01794327e-01 3.84077252e+01] [-3.80794752e-01 9.20679423e-01 8.57015553e-02 -9.64624319e+00] [ 2.19238881e-01 -1.42855778e-04 9.75671201e-01 4.97608936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:38.44, Y:-9.66, Z:4.98 [[ 8.99037505e-01 3.89699859e-01 -1.99663679e-01 3.84365017e+01] [-3.80347741e-01 9.20941852e-01 8.48628360e-02 -9.65893936e+00] [ 2.16949674e-01 -3.53243123e-04 9.76182726e-01 4.98172597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:38.47, Y:-9.67, Z:4.99 [[ 8.98762378e-01 3.89381197e-01 -2.01515436e-01 3.84662411e+01] [-3.79830332e-01 9.21076565e-01 8.57139471e-02 -9.67185575e+00] [ 2.18986545e-01 -4.94795945e-04 9.75727753e-01 4.98915072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:38.50, Y:-9.68, Z:5.00 [[ 8.98633924e-01 3.89793675e-01 -2.01290739e-01 3.84953843e+01] [-3.80259298e-01 9.20902102e-01 8.56865534e-02 -9.68448113e+00] [ 2.18769141e-01 -4.58168584e-04 9.75776538e-01 4.99550781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:-9.70, Z:5.00 [[ 8.98768004e-01 3.90705901e-01 -1.98909462e-01 3.85256095e+01] [-3.81406689e-01 9.20515515e-01 8.47356133e-02 -9.69717092e+00] [ 2.16205950e-01 -2.92258858e-04 9.76347736e-01 5.00099249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.3 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:38.55, Y:-9.71, Z:5.01 [[ 8.97436645e-01 3.92209018e-01 -2.01939482e-01 3.85546489e+01] [-3.82642532e-01 9.19876125e-01 8.60964980e-02 -9.70832674e+00] [ 2.19527131e-01 4.48241367e-06 9.75606395e-01 5.00858628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:-9.72, Z:5.01 [[ 8.97130859e-01 3.94163029e-01 -1.99478642e-01 3.85842900e+01] [-3.84864718e-01 9.19040441e-01 8.51106119e-02 -9.72041581e+00] [ 2.16876396e-01 4.16934756e-04 9.76198983e-01 5.01391813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:38.61, Y:-9.73, Z:5.02 [[ 8.95980040e-01 3.95380919e-01 -2.02221903e-01 3.86135138e+01] [-3.85837021e-01 9.18517010e-01 8.63498443e-02 -9.73202918e+00] [ 2.19885338e-01 6.56959621e-04 9.75525503e-01 5.02190393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:38.64, Y:-9.74, Z:5.03 [[ 8.94504628e-01 3.98461996e-01 -2.02705474e-01 3.86425583e+01] [-3.88934502e-01 9.17183845e-01 8.66241700e-02 -9.74321633e+00] [ 2.20434626e-01 1.35343167e-03 9.75400812e-01 5.02816340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:38.67, Y:-9.76, Z:5.03 [[ 8.93708960e-01 4.00105481e-01 -2.02977580e-01 3.86721094e+01] [-3.90579437e-01 9.16467517e-01 8.68043386e-02 -9.75516778e+00] [ 2.20753251e-01 1.70105384e-03 9.75328206e-01 5.03498761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449999999999996 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:38.70, Y:-9.77, Z:5.04 [[ 8.93039944e-01 4.01612692e-01 -2.02945570e-01 3.87020385e+01] [-3.92112878e-01 9.15807406e-01 8.68578491e-02 -9.76735954e+00] [ 2.20742271e-01 2.01004295e-03 9.75330103e-01 5.04148920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:38.74, Y:-9.75, Z:5.01 [[ 8.97575277e-01 3.87428793e-01 -2.10374792e-01 3.87441438e+01] [-3.89210322e-01 9.20498327e-01 3.46143780e-02 -9.75345312e+00] [ 2.07060251e-01 5.08110309e-02 9.77007826e-01 5.00612251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:38.75, Y:-9.80, Z:5.07 [[ 0.89243247 0.41251066 -0.18275458 38.74863262] [-0.39417483 0.90993168 0.12903699 -9.80400211] [ 0.21952332 -0.04311954 0.9746539 5.07495471] [ 0. 0. 0. 1. ]] SLAMing on 39.54 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:38.79, Y:-9.80, Z:5.06 [[ 8.92181727e-01 4.04334054e-01 -2.01310057e-01 3.87889585e+01] [-3.95014365e-01 9.14608008e-01 8.63472267e-02 -9.80172253e+00] [ 2.19032914e-01 2.48294635e-03 9.75714311e-01 5.06041596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:38.82, Y:-9.82, Z:5.07 [[ 8.92931016e-01 4.05990765e-01 -1.94539712e-01 3.88156971e+01] [-3.94960022e-01 9.13847605e-01 9.42822141e-02 -9.81759764e+00] [ 2.16057358e-01 -7.35210425e-03 9.76352992e-01 5.07133369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.6 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:38.85, Y:-9.82, Z:5.07 [[ 8.93347247e-01 4.00850671e-01 -2.03099571e-01 3.88488687e+01] [-3.93507403e-01 9.16077498e-01 7.71617843e-02 -9.82449007e+00] [ 2.16985300e-01 1.09889170e-02 9.76113018e-01 5.07025920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629999999999995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:38.88, Y:-9.84, Z:5.08 [[ 8.93803927e-01 4.01741944e-01 -1.99293631e-01 3.88764705e+01] [-3.92519062e-01 9.15751320e-01 8.56055283e-02 -9.84057484e+00] [ 2.16894737e-01 1.71199167e-03 9.76193496e-01 5.08132665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:38.89, Y:-9.86, Z:5.10 [[ 8.94711207e-01 4.09855096e-01 -1.77512411e-01 3.88940805e+01] [-3.94861156e-01 9.11576332e-01 1.14513138e-01 -9.86426904e+00] [ 2.08749906e-01 -3.23634323e-02 9.77433417e-01 5.09962670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:38.94, Y:-9.85, Z:5.08 [[ 0.89457787 0.3910829 -0.21629746 38.94339984] [-0.39018357 0.91944887 0.04868825 -9.85207965] [ 0.2179156 0.04084029 0.97511274 5.07631745] [ 0. 0. 0. 1. ]] SLAMing on 39.72 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:38.96, Y:-9.88, Z:5.10 [[ 8.95715380e-01 3.96757162e-01 -2.00693082e-01 3.89637839e+01] [-3.87296772e-01 9.17923425e-01 8.61266274e-02 -9.87752169e+00] [ 2.18392237e-01 5.82837862e-04 9.75860897e-01 5.09968903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.02, Y:-9.85, Z:5.04 [[ 9.03626655e-01 3.70461627e-01 -2.14981514e-01 3.90177138e+01] [-3.79334064e-01 9.25259784e-01 -1.45393266e-05 -9.84867830e+00] [ 1.98908363e-01 8.15629493e-02 9.76618118e-01 5.03784409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:39.00, Y:-9.93, Z:5.15 [[ 0.89680856 0.4086214 -0.16959646 39.00240681] [-0.38428329 0.90941001 0.15905904 -9.92723901] [ 0.21922765 -0.07747243 0.97259306 5.14940576] [ 0. 0. 0. 1. ]] SLAMing on 39.809999999999995 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:39.06, Y:-9.90, Z:5.08 [[ 8.99464606e-01 3.79663938e-01 -2.16376330e-01 3.90646066e+01] [-3.81282765e-01 9.23761051e-01 3.59022947e-02 -9.89681076e+00] [ 2.13510832e-01 5.02077218e-02 9.75649686e-01 5.08258094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.839999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:39.07, Y:-9.95, Z:5.15 [[ 0.89896075 0.39924322 -0.18020664 39.06529008] [-0.38006636 0.91546046 0.13221845 -9.94574356] [ 0.21775937 -0.05036871 0.97470193 5.14783574] [ 0. 0. 0. 1. ]] SLAMing on 39.87 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.11, Y:-9.94, Z:5.13 [[ 8.99413676e-01 3.88900621e-01 -1.99527808e-01 3.91056181e+01] [-3.79303917e-01 9.21278397e-01 8.58758000e-02 -9.94350736e+00] [ 2.17217811e-01 -1.55618990e-03 9.76121919e-01 5.13109874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.9 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:39.15, Y:-9.93, Z:5.08 [[ 9.05480178e-01 3.69280737e-01 -2.09134849e-01 3.91545556e+01] [-3.73799090e-01 9.27315225e-01 1.89924508e-02 -9.92567615e+00] [ 2.00947475e-01 6.09771283e-02 9.77702359e-01 5.08386119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.15, Y:-9.99, Z:5.17 [[ 0.90020613 0.39984239 -0.17249632 39.14887559] [-0.37927992 0.91454535 0.14054729 -9.98554876] [ 0.21395247 -0.06109714 0.97493153 5.17127165] [ 0. 0. 0. 1. ]] SLAMing on 39.96 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:39.21, Y:-9.96, Z:5.11 [[ 9.01937920e-01 3.77758462e-01 -2.09300103e-01 3.92096862e+01] [-3.79285156e-01 9.24640310e-01 3.43957606e-02 -9.96058251e+00] [ 2.06520602e-01 4.83615815e-02 9.77246335e-01 5.11394644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:39.21, Y:-10.01, Z:5.18 [[ 0.89958734 0.39997792 -0.17538607 39.20845624] [ -0.38145372 0.91513427 0.13046965 -10.00640915] [ 0.21268678 -0.05046718 0.97581627 5.1789738 ] [ 0. 0. 0. 1. ]] SLAMing on 40.019999999999996 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:39.26, Y:-9.99, Z:5.13 [[ 9.00706749e-01 3.81754712e-01 -2.07341968e-01 3.92630233e+01] [-3.80951415e-01 9.23478905e-01 4.54172996e-02 -9.98895726e+00] [ 2.08814201e-01 3.80795478e-02 9.77213681e-01 5.13326340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:39.28, Y:-10.02, Z:5.16 [[ 8.99817261e-01 3.91800396e-01 -1.91888893e-01 3.92822016e+01] [-3.82243637e-01 9.20040963e-01 8.61070761e-02 -1.00175606e+01] [ 2.10282428e-01 -4.13232509e-03 9.77631947e-01 5.16291092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:39.32, Y:-10.02, Z:5.16 [[ 9.00730561e-01 3.85977778e-01 -1.99262670e-01 3.93159823e+01] [-3.79946125e-01 9.22411876e-01 6.92623490e-02 -1.00216554e+01] [ 2.10535981e-01 1.33223648e-02 9.77495328e-01 5.16030112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:39.34, Y:-10.05, Z:5.18 [[ 8.99201292e-01 3.93731334e-01 -1.90821049e-01 3.93369585e+01] [-3.82268161e-01 9.19138935e-01 9.51560365e-02 -1.00457284e+01] [ 2.12856969e-01 -1.26196194e-02 9.77001871e-01 5.18220566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:39.36, Y:-10.06, Z:5.20 [[ 8.97493488e-01 3.97508674e-01 -1.91029562e-01 3.93595612e+01] [-3.84578223e-01 9.17416623e-01 1.02207291e-01 -1.00606057e+01] [ 2.15881980e-01 -1.82645688e-02 9.76248624e-01 5.20049249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:39.39, Y:-10.07, Z:5.21 [[ 8.98334926e-01 3.97292766e-01 -1.87490849e-01 3.93883124e+01] [-3.84631729e-01 9.17498104e-01 1.01270242e-01 -1.00731677e+01] [ 2.12256434e-01 -1.88596663e-02 9.77031995e-01 5.20724297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.199999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:39.42, Y:-10.08, Z:5.21 [[ 8.97787878e-01 3.95108441e-01 -1.94592515e-01 3.94222386e+01] [-3.85986517e-01 9.18634239e-01 8.44129370e-02 -1.00807778e+01] [ 2.12111611e-01 -6.74824584e-04 9.77245215e-01 5.20673181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:39.46, Y:-10.09, Z:5.19 [[ 8.98809477e-01 3.88946765e-01 -2.02143361e-01 3.94618329e+01] [-3.85286460e-01 9.20920533e-01 5.88193443e-02 -1.00853484e+01] [ 2.09035566e-01 2.50157161e-02 9.77588025e-01 5.19422261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:39.47, Y:-10.11, Z:5.23 [[ 8.96823975e-01 4.03340914e-01 -1.81721942e-01 3.94732739e+01] [-3.89293648e-01 9.14653708e-01 1.08899264e-01 -1.01149274e+01] [ 2.10136177e-01 -2.69202729e-02 9.77301431e-01 5.23257811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.51, Y:-10.12, Z:5.23 [[ 8.96497672e-01 3.99314315e-01 -1.91937497e-01 3.95097883e+01] [-3.90508463e-01 9.16814072e-01 8.33972276e-02 -1.01185927e+01] [ 2.09272705e-01 1.87796623e-04 9.77857300e-01 5.22513011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.54, Y:-10.13, Z:5.23 [[ 8.96419863e-01 3.99500537e-01 -1.91913392e-01 3.95397062e+01] [-3.90687038e-01 9.16732945e-01 8.34526613e-02 -1.01317187e+01] [ 2.09272712e-01 1.69451569e-04 9.77857302e-01 5.23217794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:39.57, Y:-10.14, Z:5.23 [[ 8.94949234e-01 3.98092867e-01 -2.01464481e-01 3.95730143e+01] [-3.92401535e-01 9.17185624e-01 6.92211422e-02 -1.01386662e+01] [ 2.12336769e-01 1.71055633e-02 9.77046824e-01 5.23097884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.379999999999995 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:39.59, Y:-10.16, Z:5.25 [[ 8.93535196e-01 4.08525732e-01 -1.86283602e-01 3.95942765e+01] [-3.96602183e-01 9.12629394e-01 9.90671348e-02 -1.01614050e+01] [ 2.10479365e-01 -1.46394886e-02 9.77488682e-01 5.25072576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:39.63, Y:-10.17, Z:5.25 [[ 8.92632170e-01 4.07464520e-01 -1.92822388e-01 3.96277321e+01] [-3.98720478e-01 9.13219026e-01 8.39820885e-02 -1.01687245e+01] [ 2.10308794e-01 1.91712057e-03 9.77633129e-01 5.24895333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:39.66, Y:-10.18, Z:5.26 [[ 8.91508864e-01 4.09687848e-01 -1.93307560e-01 3.96560969e+01] [-4.00936370e-01 9.12222659e-01 8.42605979e-02 -1.01814293e+01] [ 2.10860080e-01 2.38496166e-03 9.77513345e-01 5.25609554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:39.70, Y:-10.18, Z:5.24 [[ 8.93435919e-01 4.02185555e-01 -2.00047589e-01 3.96954359e+01] [-3.99936582e-01 9.14987489e-01 5.33725163e-02 -1.01809746e+01] [ 2.04506696e-01 3.23214260e-02 9.78331404e-01 5.23750977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.5 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:39.71, Y:-10.20, Z:5.26 [[ 8.91796096e-01 4.11381651e-01 -1.88321166e-01 3.97144572e+01] [-4.02582916e-01 9.11463120e-01 8.46284592e-02 -1.02048243e+01] [ 2.06462393e-01 3.43554626e-04 9.78454476e-01 5.25939279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:39.74, Y:-10.22, Z:5.27 [[ 8.91350069e-01 4.11456622e-01 -1.90259040e-01 3.97437018e+01] [-4.02848781e-01 9.11427152e-01 8.37460805e-02 -1.02173314e+01] [ 2.07865135e-01 1.99854775e-03 9.78155454e-01 5.26626702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.559999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:39.76, Y:-10.24, Z:5.29 [[ 8.89393180e-01 4.18145257e-01 -1.84754742e-01 3.97626637e+01] [-4.04303338e-01 9.08107934e-01 1.08989862e-01 -1.02398972e+01] [ 2.13350841e-01 -2.22378807e-02 9.76722527e-01 5.29404376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.589999999999996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:39.80, Y:-10.24, Z:5.29 [[ 8.90408129e-01 4.11480425e-01 -1.94569327e-01 3.97980796e+01] [-4.02603690e-01 9.11414870e-01 8.50482454e-02 -1.02445970e+01] [ 2.12329066e-01 2.60667987e-03 9.77194747e-01 5.28790889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:39.83, Y:-10.26, Z:5.29 [[ 8.91869616e-01 4.06585545e-01 -1.98133246e-01 3.98312865e+01] [-3.99814246e-01 9.13528670e-01 7.49262150e-02 -1.02578646e+01] [ 2.11464317e-01 1.23920799e-02 9.77307157e-01 5.28893465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:39.85, Y:-10.28, Z:5.31 [[ 8.92176263e-01 4.10752679e-01 -1.87892928e-01 3.98490353e+01] [-3.99461543e-01 9.11682577e-01 9.62567104e-02 -1.02761582e+01] [ 2.10836410e-01 -1.08219534e-02 9.77461454e-01 5.30990727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:39.88, Y:-10.29, Z:5.31 [[ 8.92730355e-01 4.07572296e-01 -1.92138846e-01 3.98818104e+01] [-3.98796450e-01 9.13171688e-01 8.41359571e-02 -1.02856250e+01] [ 2.09747240e-01 1.51356672e-03 9.77754471e-01 5.31059452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:39.91, Y:-10.30, Z:5.32 [[ 8.93379075e-01 4.06345263e-01 -1.91722080e-01 3.99097808e+01] [-3.97565611e-01 9.13718874e-01 8.40202594e-02 -1.02988421e+01] [ 2.09321318e-01 1.16016431e-03 9.77846225e-01 5.31632258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:39.94, Y:-10.31, Z:5.32 [[ 8.93504496e-01 4.05913580e-01 -1.92051766e-01 3.99388430e+01] [-3.97080135e-01 9.13910915e-01 8.42271102e-02 -1.03121050e+01] [ 2.09707133e-01 1.00263956e-03 9.77763731e-01 5.32319619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.769999999999996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:39.97, Y:-10.33, Z:5.33 [[ 8.93592105e-01 4.05751417e-01 -1.91986816e-01 3.99676671e+01] [-3.96906290e-01 9.13983026e-01 8.42640177e-02 -1.03255429e+01] [ 2.09662936e-01 9.03113999e-04 9.77773306e-01 5.32941829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.8 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:40.00, Y:-10.34, Z:5.34 [[ 8.93509411e-01 4.05914569e-01 -1.92026811e-01 3.99966477e+01] [-3.97056383e-01 9.13910598e-01 8.43424459e-02 -1.03401967e+01] [ 2.09731165e-01 8.84702041e-04 9.77758690e-01 5.33679472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:40.02, Y:-10.35, Z:5.34 [[ 8.93041060e-01 4.06545015e-01 -1.92869948e-01 4.00246685e+01] [-3.97608063e-01 9.13630232e-01 8.47798740e-02 -1.03536784e+01] [ 2.10678650e-01 9.74737751e-04 9.77554887e-01 5.34460122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:40.05, Y:-10.37, Z:5.35 [[ 8.92719685e-01 4.07084337e-01 -1.93219843e-01 4.00534072e+01] [-3.98113535e-01 9.13389977e-01 8.49962572e-02 -1.03671119e+01] [ 2.11085712e-01 1.04560269e-03 9.77466996e-01 5.35163230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:40.08, Y:-10.38, Z:5.36 [[ 8.92562141e-01 4.07218723e-01 -1.93663977e-01 4.00818524e+01] [-3.98194788e-01 9.13330103e-01 8.52586333e-02 -1.03798008e+01] [ 2.11598051e-01 1.01735779e-03 9.77356245e-01 5.35764364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:40.11, Y:-10.39, Z:5.36 [[ 8.92074919e-01 4.07630228e-01 -1.95038296e-01 4.01109029e+01] [-3.98472245e-01 9.13146464e-01 8.59267466e-02 -1.03931596e+01] [ 2.13124869e-01 1.06425205e-03 9.77024389e-01 5.36471907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949999999999996 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:40.14, Y:-10.41, Z:5.37 [[ 8.91862739e-01 4.08034453e-01 -1.95163366e-01 4.01403977e+01] [-3.98859717e-01 9.12965868e-01 8.60479554e-02 -1.04064073e+01] [ 2.13288022e-01 1.09983963e-03 9.76988746e-01 5.37295509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:40.17, Y:-10.42, Z:5.38 [[ 8.91792337e-01 4.08568663e-01 -1.94365828e-01 4.01686839e+01] [-3.99467942e-01 9.12726848e-01 8.57616707e-02 -1.04192637e+01] [ 2.12442441e-01 1.16131670e-03 9.77172892e-01 5.37992568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:40.20, Y:-10.43, Z:5.39 [[ 8.91911966e-01 4.08647089e-01 -1.93650720e-01 4.01983148e+01] [-3.99602670e-01 9.12691791e-01 8.55067349e-02 -1.04322842e+01] [ 2.11685501e-01 1.11886472e-03 9.77337197e-01 5.38633118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:40.23, Y:-10.44, Z:5.38 [[ 8.93724588e-01 4.03115042e-01 -1.96861943e-01 4.02310014e+01] [-3.97146661e-01 9.15026660e-01 7.07159224e-02 -1.04369920e+01] [ 2.08640578e-01 1.49825048e-02 9.77877617e-01 5.38295092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:-10.46, Z:5.41 [[ 8.91692810e-01 4.11421680e-01 -1.88722375e-01 4.02504122e+01] [-3.99701995e-01 9.11363693e-01 9.82574873e-02 -1.04619520e+01] [ 2.12419981e-01 -1.21827851e-02 9.77102518e-01 5.41207004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.1 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:40.28, Y:-10.47, Z:5.41 [[ 8.92395142e-01 4.08352314e-01 -1.92039834e-01 4.02839298e+01] [-3.99421911e-01 9.12823951e-01 8.49386293e-02 -1.04705305e+01] [ 2.09983446e-01 9.06097403e-04 9.77704521e-01 5.40897914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129999999999995 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:40.31, Y:-10.48, Z:5.42 [[ 8.92274104e-01 4.08347279e-01 -1.92612103e-01 4.03123396e+01] [-3.99348513e-01 9.12826262e-01 8.52583191e-02 -1.04840517e+01] [ 2.10636389e-01 8.45566614e-04 9.77564114e-01 5.41734014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:40.35, Y:-10.48, Z:5.40 [[ 8.95610184e-01 3.98669982e-01 -1.97343973e-01 4.03478760e+01] [-3.95260142e-01 9.16727671e-01 5.81360318e-02 -1.04823848e+01] [ 2.04087772e-01 2.59349848e-02 9.78608991e-01 5.40101619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:40.36, Y:-10.52, Z:5.44 [[ 8.91901942e-01 4.13638080e-01 -1.82796237e-01 4.03626166e+01] [-4.00171068e-01 9.10167755e-01 1.07040989e-01 -1.05172815e+01] [ 2.10651469e-01 -2.23203006e-02 9.77306381e-01 5.44032592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:40.40, Y:-10.52, Z:5.44 [[ 8.91175952e-01 4.10242210e-01 -1.93666598e-01 4.03971160e+01] [-4.01146196e-01 9.11975915e-01 8.59165804e-02 -1.05226946e+01] [ 2.11865881e-01 1.12182873e-03 9.77298107e-01 5.43868527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:40.43, Y:-10.53, Z:5.44 [[ 8.89971013e-01 4.12497004e-01 -1.94416611e-01 4.04268822e+01] [-4.03368143e-01 9.10957548e-01 8.63162054e-02 -1.05344083e+01] [ 2.12710456e-01 1.60254687e-03 9.77113962e-01 5.44213468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:40.46, Y:-10.55, Z:5.45 [[ 8.88926745e-01 4.14249207e-01 -1.95465689e-01 4.04562739e+01] [-4.05048523e-01 9.10161357e-01 8.68446812e-02 -1.05467519e+01] [ 2.13880657e-01 1.97452885e-03 9.76857802e-01 5.44953270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309999999999995 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:40.48, Y:-10.56, Z:5.46 [[ 8.87941748e-01 4.16054501e-01 -1.96107378e-01 4.04846151e+01] [-4.06820880e-01 9.09336635e-01 8.71989452e-02 -1.05588137e+01] [ 2.14607136e-01 2.35299206e-03 9.76697620e-01 5.45586779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.339999999999996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:40.51, Y:-10.57, Z:5.46 [[ 8.86880363e-01 4.17973021e-01 -1.96829308e-01 4.05142529e+01] [-4.08702918e-01 9.08455224e-01 8.75844255e-02 -1.05712654e+01] [ 2.15418540e-01 2.76780559e-03 9.76517891e-01 5.46192733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:40.54, Y:-10.58, Z:5.47 [[ 8.85866139e-01 4.19876198e-01 -1.97345284e-01 4.05426737e+01] [-4.10588325e-01 9.07575834e-01 8.78824984e-02 -1.05833112e+01] [ 2.16005580e-01 3.17554000e-03 9.76386965e-01 5.46886494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.4 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:40.57, Y:-10.60, Z:5.48 [[ 8.84950183e-01 4.21819568e-01 -1.97310481e-01 4.05723762e+01] [-4.12568586e-01 9.06672689e-01 8.79306352e-02 -1.05959200e+01] [ 2.15986886e-01 3.58987420e-03 9.76389665e-01 5.47576275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:40.60, Y:-10.61, Z:5.48 [[ 8.83509378e-01 4.24741463e-01 -1.97499035e-01 4.06023156e+01] [-4.15529445e-01 9.05304741e-01 8.80829546e-02 -1.06076653e+01] [ 2.16209295e-01 4.24454785e-03 9.76337813e-01 5.48318229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:40.63, Y:-10.62, Z:5.49 [[ 8.82882172e-01 4.26105977e-01 -1.97364551e-01 4.06306856e+01] [-4.16925114e-01 9.04662003e-01 8.80914875e-02 -1.06195298e+01] [ 2.16084520e-01 4.51183418e-03 9.76364237e-01 5.49023069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:40.66, Y:-10.63, Z:5.50 [[ 8.82379892e-01 4.27160330e-01 -1.97331647e-01 4.06598673e+01] [-4.17994443e-01 9.04163629e-01 8.81406685e-02 -1.06322387e+01] [ 2.16070295e-01 4.70997818e-03 9.76366450e-01 5.49630638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.519999999999996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:40.69, Y:-10.65, Z:5.50 [[ 8.81895885e-01 4.27959268e-01 -1.97763782e-01 4.06884077e+01] [-4.18757325e-01 9.03784991e-01 8.84024430e-02 -1.06455784e+01] [ 2.16568583e-01 4.85328174e-03 9.76255343e-01 5.50350605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:40.72, Y:-10.66, Z:5.51 [[ 8.81924309e-01 4.27808538e-01 -1.97963047e-01 4.07171188e+01] [-4.18569870e-01 9.03856835e-01 8.85555558e-02 -1.06594113e+01] [ 2.16815076e-01 4.76206933e-03 9.76201078e-01 5.51188669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:40.75, Y:-10.67, Z:5.52 [[ 8.82155004e-01 4.27375326e-01 -1.97870864e-01 4.07468210e+01] [-4.18119338e-01 9.04062645e-01 8.85830324e-02 -1.06729045e+01] [ 2.16745859e-01 4.58966945e-03 9.76217275e-01 5.51896673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:40.78, Y:-10.69, Z:5.53 [[ 8.82582341e-01 4.26726001e-01 -1.97365984e-01 4.07750603e+01] [-4.17486362e-01 9.04370477e-01 8.84261108e-02 -1.06859416e+01] [ 2.16225689e-01 4.35428259e-03 9.76333699e-01 5.52503564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:40.80, Y:-10.70, Z:5.53 [[ 8.83448694e-01 4.24728105e-01 -1.97798995e-01 4.08039729e+01] [-4.15383576e-01 9.05312924e-01 8.86848045e-02 -1.06997490e+01] [ 2.16736916e-01 3.81397918e-03 9.76222599e-01 5.53205255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:40.83, Y:-10.71, Z:5.54 [[ 8.83979001e-01 4.23359456e-01 -1.98363045e-01 4.08331928e+01] [-4.13911594e-01 9.05955320e-01 8.90064655e-02 -1.07137095e+01] [ 2.17389785e-01 3.42491787e-03 9.76078865e-01 5.53781322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.699999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:40.86, Y:-10.73, Z:5.55 [[ 8.84722242e-01 4.21634269e-01 -1.98723673e-01 4.08619378e+01] [-4.12093307e-01 9.06761205e-01 8.92368965e-02 -1.07276689e+01] [ 2.17820251e-01 2.94282850e-03 9.75984466e-01 5.54567124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:40.89, Y:-10.74, Z:5.55 [[ 8.86671294e-01 4.17302416e-01 -1.99180095e-01 4.08898375e+01] [-4.07593371e-01 9.08765861e-01 8.95111913e-02 -1.07434996e+01] [ 2.18361307e-01 1.81748252e-03 9.75866300e-01 5.55292195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:40.92, Y:-10.76, Z:5.56 [[ 8.87615033e-01 4.15087878e-01 -1.99603624e-01 4.09177296e+01] [-4.05266313e-01 9.09780515e-01 8.97698743e-02 -1.07577573e+01] [ 2.18857875e-01 1.21153499e-03 9.75755996e-01 5.56012231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:40.95, Y:-10.77, Z:5.57 [[ 8.88582607e-01 4.12881875e-01 -1.99873729e-01 4.09461401e+01] [-4.02968364e-01 9.10784367e-01 8.99351701e-02 -1.07718836e+01] [ 2.19174469e-01 6.27961747e-04 9.75685481e-01 5.56808457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:40.97, Y:-10.79, Z:5.58 [[ 8.89610772e-01 4.10653350e-01 -1.99891224e-01 4.09746774e+01] [-4.00667143e-01 9.11791548e-01 9.00111884e-02 -1.07855802e+01] [ 2.19222525e-01 1.49229102e-05 9.75674887e-01 5.57622631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:41.00, Y:-10.80, Z:5.58 [[ 8.90942734e-01 4.07325021e-01 -2.00766962e-01 4.10030905e+01] [-3.97151006e-01 9.13282851e-01 9.04738187e-02 -1.07996350e+01] [ 2.20209274e-01 -8.72190442e-04 9.75452262e-01 5.57990271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.879999999999995 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:41.03, Y:-10.81, Z:5.59 [[ 8.91637718e-01 4.05934558e-01 -2.00497668e-01 4.10324222e+01] [-3.95739085e-01 9.13901260e-01 9.04160623e-02 -1.08136123e+01] [ 2.19938075e-01 -1.27360789e-03 9.75513004e-01 5.58749416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:41.06, Y:-10.83, Z:5.60 [[ 8.92101713e-01 4.04954010e-01 -2.00416523e-01 4.10605740e+01] [-3.94726556e-01 9.14335688e-01 9.04499603e-02 -1.08275042e+01] [ 2.19876054e-01 -1.58084046e-03 9.75526536e-01 5.59529261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:41.09, Y:-10.84, Z:5.60 [[ 8.92443103e-01 4.04293938e-01 -2.00229169e-01 4.10884594e+01] [-3.94054654e-01 9.14627334e-01 9.04310189e-02 -1.08412199e+01] [ 2.19695784e-01 -1.80330294e-03 9.75566764e-01 5.60366381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:41.12, Y:-10.85, Z:5.61 [[ 8.92565359e-01 4.03638529e-01 -2.01005018e-01 4.11183519e+01] [-3.93562146e-01 9.14918105e-01 8.96308991e-02 -1.08545143e+01] [ 2.20081615e-01 -8.93469269e-04 9.75481053e-01 5.60992845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.0 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:41.15, Y:-10.87, Z:5.62 [[ 8.92312010e-01 4.04948132e-01 -1.99490068e-01 4.11457540e+01] [-3.94461097e-01 9.14334553e-01 9.16120541e-02 -1.08675423e+01] [ 2.19498792e-01 -3.05546516e-03 9.75607987e-01 5.61842732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:41.17, Y:-10.88, Z:5.62 [[ 8.91720518e-01 4.05773348e-01 -2.00455750e-01 4.11749351e+01] [-3.95519144e-01 9.13972407e-01 9.06589502e-02 -1.08794273e+01] [ 2.19998010e-01 -1.55835944e-03 9.75499076e-01 5.62304435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.059999999999995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:41.20, Y:-10.89, Z:5.63 [[ 8.90737645e-01 4.07782895e-01 -2.00747500e-01 4.12048028e+01] [-3.97534355e-01 9.13078227e-01 9.08547688e-02 -1.08910705e+01] [ 2.20347192e-01 -1.12373474e-03 9.75420859e-01 5.62947823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.089999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:-10.88, Z:5.61 [[ 8.94726725e-01 3.97941948e-01 -2.02746868e-01 4.12401025e+01] [-3.94829157e-01 9.16961154e-01 5.73775061e-02 -1.08840201e+01] [ 2.08743919e-01 2.87131869e-02 9.77548735e-01 5.60924463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:41.25, Y:-10.92, Z:5.66 [[ 8.89580915e-01 4.15958282e-01 -1.88744545e-01 4.12531684e+01] [-4.00530470e-01 9.08979314e-01 1.15464062e-01 -1.09241131e+01] [ 2.19593119e-01 -2.71166846e-02 9.75214616e-01 5.65809362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:41.29, Y:-10.93, Z:5.65 [[ 8.88070069e-01 4.13622843e-01 -2.00618285e-01 4.12897913e+01] [-4.03489195e-01 9.10448310e-01 9.09963969e-02 -1.09278266e+01] [ 2.20290767e-01 1.36133867e-04 9.75434241e-01 5.65139324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:41.32, Y:-10.94, Z:5.66 [[ 8.87405438e-01 4.15037527e-01 -2.00637585e-01 4.13183115e+01] [-4.04921808e-01 9.09804195e-01 9.10750063e-02 -1.09400041e+01] [ 2.20340462e-01 4.22077814e-04 9.75422935e-01 5.65835684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:41.35, Y:-10.95, Z:5.66 [[ 8.86737339e-01 4.16262526e-01 -2.01053230e-01 4.13476680e+01] [-4.06120872e-01 9.09244226e-01 9.13278368e-02 -1.09528752e+01] [ 2.20822845e-01 6.68110216e-04 9.75313706e-01 5.66437992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.239999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:41.38, Y:-10.97, Z:5.67 [[ 8.86685051e-01 4.16379527e-01 -2.01041563e-01 4.13773802e+01] [-4.06235021e-01 9.09190653e-01 9.13535136e-02 -1.09664878e+01] [ 2.20822842e-01 6.68328580e-04 9.75313706e-01 5.67149957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.269999999999996 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:41.41, Y:-10.98, Z:5.68 [[ 8.86269221e-01 4.17651823e-01 -2.00234419e-01 4.14060511e+01] [-4.07614357e-01 9.08606653e-01 9.10191481e-02 -1.09792747e+01] [ 2.19948639e-01 9.50954612e-04 9.75510990e-01 5.67911263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.3 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:41.44, Y:-10.99, Z:5.68 [[ 8.85938302e-01 4.17875079e-01 -2.01230574e-01 4.14356980e+01] [-4.07725244e-01 9.08504006e-01 9.15455947e-02 -1.09925039e+01] [ 2.21073406e-01 9.43036406e-04 9.75256715e-01 5.68469795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:-11.01, Z:5.70 [[ 8.86155765e-01 4.18203009e-01 -1.99585079e-01 4.14640104e+01] [-4.08212566e-01 9.08353093e-01 9.08689116e-02 -1.10050899e+01] [ 2.19295376e-01 9.49127149e-04 9.75658053e-01 5.69578291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:41.49, Y:-11.02, Z:5.70 [[ 8.86192016e-01 4.17924260e-01 -2.00007560e-01 4.14928983e+01] [-4.07868256e-01 9.08481505e-01 9.11308973e-02 -1.10183454e+01] [ 2.19788982e-01 8.17261080e-04 9.75547096e-01 5.70137916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:41.52, Y:-11.03, Z:5.71 [[ 8.86405436e-01 4.17400647e-01 -2.00155199e-01 4.15222431e+01] [-4.07306401e-01 9.08722335e-01 9.12426090e-02 -1.10318730e+01] [ 2.19970224e-01 6.46549108e-04 9.75506372e-01 5.70756751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:41.55, Y:-11.05, Z:5.72 [[ 8.87337645e-01 4.15786818e-01 -1.99382110e-01 4.15499708e+01] [-4.05715720e-01 9.09462088e-01 9.09585936e-02 -1.10450224e+01] [ 2.19149854e-01 1.81472216e-04 9.75691195e-01 5.71531344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449999999999996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:41.58, Y:-11.06, Z:5.72 [[ 8.87665992e-01 4.14774205e-01 -2.00028614e-01 4.15791034e+01] [-4.04596911e-01 9.09924361e-01 9.13181114e-02 -1.10586942e+01] [ 2.19887306e-01 -1.29022603e-04 9.75525272e-01 5.72077836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:41.61, Y:-11.07, Z:5.73 [[ 8.88155808e-01 4.13622991e-01 -2.00238065e-01 4.16075863e+01] [-4.03379784e-01 9.10448127e-01 9.14820049e-02 -1.10721416e+01] [ 2.20145432e-01 -4.78286445e-04 9.75466945e-01 5.72773541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:-11.09, Z:5.74 [[ 8.89355754e-01 4.11303291e-01 -1.99689625e-01 4.16355461e+01] [-4.01044746e-01 9.11497873e-01 9.12947910e-02 -1.10860672e+01] [ 2.19566517e-01 -1.10907255e-03 9.75596902e-01 5.73864322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:41.66, Y:-11.10, Z:5.74 [[ 8.89622917e-01 4.10063585e-01 -2.01044575e-01 4.16643711e+01] [-3.99616211e-01 9.12055718e-01 9.19850632e-02 -1.10994161e+01] [ 2.21083579e-01 -1.49134897e-03 9.75253724e-01 5.74154554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:41.69, Y:-11.11, Z:5.75 [[ 8.90001088e-01 4.09627315e-01 -2.00258648e-01 4.16930665e+01] [-3.99236889e-01 9.12251460e-01 9.16906770e-02 -1.11131379e+01] [ 2.20245250e-01 -1.65416284e-03 9.75443127e-01 5.75142423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:-11.13, Z:5.76 [[ 8.90167025e-01 4.09171924e-01 -2.00451999e-01 4.17212541e+01] [-3.98734054e-01 9.12455464e-01 9.18486784e-02 -1.11264939e+01] [ 2.20485422e-01 -1.83362661e-03 9.75388546e-01 5.75921173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:-11.14, Z:5.77 [[ 8.90173058e-01 4.09153806e-01 -2.00462192e-01 4.17498402e+01] [-3.98699776e-01 9.12463456e-01 9.19180645e-02 -1.11399300e+01] [ 2.20523050e-01 -1.89875352e-03 9.75379915e-01 5.76626795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:41.78, Y:-11.15, Z:5.77 [[ 8.90035788e-01 4.09463288e-01 -2.00439795e-01 4.17793230e+01] [-3.99004859e-01 9.12324654e-01 9.19719978e-02 -1.11530191e+01] [ 2.20525323e-01 -1.88191728e-03 9.75379434e-01 5.77110603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:41.81, Y:-11.17, Z:5.78 [[ 8.89675247e-01 4.10036092e-01 -2.00869007e-01 4.18087166e+01] [-3.99531166e-01 9.12067506e-01 9.22372616e-02 -1.11660798e+01] [ 2.21026701e-01 -1.80777989e-03 9.75266081e-01 5.77705547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:41.84, Y:-11.18, Z:5.78 [[ 8.88485137e-01 4.12154318e-01 -2.01799355e-01 4.18372073e+01] [-4.01589093e-01 9.11113052e-01 9.27319042e-02 -1.11790335e+01] [ 2.22081881e-01 -1.35049849e-03 9.75027084e-01 5.78314274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:41.87, Y:-11.19, Z:5.79 [[ 8.87824554e-01 4.13906710e-01 -2.01118865e-01 4.18655468e+01] [-4.03448141e-01 9.10318809e-01 9.24622234e-02 -1.11925437e+01] [ 2.21353020e-01 -9.49200150e-04 9.75193283e-01 5.79320395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:41.89, Y:-11.21, Z:5.80 [[ 8.86969653e-01 4.15208864e-01 -2.02203942e-01 4.18946792e+01] [-4.04653717e-01 9.09725850e-01 9.30282058e-02 -1.12058147e+01] [ 2.22576289e-01 -6.90618763e-04 9.74915032e-01 5.79733518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809999999999995 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:41.92, Y:-11.22, Z:5.81 [[ 8.86212602e-01 4.17030388e-01 -2.01774330e-01 4.19233285e+01] [-4.06552993e-01 9.08892497e-01 9.28929101e-02 -1.12192354e+01] [ 2.22130341e-01 -2.90909607e-04 9.75016937e-01 5.80712381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.839999999999996 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:41.95, Y:-11.23, Z:5.81 [[ 8.85137925e-01 4.18920078e-01 -2.02575473e-01 4.19515910e+01] [-4.08391818e-01 9.08023102e-01 9.33282885e-02 -1.12321124e+01] [ 2.23040303e-01 1.21757869e-04 9.74809216e-01 5.81255346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:41.98, Y:-11.25, Z:5.82 [[ 8.84647752e-01 4.20151626e-01 -2.02165692e-01 4.19808634e+01] [-4.09684075e-01 9.07453840e-01 9.32013265e-02 -1.12455192e+01] [ 2.22614723e-01 3.73720742e-04 9.74906429e-01 5.81966312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.9 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:42.01, Y:-11.26, Z:5.83 [[ 8.84234069e-01 4.21381719e-01 -2.01413898e-01 4.20101523e+01] [-4.11009645e-01 9.06883158e-01 9.29193737e-02 -1.12588556e+01] [ 2.21813397e-01 6.20578551e-04 9.75088935e-01 5.82767936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.04, Y:-11.27, Z:5.83 [[ 8.83730082e-01 4.22429780e-01 -2.01430441e-01 4.20385686e+01] [-4.12068022e-01 9.06395280e-01 9.29921590e-02 -1.12716992e+01] [ 2.21858258e-01 8.23074978e-04 9.75078579e-01 5.83340800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.07, Y:-11.29, Z:5.84 [[ 8.82847843e-01 4.24299597e-01 -2.01369161e-01 4.20675533e+01] [-4.13982558e-01 9.05521000e-01 9.30062350e-02 -1.12854330e+01] [ 2.21806512e-01 1.25296627e-03 9.75089894e-01 5.84081698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:-11.30, Z:5.85 [[ 8.82592021e-01 4.25478909e-01 -1.99997557e-01 4.20952614e+01] [-4.15317746e-01 9.04967141e-01 9.24426468e-02 -1.12992473e+01] [ 2.20323614e-01 1.47339201e-03 9.75425720e-01 5.85116766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.019999999999996 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:42.12, Y:-11.31, Z:5.86 [[ 8.82491879e-01 4.25193705e-01 -2.01043272e-01 4.21240690e+01] [-4.14901002e-01 9.05101381e-01 9.29981099e-02 -1.13125014e+01] [ 2.21506754e-01 1.34297820e-03 9.75157913e-01 5.85521741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:42.15, Y:-11.33, Z:5.86 [[ 8.82367120e-01 4.25281952e-01 -2.01403891e-01 4.21524351e+01] [-4.14938738e-01 9.05059975e-01 9.32324264e-02 -1.13265794e+01] [ 2.21932669e-01 1.30504869e-03 9.75061120e-01 5.86249020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.19, Y:-11.32, Z:5.83 [[ 0.88752903 0.41016547 -0.20989644 42.19303701] [ -0.40983327 0.91094081 0.04715437 -11.31562822] [ 0.21054433 0.04417167 0.97658586 5.83037553] [ 0. 0. 0. 1. ]] SLAMing on 43.11 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:42.20, Y:-11.37, Z:5.90 [[ 8.82187059e-01 4.33123029e-01 -1.84798363e-01 4.21975126e+01] [-4.14718602e-01 9.00502013e-01 1.30784576e-01 -1.13652669e+01] [ 2.23057109e-01 -3.87371416e-02 9.74035400e-01 5.89579081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:42.24, Y:-11.37, Z:5.88 [[ 8.82038437e-01 4.25602873e-01 -2.02164266e-01 4.22369422e+01] [-4.15143099e-01 9.04909244e-01 9.37841499e-02 -1.13660713e+01] [ 2.22855117e-01 1.20587508e-03 9.74850831e-01 5.88332080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:42.27, Y:-11.38, Z:5.89 [[ 8.82400467e-01 4.24974587e-01 -2.01905960e-01 4.22660919e+01] [-4.14509633e-01 9.05204750e-01 9.37343348e-02 -1.13793533e+01] [ 2.22600944e-01 9.80744696e-04 9.74909154e-01 5.89068419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.199999999999996 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:42.29, Y:-11.39, Z:5.90 [[ 8.82739802e-01 4.24504102e-01 -2.01411792e-01 4.22942419e+01] [-4.14062748e-01 9.05425666e-01 9.35756586e-02 -1.13925837e+01] [ 2.22086656e-01 7.94161593e-04 9.75026608e-01 5.89719952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.32, Y:-11.41, Z:5.90 [[ 8.83079789e-01 4.24048777e-01 -2.00879866e-01 4.23224534e+01] [-4.13636577e-01 9.05639141e-01 9.33944751e-02 -1.14060254e+01] [ 2.21528482e-01 6.16486573e-04 9.75153707e-01 5.90398136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.35, Y:-11.42, Z:5.91 [[ 8.84098350e-01 4.22343138e-01 -1.99990954e-01 4.23510628e+01] [-4.11966312e-01 9.06436019e-01 9.30456905e-02 -1.14199007e+01] [ 2.20576213e-01 1.27994445e-04 9.75369734e-01 5.91049579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:42.38, Y:-11.43, Z:5.92 [[ 8.84322032e-01 4.22024155e-01 -1.99675129e-01 4.23790965e+01] [-4.11657016e-01 9.06584587e-01 9.29671380e-02 -1.14337947e+01] [ 2.20256773e-01 -1.52204965e-05 9.75441928e-01 5.91923323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:42.41, Y:-11.45, Z:5.92 [[ 8.84635876e-01 4.21026752e-01 -2.00389221e-01 4.24085788e+01] [-4.10543420e-01 9.07048161e-01 9.33688106e-02 -1.14473301e+01] [ 2.21073442e-01 -3.28923351e-04 9.75257107e-01 5.92402795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:42.44, Y:-11.46, Z:5.93 [[ 8.84636925e-01 4.20635508e-01 -2.01204574e-01 4.24379995e+01] [-4.10039676e-01 9.07229588e-01 9.38186464e-02 -1.14612844e+01] [ 2.22002196e-01 -4.93580673e-04 9.75046041e-01 5.93067650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.379999999999995 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.47, Y:-11.48, Z:5.94 [[ 8.85293166e-01 4.19263254e-01 -2.01182343e-01 4.24660303e+01] [-4.08618923e-01 9.07864257e-01 9.38779337e-02 -1.14751529e+01] [ 2.22005827e-01 -9.02580794e-04 9.75044921e-01 5.93743208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:-11.49, Z:5.95 [[ 8.85472759e-01 4.19143693e-01 -2.00640371e-01 4.24942068e+01] [-4.08539686e-01 9.07919371e-01 9.36895963e-02 -1.14889405e+01] [ 2.21434683e-01 -9.90031243e-04 9.75174703e-01 5.94775089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.52, Y:-11.50, Z:5.95 [[ 8.85647398e-01 4.18569484e-01 -2.01067832e-01 4.25237271e+01] [-4.07889399e-01 9.08183983e-01 9.39579236e-02 -1.15033221e+01] [ 2.21934504e-01 -1.20015329e-03 9.75060837e-01 5.95122183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:42.55, Y:-11.52, Z:5.96 [[ 8.85896432e-01 4.18514792e-01 -2.00082187e-01 4.25509852e+01] [-4.07923307e-01 9.08209089e-01 9.35672272e-02 -1.15168764e+01] [ 2.20875729e-01 -1.27268533e-03 9.75301129e-01 5.95922830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.5 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:42.58, Y:-11.53, Z:5.97 [[ 8.85788946e-01 4.18975707e-01 -1.99592836e-01 4.25801777e+01] [-4.08433463e-01 9.07996630e-01 9.34035690e-02 -1.15307095e+01] [ 2.20363449e-01 -1.21545559e-03 9.75417076e-01 5.96656766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:42.61, Y:-11.54, Z:5.97 [[ 8.85493337e-01 4.19640781e-01 -1.99507308e-01 4.26094779e+01] [-4.09109450e-01 9.07689584e-01 9.34295311e-02 -1.15442904e+01] [ 2.20297547e-01 -1.11090232e-03 9.75432087e-01 5.97288145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.559999999999995 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.65, Y:-11.54, Z:5.95 [[ 8.88215247e-01 4.11093230e-01 -2.05124427e-01 4.26487220e+01] [-4.08008812e-01 9.11060490e-01 5.91404562e-02 -1.15402368e+01] [ 2.11193002e-01 3.11631189e-02 9.76947479e-01 5.95191982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589999999999996 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.66, Y:-11.58, Z:6.00 [[ 8.83955473e-01 4.29222055e-01 -1.85448508e-01 4.26591798e+01] [-4.13051363e-01 9.02704180e-01 1.20472961e-01 -1.15792533e+01] [ 2.19114796e-01 -2.98929745e-02 9.75241055e-01 6.00079885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:42.71, Y:-11.57, Z:5.96 [[ 8.86662077e-01 4.14021262e-01 -2.05953285e-01 4.27063604e+01] [-4.11193998e-01 9.09673229e-01 5.84304074e-02 -1.15670028e+01] [ 2.11541621e-01 3.28787283e-02 9.76815813e-01 5.96450261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:42.72, Y:-11.61, Z:6.02 [[ 8.81722871e-01 4.33631933e-01 -1.85817450e-01 4.27153632e+01] [-4.17202006e-01 9.00589311e-01 1.21989260e-01 -1.16072270e+01] [ 2.20243648e-01 -3.00373080e-02 9.74982305e-01 6.01688204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:42.75, Y:-11.61, Z:6.01 [[ 8.81100473e-01 4.28650417e-01 -1.99801844e-01 4.27528735e+01] [-4.18264079e-01 9.03469954e-01 9.37934022e-02 -1.16118175e+01] [ 2.20719543e-01 9.28522964e-04 9.75336876e-01 6.00781178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:42.79, Y:-11.61, Z:5.98 [[ 8.85054454e-01 4.16674172e-01 -2.07512041e-01 4.27925753e+01] [-4.15099026e-01 9.08217751e-01 5.32288999e-02 -1.16051458e+01] [ 2.10645227e-01 3.90275711e-02 9.76783209e-01 5.98190386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.739999999999995 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:42.81, Y:-11.63, Z:6.00 [[ 8.84678147e-01 4.24406818e-01 -1.92933741e-01 4.28124380e+01] [-4.15871704e-01 9.05456829e-01 8.48448978e-02 -1.16297611e+01] [ 2.10701927e-01 5.17525681e-03 9.77536656e-01 6.00198987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.769999999999996 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:42.83, Y:-11.66, Z:6.05 [[ 8.79581301e-01 4.38652161e-01 -1.84176592e-01 4.28264656e+01] [-4.20740563e-01 8.97928145e-01 1.29237862e-01 -1.16643555e+01] [ 2.22067813e-01 -3.61846438e-02 9.74359563e-01 6.04614960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.8 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:42.86, Y:-11.67, Z:6.04 [[ 8.79588005e-01 4.31603074e-01 -2.00109289e-01 4.28640828e+01] [-4.21191114e-01 9.02062553e-01 9.42400996e-02 -1.16664103e+01] [ 2.21185413e-01 1.39179316e-03 9.75230781e-01 6.03553936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:42.89, Y:-11.68, Z:6.04 [[ 8.79678236e-01 4.31424684e-01 -2.00097335e-01 4.28916756e+01] [-4.20999489e-01 9.02148012e-01 9.42782827e-02 -1.16803152e+01] [ 2.21191392e-01 1.30632254e-03 9.75229543e-01 6.04300293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:42.92, Y:-11.70, Z:6.05 [[ 8.80499537e-01 4.30071253e-01 -1.99397296e-01 4.29198638e+01] [-4.19671204e-01 9.02794495e-01 9.40115993e-02 -1.16959119e+01] [ 2.20446467e-01 9.04133646e-04 9.75398656e-01 6.05126690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:-11.69, Z:6.02 [[ 0.88617554 0.41424657 -0.20758781 42.96099321] [ -0.41377016 0.90912415 0.04782828 -11.68742805] [ 0.20853579 0.04350939 0.97704645 6.02090132] [ 0. 0. 0. 1. ]] SLAMing on 43.92 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:42.96, Y:-11.74, Z:6.08 [[ 8.81027305e-01 4.36336385e-01 -1.82760628e-01 4.29649828e+01] [-4.17802221e-01 8.98896482e-01 1.32009159e-01 -1.17366871e+01] [ 2.21883285e-01 -3.99458774e-02 9.74254656e-01 6.08290470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:-11.74, Z:6.07 [[ 8.80949495e-01 4.29170437e-01 -1.99350757e-01 4.30032278e+01] [-4.18707000e-01 9.03223391e-01 9.41910504e-02 -1.17371799e+01] [ 2.20482281e-01 4.91998953e-04 9.75390856e-01 6.07386379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.03, Y:-11.75, Z:6.08 [[ 8.80829790e-01 4.29273759e-01 -1.99657009e-01 4.30333513e+01] [-4.18769972e-01 9.03174298e-01 9.43816583e-02 -1.17510859e+01] [ 2.20840648e-01 4.76183780e-04 9.75309787e-01 6.07788489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:43.06, Y:-11.76, Z:6.09 [[ 8.80377424e-01 4.30169191e-01 -1.99724956e-01 4.30616391e+01] [-4.19664966e-01 9.02748062e-01 9.44841436e-02 -1.17640949e+01] [ 2.20945484e-01 6.35859630e-04 9.75285952e-01 6.08728656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:43.09, Y:-11.78, Z:6.09 [[ 8.79664532e-01 4.31043300e-01 -2.00977571e-01 4.30918613e+01] [-4.20411386e-01 9.02330894e-01 9.51484326e-02 -1.17767026e+01] [ 2.22361365e-01 7.94557533e-04 9.74963995e-01 6.09080702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.12, Y:-11.79, Z:6.10 [[ 8.79552743e-01 4.31507540e-01 -2.00469986e-01 4.31210807e+01] [-4.20925787e-01 9.02108935e-01 9.49786903e-02 -1.17900037e+01] [ 2.21829786e-01 8.44218892e-04 9.75085039e-01 6.09832544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.1 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:43.15, Y:-11.80, Z:6.11 [[ 8.79301942e-01 4.31844724e-01 -2.00843792e-01 4.31488312e+01] [-4.21215424e-01 9.01947551e-01 9.52269994e-02 -1.18030642e+01] [ 2.22273844e-01 8.65217352e-04 9.74983892e-01 6.10507763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129999999999995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:43.18, Y:-11.82, Z:6.11 [[ 8.79249230e-01 4.31963761e-01 -2.00818576e-01 4.31782908e+01] [-4.21325387e-01 9.01890576e-01 9.52801467e-02 -1.18171677e+01] [ 2.22273952e-01 8.34968697e-04 9.74983894e-01 6.11229612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:43.21, Y:-11.83, Z:6.12 [[ 8.79046355e-01 4.32284999e-01 -2.01015384e-01 4.32070008e+01] [-4.21626431e-01 9.01736598e-01 9.54057678e-02 -1.18305835e+01] [ 2.22505410e-01 8.87306358e-04 9.74931051e-01 6.11956362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:43.24, Y:-11.84, Z:6.13 [[ 8.79027863e-01 4.32590757e-01 -2.00437656e-01 4.32353487e+01] [-4.21985917e-01 9.01589948e-01 9.52021651e-02 -1.18440077e+01] [ 2.21896152e-01 8.96512493e-04 9.75069892e-01 6.12880566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:43.26, Y:-11.86, Z:6.13 [[ 8.79064843e-01 4.32285595e-01 -2.00933238e-01 4.32635169e+01] [-4.21603027e-01 9.01736434e-01 9.55106910e-02 -1.18579122e+01] [ 2.22476717e-01 7.53970705e-04 9.74937712e-01 6.13453625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:43.29, Y:-11.87, Z:6.14 [[ 8.79171714e-01 4.32273016e-01 -2.00492234e-01 4.32924915e+01] [-4.21622125e-01 9.01742518e-01 9.53688376e-02 -1.18720856e+01] [ 2.22017747e-01 6.86377267e-04 9.75042383e-01 6.14242264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:-11.89, Z:6.15 [[ 8.79694088e-01 4.31245611e-01 -2.00413409e-01 4.33209862e+01] [-4.20561242e-01 9.02234499e-01 9.53999545e-02 -1.18862321e+01] [ 2.21960703e-01 3.63336197e-04 9.75055544e-01 6.15259078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309999999999995 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:43.35, Y:-11.90, Z:6.16 [[ 8.80295426e-01 4.30023567e-01 -2.00398838e-01 4.33496608e+01] [-4.19293272e-01 9.02817662e-01 9.54642366e-02 -1.19004262e+01] [ 2.21975482e-01 -1.08463468e-05 9.75052247e-01 6.15619728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.339999999999996 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.38, Y:-11.91, Z:6.16 [[ 8.80924858e-01 4.28805160e-01 -2.00243673e-01 4.33780511e+01] [-4.18045483e-01 9.03396918e-01 9.54567113e-02 -1.19147178e+01] [ 2.21831847e-01 -3.79226825e-04 9.75084862e-01 6.16333298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:-11.93, Z:6.17 [[ 8.81366888e-01 4.28055329e-01 -1.99902588e-01 4.34048423e+01] [-4.17297576e-01 9.03752308e-01 9.53650782e-02 -1.19285989e+01] [ 2.21483956e-01 -6.32756663e-04 9.75163810e-01 6.17397652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.4 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:43.43, Y:-11.94, Z:6.18 [[ 8.82854759e-01 4.25071510e-01 -1.99703998e-01 4.34340739e+01] [-4.14244844e-01 9.05158623e-01 9.53366537e-02 -1.19434412e+01] [ 2.21288691e-01 -1.44206685e-03 9.75207278e-01 6.17750111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:-11.96, Z:6.19 [[ 8.83117862e-01 4.24926317e-01 -1.98847851e-01 4.34621590e+01] [-4.14173843e-01 9.05226635e-01 9.49987699e-02 -1.19576347e+01] [ 2.20369848e-01 -1.53753201e-03 9.75415176e-01 6.18917291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:43.49, Y:-11.97, Z:6.19 [[ 8.83581441e-01 4.23737296e-01 -1.99325216e-01 4.34910747e+01] [-4.12886432e-01 9.05783128e-01 9.52980504e-02 -1.19707913e+01] [ 2.20926756e-01 -1.90491137e-03 9.75288542e-01 6.19295392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:-11.98, Z:6.20 [[ 8.83865233e-01 4.23687221e-01 -1.98170098e-01 4.35194140e+01] [-4.12947412e-01 9.05806421e-01 9.48111982e-02 -1.19836261e+01] [ 2.19674040e-01 -1.96649261e-03 9.75571345e-01 6.20342453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.519999999999996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:43.55, Y:-12.00, Z:6.21 [[ 8.84336829e-01 4.22653318e-01 -1.98273916e-01 4.35496692e+01] [-4.11860872e-01 9.06288549e-01 9.49299079e-02 -1.19973124e+01] [ 2.19815820e-01 -2.28874573e-03 9.75538706e-01 6.20642441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.58, Y:-12.01, Z:6.21 [[ 8.84359766e-01 4.22534703e-01 -1.98424365e-01 4.35778764e+01] [-4.11706934e-01 9.06343608e-01 9.50718927e-02 -1.20102981e+01] [ 2.20011829e-01 -2.38507000e-03 9.75494288e-01 6.21347513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:-12.02, Z:6.22 [[ 8.83977591e-01 4.23370272e-01 -1.98346239e-01 4.36061788e+01] [-4.12557222e-01 9.05953978e-01 9.50995713e-02 -1.20242363e+01] [ 2.19954896e-01 -2.23671658e-03 9.75507479e-01 6.22406656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:43.64, Y:-12.04, Z:6.23 [[ 8.83570635e-01 4.23343244e-01 -2.00208466e-01 4.36364484e+01] [-4.12307303e-01 9.05966376e-01 9.60604704e-02 -1.20375771e+01] [ 2.22048690e-01 -2.32879806e-03 9.75032797e-01 6.22884840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.67, Y:-12.05, Z:6.23 [[ 8.83026282e-01 4.23817941e-01 -2.01600937e-01 4.36661025e+01] [-4.12622024e-01 9.05744503e-01 9.67985536e-02 -1.20511840e+01] [ 2.23623905e-01 -2.29068014e-03 9.74672818e-01 6.23471519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:-12.06, Z:6.24 [[ 8.82198543e-01 4.25353208e-01 -2.01991035e-01 4.36943171e+01] [-4.14136631e-01 9.05025282e-01 9.70571493e-02 -1.20643267e+01] [ 2.24090563e-01 -1.97178909e-03 9.74566330e-01 6.24491759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.699999999999996 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:43.72, Y:-12.08, Z:6.25 [[ 8.81285307e-01 4.26666037e-01 -2.03205069e-01 4.37234934e+01] [-4.15329979e-01 9.04407623e-01 9.77131554e-02 -1.20768898e+01] [ 2.25471098e-01 -1.71601111e-03 9.74248346e-01 6.24856515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:43.75, Y:-12.09, Z:6.26 [[ 8.80682631e-01 4.27494031e-01 -2.04075859e-01 4.37526590e+01] [-4.16065328e-01 9.04016800e-01 9.82001409e-02 -1.20907995e+01] [ 2.26467979e-01 -1.57426913e-03 9.74017339e-01 6.25597834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:43.78, Y:-12.11, Z:6.26 [[ 8.80170780e-01 4.28625552e-01 -2.03910602e-01 4.37818939e+01] [-4.17229024e-01 9.03481222e-01 9.81917689e-02 -1.21050558e+01] [ 2.26316901e-01 -1.34810447e-03 9.74052793e-01 6.26339973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:-12.11, Z:6.26 [[ 8.82035422e-01 4.23882965e-01 -2.05758951e-01 4.38154678e+01] [-4.17192210e-01 9.05541440e-01 7.71061629e-02 -1.21083128e+01] [ 2.19007246e-01 1.78306647e-02 9.75560297e-01 6.25651312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:-12.14, Z:6.29 [[ 8.78730749e-01 4.35838012e-01 -1.94621425e-01 4.38324395e+01] [-4.21162139e-01 8.99848759e-01 1.13554674e-01 -1.21374492e+01] [ 2.24621291e-01 -1.78168077e-02 9.74283243e-01 6.29069193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:43.87, Y:-12.15, Z:6.29 [[ 8.78318847e-01 4.32975499e-01 -2.02702294e-01 4.38660309e+01] [-4.21788443e-01 9.01405604e-01 9.77877587e-02 -1.21457429e+01] [ 2.25056688e-01 -3.91346336e-04 9.74345593e-01 6.28568783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.879999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:-12.14, Z:6.27 [[ 8.81023093e-01 4.26124153e-01 -2.05466580e-01 4.39015862e+01] [-4.21834371e-01 9.04229258e-01 6.65222756e-02 -1.21443894e+01] [ 2.14135642e-01 2.80652045e-02 9.76400671e-01 6.27135210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:43.91, Y:-12.18, Z:6.31 [[ 8.77023611e-01 4.41591815e-01 -1.89278246e-01 4.39144288e+01] [-4.25456605e-01 8.96850562e-01 1.21019612e-01 -1.21795912e+01] [ 2.23195571e-01 -2.56073772e-02 9.74437273e-01 6.31275155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:43.95, Y:-12.19, Z:6.31 [[ 8.75627865e-01 4.39362842e-01 -2.00589466e-01 4.39493897e+01] [-4.28531403e-01 8.98309066e-01 9.69621547e-02 -1.21852635e+01] [ 2.22792904e-01 1.05612089e-03 9.74865225e-01 6.30923935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:43.98, Y:-12.20, Z:6.31 [[ 8.74923694e-01 4.40438233e-01 -2.01302489e-01 4.39777047e+01] [-4.29540335e-01 8.97782018e-01 9.73783758e-02 -1.21986864e+01] [ 2.23614915e-01 1.26889036e-03 9.74676746e-01 6.31462620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.0 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:44.01, Y:-12.21, Z:6.32 [[ 8.74200583e-01 4.41608006e-01 -2.01880434e-01 4.40060711e+01] [-4.30662196e-01 8.97206823e-01 9.77240506e-02 -1.22120980e+01] [ 2.24284226e-01 1.51184889e-03 9.74522601e-01 6.32013896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:44.03, Y:-12.23, Z:6.33 [[ 8.73364749e-01 4.43217708e-01 -2.01970491e-01 4.40349299e+01] [-4.32294038e-01 8.96412022e-01 9.78128398e-02 -1.22262373e+01] [ 2.24401159e-01 1.88435288e-03 9.74495033e-01 6.32839298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.059999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.08, Y:-12.21, Z:6.29 [[ 8.79408439e-01 4.25839818e-01 -2.12840897e-01 4.40805333e+01] [-4.28647978e-01 9.02786736e-01 3.51712986e-02 -1.22111669e+01] [ 2.07127278e-01 6.03038832e-02 9.76453651e-01 6.28813807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.089999999999996 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:44.08, Y:-12.27, Z:6.37 [[ 0.87170131 0.45664898 -0.17778791 44.07527434] [ -0.43490975 0.88810697 0.14872632 -12.27017214] [ 0.2258104 -0.05232324 0.9727651 6.36948973] [ 0. 0. 0. 1. ]] SLAMing on 45.12 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:44.12, Y:-12.27, Z:6.35 [[ 8.71515228e-01 4.46568759e-01 -2.02577275e-01 4.41187328e+01] [-4.35620584e-01 8.94745635e-01 9.83105086e-02 -1.22682947e+01] [ 2.25157534e-01 2.56772534e-03 9.74318989e-01 6.34966772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:44.15, Y:-12.28, Z:6.36 [[ 8.71461350e-01 4.46934538e-01 -2.02001568e-01 4.41459640e+01] [-4.36041907e-01 8.94562927e-01 9.81051743e-02 -1.22823469e+01] [ 2.24549705e-01 2.58628139e-03 9.74459204e-01 6.35697128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:44.19, Y:-12.28, Z:6.34 [[ 8.74067996e-01 4.36880505e-01 -2.12463085e-01 4.41855581e+01] [-4.34207292e-01 8.98700939e-01 6.16494022e-02 -1.22836724e+01] [ 2.17874196e-01 3.83672515e-02 9.75222430e-01 6.33570754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:44.21, Y:-12.30, Z:6.35 [[ 8.75213477e-01 4.38893439e-01 -2.03405797e-01 4.42081330e+01] [-4.32212657e-01 8.98336332e-01 7.86387555e-02 -1.23012842e+01] [ 2.17240852e-01 1.90888616e-02 9.75931364e-01 6.34827277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.239999999999995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:44.21, Y:-12.34, Z:6.41 [[ 0.86922307 0.45932474 -0.18295368 44.21224166] [ -0.43642306 0.88669424 0.1526704 -12.34479064] [ 0.23234926 -0.05285943 0.97119499 6.41257756] [ 0. 0. 0. 1. ]] SLAMing on 45.269999999999996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:44.27, Y:-12.33, Z:6.37 [[ 8.70840639e-01 4.40483497e-01 -2.18199152e-01 4.42668728e+01] [-4.36557801e-01 8.97057618e-01 6.85923949e-02 -1.23306517e+01] [ 2.25951030e-01 3.55234971e-02 9.73490736e-01 6.36770559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.3 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:44.27, Y:-12.37, Z:6.42 [[ 8.68680081e-01 4.55873434e-01 -1.93840986e-01 4.42738807e+01] [-4.37336442e-01 8.89538793e-01 1.32127104e-01 -1.23658764e+01] [ 2.32662314e-01 -3.00024565e-02 9.72094697e-01 6.41563180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:44.31, Y:-12.37, Z:6.41 [[ 8.68377303e-01 4.49976770e-01 -2.08426885e-01 4.43116699e+01] [-4.38214003e-01 8.93036625e-01 1.02245167e-01 -1.23703351e+01] [ 2.32140792e-01 2.54819674e-03 9.72678857e-01 6.40789548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:44.34, Y:-12.38, Z:6.41 [[ 8.67690456e-01 4.49524982e-01 -2.12227622e-01 4.43412021e+01] [-4.38609688e-01 8.93237016e-01 9.87379139e-02 -1.23829176e+01] [ 2.33954727e-01 7.41114550e-03 9.72219245e-01 6.41182677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:44.37, Y:-12.40, Z:6.42 [[ 8.67945471e-01 4.51438293e-01 -2.07060684e-01 4.43670009e+01] [-4.38519648e-01 8.92299413e-01 1.07248660e-01 -1.24000103e+01] [ 2.33176279e-01 -2.28580999e-03 9.72431796e-01 6.42360672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:44.40, Y:-12.41, Z:6.43 [[ 8.68086105e-01 4.49888851e-01 -2.09825013e-01 4.43972424e+01] [-4.38063659e-01 8.93079758e-01 1.02512325e-01 -1.24127066e+01] [ 2.33509624e-01 2.92718869e-03 9.72350085e-01 6.42730786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449999999999996 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:44.42, Y:-12.43, Z:6.44 [[ 8.67750228e-01 4.51067425e-01 -2.08680904e-01 4.44238287e+01] [-4.38887941e-01 8.92489016e-01 1.04118832e-01 -1.24271069e+01] [ 2.33210029e-01 1.23839194e-03 9.72425601e-01 6.43649249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:44.45, Y:-12.44, Z:6.44 [[ 8.67513512e-01 4.50749292e-01 -2.10345864e-01 4.44521144e+01] [-4.38726292e-01 8.92646961e-01 1.03443913e-01 -1.24404614e+01] [ 2.34391867e-01 2.54526847e-03 9.72138866e-01 6.44191517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:44.48, Y:-12.45, Z:6.45 [[ 8.67396691e-01 4.50989364e-01 -2.10313039e-01 4.44805140e+01] [-4.38960317e-01 8.92525693e-01 1.03497475e-01 -1.24548416e+01] [ 2.34386052e-01 2.54571106e-03 9.72140267e-01 6.44992638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.51, Y:-12.47, Z:6.46 [[ 8.67440464e-01 4.50742159e-01 -2.10662164e-01 4.45096265e+01] [-4.38647430e-01 8.92650925e-01 1.03743714e-01 -1.24695417e+01] [ 2.34809441e-01 2.41492133e-03 9.72038422e-01 6.45622403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:44.54, Y:-12.48, Z:6.46 [[ 8.67626436e-01 4.50477043e-01 -2.10463305e-01 4.45375359e+01] [-4.38379612e-01 8.92785122e-01 1.03720985e-01 -1.24836862e+01] [ 2.34622429e-01 2.27175359e-03 9.72083924e-01 6.46337806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.6 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:44.57, Y:-12.50, Z:6.47 [[ 8.67975206e-01 4.49959481e-01 -2.10132118e-01 4.45656877e+01] [-4.37868722e-01 8.93046587e-01 1.03628061e-01 -1.24981963e+01] [ 2.34286199e-01 2.06369482e-03 9.72165479e-01 6.47103243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629999999999995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.59, Y:-12.51, Z:6.48 [[ 8.68412570e-01 4.49382463e-01 -2.09559087e-01 4.45943181e+01] [-4.37324190e-01 8.93337582e-01 1.03419134e-01 -1.25131620e+01] [ 2.33681753e-01 1.83478133e-03 9.72311407e-01 6.47891124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.62, Y:-12.53, Z:6.49 [[ 8.69923814e-01 4.47198697e-01 -2.07956446e-01 4.46217416e+01] [-4.35247452e-01 8.94433875e-01 1.02701989e-01 -1.25283713e+01] [ 2.31931485e-01 1.16960752e-03 9.72731421e-01 6.48721272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:44.65, Y:-12.54, Z:6.50 [[ 8.70908318e-01 4.46053042e-01 -2.06289568e-01 4.46496414e+01] [-4.34247275e-01 8.95006175e-01 1.01947291e-01 -1.25428216e+01] [ 2.30104336e-01 7.93938774e-04 9.73165641e-01 6.49517644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.68, Y:-12.56, Z:6.50 [[ 8.71557863e-01 4.45079873e-01 -2.05647264e-01 4.46773734e+01] [-4.33304338e-01 8.95490753e-01 1.01703798e-01 -1.25571873e+01] [ 2.29421537e-01 4.67106796e-04 9.73327047e-01 6.50246339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:44.72, Y:-12.55, Z:6.47 [[ 8.77853135e-01 4.28271349e-01 -2.14377062e-01 4.47182989e+01] [-4.26778945e-01 9.02643038e-01 5.56352297e-02 -1.25480277e+01] [ 2.17332937e-01 4.26520553e-02 9.75165215e-01 6.46976105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:44.74, Y:-12.57, Z:6.49 [[ 8.77183546e-01 4.36596159e-01 -1.99831979e-01 4.47360270e+01] [-4.27415219e-01 8.99630039e-01 8.93421670e-02 -1.25743344e+01] [ 2.18781298e-01 7.04175037e-03 9.75748511e-01 6.49428114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809999999999995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:44.76, Y:-12.59, Z:6.50 [[ 8.77116544e-01 4.36183989e-01 -2.01022625e-01 4.47640912e+01] [-4.27165570e-01 8.99820638e-01 8.86137401e-02 -1.25871092e+01] [ 2.19536202e-01 8.14536690e-03 9.75570351e-01 6.49962782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.839999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:44.77, Y:-12.63, Z:6.56 [[ 0.87098642 0.45416644 -0.18739131 44.77340666] [ -0.43245897 0.88970967 0.1462735 -12.62557518] [ 0.23315638 -0.04636318 0.97133339 6.55615432] [ 0. 0. 0. 1. ]] SLAMing on 45.87 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:44.81, Y:-12.63, Z:6.54 [[ 8.70818426e-01 4.44192391e-01 -2.10638052e-01 4.48147508e+01] [-4.31578124e-01 8.95931209e-01 1.05107518e-01 -1.26261185e+01] [ 2.35405165e-01 -6.22787978e-04 9.71897124e-01 6.53950837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.9 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:44.84, Y:-12.64, Z:6.55 [[ 8.70712285e-01 4.43986038e-01 -2.11510082e-01 4.48441586e+01] [-4.31240629e-01 8.96033387e-01 1.05620499e-01 -1.26404985e+01] [ 2.36414122e-01 -7.53325118e-04 9.71652096e-01 6.54584937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:44.87, Y:-12.65, Z:6.55 [[ 8.70710626e-01 4.44280264e-01 -2.10898206e-01 4.48722788e+01] [-4.31599368e-01 8.95887547e-01 1.05392076e-01 -1.26544352e+01] [ 2.35764696e-01 -7.42467489e-04 9.71809887e-01 6.55421837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:44.92, Y:-12.64, Z:6.51 [[ 8.78570288e-01 4.21476307e-01 -2.24659681e-01 4.49217031e+01] [-4.23953394e-01 9.04819675e-01 3.95585009e-02 -1.26366203e+01] [ 2.19949471e-01 6.04903108e-02 9.73633993e-01 6.50743913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989999999999995 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:44.91, Y:-12.70, Z:6.60 [[ 0.87137265 0.45449828 -0.18477288 44.91213505] [ -0.43002369 0.88882321 0.15834434 -12.69831383] [ 0.23619766 -0.05852021 0.96994126 6.59746147] [ 0. 0. 0. 1. ]] SLAMing on 46.019999999999996 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:44.96, Y:-12.70, Z:6.58 [[ 8.71185555e-01 4.43098675e-01 -2.11422072e-01 4.49563408e+01] [-4.30267088e-01 8.96471956e-01 1.05869096e-01 -1.26955593e+01] [ 2.36444414e-01 -1.26366763e-03 9.71644195e-01 6.57701129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:44.99, Y:-12.71, Z:6.58 [[ 8.71131092e-01 4.43220090e-01 -2.11391987e-01 4.49853874e+01] [-4.30377458e-01 8.96411882e-01 1.05929134e-01 -1.27102427e+01] [ 2.36444209e-01 -1.29981640e-03 9.71644197e-01 6.58472705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:45.01, Y:-12.72, Z:6.59 [[ 8.71805235e-01 4.42374862e-01 -2.10380876e-01 4.50141198e+01] [-4.29624029e-01 8.96828896e-01 1.05456744e-01 -1.27243820e+01] [ 2.35327061e-01 -1.55306171e-03 9.71914997e-01 6.59347064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:45.04, Y:-12.74, Z:6.60 [[ 8.71865700e-01 4.41941365e-01 -2.11040353e-01 4.50425950e+01] [-4.29078020e-01 8.97042239e-01 1.05864415e-01 -1.27388526e+01] [ 2.36097975e-01 -1.74677506e-03 9.71727686e-01 6.60045900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:45.07, Y:-12.75, Z:6.61 [[ 8.71830832e-01 4.41837999e-01 -2.11400530e-01 4.50699955e+01] [-4.28908346e-01 8.97092952e-01 1.06121941e-01 -1.27531605e+01] [ 2.36534631e-01 -1.84892883e-03 9.71621300e-01 6.60726768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:45.11, Y:-12.75, Z:6.58 [[ 8.76464894e-01 4.28337021e-01 -2.19856058e-01 4.51103162e+01] [-4.24641125e-01 9.02931130e-01 6.62969773e-02 -1.27480211e+01] [ 2.26912329e-01 3.52529507e-02 9.73276952e-01 6.57978668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.199999999999996 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:45.12, Y:-12.79, Z:6.64 [[ 8.71332712e-01 4.49336946e-01 -1.97168997e-01 4.51155598e+01] [-4.28927889e-01 8.92624732e-01 1.38715371e-01 -1.27911405e+01] [ 2.38327864e-01 -3.62959585e-02 9.70506276e-01 6.63730241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:45.17, Y:-12.77, Z:6.59 [[ 8.75770204e-01 4.28162776e-01 -2.22942117e-01 4.51661012e+01] [-4.24913825e-01 9.02905970e-01 6.48771960e-02 -1.27733176e+01] [ 2.29073769e-01 3.79136726e-02 9.72670428e-01 6.59042894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:45.18, Y:-12.80, Z:6.61 [[ 8.75771826e-01 4.35724602e-01 -2.07768572e-01 4.51846215e+01] [-4.25960955e-01 9.00045569e-01 9.20610540e-02 -1.27955381e+01] [ 2.27114449e-01 7.87682206e-03 9.73836220e-01 6.60889963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:45.19, Y:-12.83, Z:6.66 [[ 8.69303373e-01 4.54271946e-01 -1.94804121e-01 4.51945086e+01] [-4.31784885e-01 8.89747793e-01 1.48022562e-01 -1.28346472e+01] [ 2.40569034e-01 -4.45630376e-02 9.69608517e-01 6.66338106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:45.25, Y:-12.81, Z:6.61 [[ 0.87476462 0.42891348 -0.2254331 45.25158972] [ -0.42802232 0.9020682 0.05540636 -12.80937051] [ 0.22712057 0.04802288 0.97268189 6.60582756] [ 0. 0. 0. 1. ]] SLAMing on 46.35 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:45.27, Y:-12.83, Z:6.62 [[ 8.74407302e-01 4.36459107e-01 -2.11932344e-01 4.52722426e+01] [-4.29880111e-01 8.99448260e-01 7.87141591e-02 -1.28291957e+01] [ 2.24977689e-01 2.22772640e-02 9.74109215e-01 6.62039289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.379999999999995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:45.29, Y:-12.86, Z:6.65 [[ 8.73394950e-01 4.47207674e-01 -1.92838162e-01 4.52871703e+01] [-4.32200035e-01 8.94243928e-01 1.16322508e-01 -1.28576711e+01] [ 2.24464674e-01 -1.82508307e-02 9.74311304e-01 6.64987775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:45.33, Y:-12.86, Z:6.64 [[ 8.72726323e-01 4.40681303e-01 -2.10116048e-01 4.53251679e+01] [-4.33317028e-01 8.97460869e-01 8.24641844e-02 -1.28573813e+01] [ 2.24911355e-01 1.90781970e-02 9.74192437e-01 6.63867585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:45.33, Y:-12.91, Z:6.71 [[ 0.86458025 0.46524228 -0.18986998 45.3284744 ] [ -0.44020252 0.88347183 0.16030992 -12.90537677] [ 0.24232774 -0.05501955 0.96863312 6.70866243] [ 0. 0. 0. 1. ]] SLAMing on 46.47 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:45.39, Y:-12.87, Z:6.64 [[ 0.87105893 0.43493413 -0.22822935 45.39113997] [ -0.43562881 0.89873191 0.05008477 -12.87247473] [ 0.22690058 0.05579649 0.9723183 6.63854337] [ 0. 0. 0. 1. ]] SLAMing on 46.5 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:45.39, Y:-12.93, Z:6.72 [[ 0.86328351 0.46667268 -0.19224512 45.38523106] [ -0.44268327 0.88305364 0.15571703 -12.93166917] [ 0.24243164 -0.04932425 0.96891383 6.72155508] [ 0. 0. 0. 1. ]] SLAMing on 46.53 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:45.44, Y:-12.90, Z:6.66 [[ 0.87012375 0.43679576 -0.22824137 45.44480641] [ -0.43711789 0.89790349 0.05193525 -12.90062133] [ 0.22762382 0.0545783 0.97221839 6.65538053] [ 0. 0. 0. 1. ]] SLAMing on 46.559999999999995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:45.46, Y:-12.93, Z:6.69 [[ 8.68776647e-01 4.50687756e-01 -2.05201571e-01 4.54557499e+01] [-4.38731608e-01 8.92681553e-01 1.03122362e-01 -1.29344824e+01] [ 2.29655643e-01 4.38115180e-04 9.73271850e-01 6.68976650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.589999999999996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:45.48, Y:-12.95, Z:6.70 [[ 8.66272860e-01 4.53216911e-01 -2.10156524e-01 4.54834899e+01] [-4.41550326e-01 8.91390315e-01 1.02257596e-01 -1.29483313e+01] [ 2.33676362e-01 4.21170158e-03 9.72305312e-01 6.69847336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:45.50, Y:-12.98, Z:6.75 [[ 8.59088555e-01 4.70524073e-01 -2.01429767e-01 4.54955399e+01] [-4.47692036e-01 8.81545004e-01 1.49834066e-01 -1.29846205e+01] [ 2.48069940e-01 -3.85422293e-02 9.67975104e-01 6.74849148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:45.54, Y:-12.99, Z:6.74 [[ 8.57691878e-01 4.64576519e-01 -2.20302749e-01 4.55358063e+01] [-4.50741862e-01 8.85528697e-01 1.12564209e-01 -1.29867234e+01] [ 2.47379094e-01 2.75426324e-03 9.68914856e-01 6.73817102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:45.58, Y:-12.97, Z:6.70 [[ 0.86497981 0.44515222 -0.23162347 45.58091025] [ -0.444722 0.89384754 0.0570869 -12.97265337] [ 0.23244843 0.05362903 0.97112906 6.69790968] [ 0. 0. 0. 1. ]] SLAMing on 46.71 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:45.58, Y:-13.03, Z:6.77 [[ 8.56654187e-01 4.75387592e-01 -2.00375253e-01 4.55770639e+01] [-4.51061680e-01 8.78699650e-01 1.56301907e-01 -1.30290772e+01] [ 2.50373652e-01 -4.35150850e-02 9.67170860e-01 6.77433697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.739999999999995 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:45.62, Y:-13.03, Z:6.76 [[ 8.56301157e-01 4.66528958e-01 -2.21583076e-01 4.56181212e+01] [-4.52526715e-01 8.84500505e-01 1.13483170e-01 -1.30301996e+01] [ 2.48933527e-01 3.09649183e-03 9.68515622e-01 6.76204987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.769999999999996 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:45.66, Y:-13.02, Z:6.72 [[ 0.86499023 0.44477467 -0.23230885 45.66251941] [ -0.44466901 0.89395242 0.05584396 -13.01535837] [ 0.23251103 0.05499606 0.97103762 6.72081419] [ 0. 0. 0. 1. ]] SLAMing on 46.8 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:45.68, Y:-13.04, Z:6.74 [[ 8.65704135e-01 4.52368916e-01 -2.14286524e-01 4.56795277e+01] [-4.43929062e-01 8.91645132e-01 8.88591434e-02 -1.30423752e+01] [ 2.31264650e-01 1.82022876e-02 9.72720586e-01 6.74136253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:-13.06, Z:6.76 [[ 8.64940499e-01 4.57098012e-01 -2.07218101e-01 4.57006414e+01] [-4.44914976e-01 8.89415042e-01 1.04840580e-01 -1.30633541e+01] [ 2.32225317e-01 1.51357304e-03 9.72660841e-01 6.76119076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:45.71, Y:-13.11, Z:6.82 [[ 0.85713396 0.47536401 -0.19836943 45.70979037] [ -0.44962943 0.87838096 0.16211186 -13.10535619] [ 0.25130607 -0.04975885 0.96662781 6.81851375] [ 0. 0. 0. 1. ]] SLAMing on 46.89 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:45.77, Y:-13.07, Z:6.75 [[ 0.86663329 0.43993578 -0.23537896 45.77164788] [ -0.44114049 0.89601698 0.05048408 -13.0727027 ] [ 0.23311329 0.06008401 0.97059163 6.74833081] [ 0. 0. 0. 1. ]] SLAMing on 46.92 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:45.76, Y:-13.14, Z:6.84 [[ 0.85812337 0.4739818 -0.1973969 45.76226008] [ -0.44780835 0.87898445 0.16387197 -13.13563414] [ 0.25118114 -0.05222639 0.9665301 6.83700307] [ 0. 0. 0. 1. ]] SLAMing on 46.949999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:-13.13, Z:6.82 [[ 8.58096578e-01 4.62830464e-01 -2.22392052e-01 4.58051132e+01] [-4.48398455e-01 8.86445851e-01 1.14684697e-01 -1.31348442e+01] [ 2.50218083e-01 1.30970664e-03 9.68188616e-01 6.82027845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:-13.15, Z:6.83 [[ 8.58726303e-01 4.61923698e-01 -2.21845970e-01 4.58338117e+01] [-4.47513034e-01 8.86919139e-01 1.14483735e-01 -1.31492743e+01] [ 2.49642187e-01 9.68768530e-04 9.68337668e-01 6.82822294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:45.86, Y:-13.16, Z:6.83 [[ 8.59039778e-01 4.61155185e-01 -2.22230858e-01 4.58625323e+01] [-4.46647425e-01 8.87319245e-01 1.14763385e-01 -1.31635463e+01] [ 2.50113447e-01 6.72527880e-04 9.68216304e-01 6.83452480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:45.91, Y:-13.15, Z:6.80 [[ 8.65968027e-01 4.43420933e-01 -2.31251492e-01 4.59050186e+01] [-4.40492324e-01 8.95244920e-01 6.71047335e-02 -1.31525146e+01] [ 2.36782367e-01 4.37539532e-02 9.70576995e-01 6.80097480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:45.91, Y:-13.20, Z:6.87 [[ 8.59318770e-01 4.68986605e-01 -2.04016705e-01 4.59058772e+01] [-4.45636806e-01 8.82340571e-01 1.51271124e-01 -1.32030656e+01] [ 2.50956347e-01 -3.90727634e-02 9.67209507e-01 6.86955718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.1 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:45.95, Y:-13.21, Z:6.86 [[ 8.59198788e-01 4.60469612e-01 -2.23036273e-01 4.59459451e+01] [-4.45755639e-01 8.87675444e-01 1.15473875e-01 -1.32057673e+01] [ 2.51156033e-01 2.04662670e-04 9.67946592e-01 6.85885546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129999999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:45.97, Y:-13.22, Z:6.87 [[ 8.59329121e-01 4.60153762e-01 -2.23185971e-01 4.59739008e+01] [-4.45388444e-01 8.87839239e-01 1.15631399e-01 -1.32199799e+01] [ 2.51361486e-01 3.90238243e-05 9.67893280e-01 6.86538265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:46.00, Y:-13.23, Z:6.87 [[ 8.59588578e-01 4.59557960e-01 -2.23414319e-01 4.60021083e+01] [-4.44728762e-01 8.88147763e-01 1.15801037e-01 -1.32345774e+01] [ 2.51642216e-01 -1.82474959e-04 9.67820315e-01 6.87264752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:46.03, Y:-13.25, Z:6.88 [[ 8.59663261e-01 4.59092411e-01 -2.24083101e-01 4.60299367e+01] [-4.44135864e-01 8.88388430e-01 1.16229655e-01 -1.32491983e+01] [ 2.52432987e-01 -3.95022404e-04 9.67614299e-01 6.88082585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:46.06, Y:-13.26, Z:6.89 [[ 8.59998135e-01 4.58278431e-01 -2.24464001e-01 4.60572264e+01] [-4.43221618e-01 8.88808402e-01 1.16508460e-01 -1.32638835e+01] [ 2.52898805e-01 -7.09760730e-04 9.67492476e-01 6.88923555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:46.10, Y:-13.25, Z:6.85 [[ 0.86862013 0.43517489 -0.23690058 46.10326469] [ -0.43436768 0.89883621 0.05846521 -13.24939856] [ 0.23837741 0.05211789 0.96977314 6.84968118] [ 0. 0. 0. 1. ]] SLAMing on 47.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:-13.28, Z:6.89 [[ 8.68750920e-01 4.48065603e-01 -2.10971690e-01 4.61134401e+01] [-4.34769462e-01 8.93997396e-01 1.08370522e-01 -1.32835034e+01] [ 2.37165245e-01 -2.42294218e-03 9.71466302e-01 6.88514826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309999999999995 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:46.12, Y:-13.32, Z:6.94 [[ 0.86304575 0.46334349 -0.20115876 46.12427271] [ -0.43827542 0.88487495 0.15783211 -13.32153167] [ 0.25113083 -0.0480534 0.96675963 6.93707747] [ 0. 0. 0. 1. ]] SLAMing on 47.339999999999996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:46.17, Y:-13.32, Z:6.92 [[ 8.63974241e-01 4.51740678e-01 -2.22438467e-01 4.61650067e+01] [-4.36726760e-01 8.92145305e-01 1.15527023e-01 -1.33219027e+01] [ 2.50635690e-01 -2.66754049e-03 9.68077804e-01 6.92296798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:46.21, Y:-13.30, Z:6.88 [[ 0.87232038 0.42882641 -0.23487244 46.21291467] [ -0.42917693 0.90170246 0.0523435 -13.30484483] [ 0.23423133 0.05514153 0.97061583 6.87928493] [ 0. 0. 0. 1. ]] SLAMing on 47.4 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:46.23, Y:-13.34, Z:6.91 [[ 8.70930702e-01 4.43140131e-01 -2.12382995e-01 4.62250250e+01] [-4.30830843e-01 8.96451602e-01 1.03727098e-01 -1.33398115e+01] [ 2.36356716e-01 1.16203048e-03 9.71665659e-01 6.91422181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:46.25, Y:-13.35, Z:6.92 [[ 8.71493063e-01 4.42817368e-01 -2.10743019e-01 4.62523046e+01] [-4.30436186e-01 8.96611828e-01 1.03980383e-01 -1.33541889e+01] [ 2.34999002e-01 9.32389922e-05 9.71995607e-01 6.92264883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:46.26, Y:-13.39, Z:6.98 [[ 0.86474167 0.461974 -0.19698191 46.25915277] [ -0.43559147 0.88514137 0.16366071 -13.39389447] [ 0.24996382 -0.05572059 0.96665056 6.98194364] [ 0. 0. 0. 1. ]] SLAMing on 47.489999999999995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:46.30, Y:-13.39, Z:6.96 [[ 8.64646873e-01 4.50750843e-01 -2.21832057e-01 4.63025650e+01] [-4.35599528e-01 8.92642472e-01 1.15941660e-01 -1.33929337e+01] [ 2.50277517e-01 -3.61865413e-03 9.68167377e-01 6.96386640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.519999999999996 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:46.33, Y:-13.41, Z:6.97 [[ 8.64449275e-01 4.51188294e-01 -2.21712819e-01 4.63304289e+01] [-4.36046305e-01 8.92421652e-01 1.15962126e-01 -1.34073087e+01] [ 2.50182074e-01 -3.56632047e-03 9.68192239e-01 6.97255127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:46.36, Y:-13.42, Z:6.98 [[ 8.64200293e-01 4.51512156e-01 -2.22023932e-01 4.63589251e+01] [-4.36316135e-01 8.92257892e-01 1.16207079e-01 -1.34212742e+01] [ 2.50571515e-01 -3.55356816e-03 9.68091570e-01 6.97899052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:46.40, Y:-13.41, Z:6.95 [[ 8.69830815e-01 4.34721969e-01 -2.33262006e-01 4.64028792e+01] [-4.31321475e-01 8.99617444e-01 6.81926600e-02 -1.34113504e+01] [ 2.39491417e-01 4.12948357e-02 9.70019895e-01 6.94550030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:46.40, Y:-13.46, Z:7.01 [[ 8.63729355e-01 4.61323253e-01 -2.02860687e-01 4.64013514e+01] [-4.36954527e-01 8.86094950e-01 1.54617207e-01 -1.34610293e+01] [ 2.51082343e-01 -4.49065252e-02 9.66923503e-01 7.01447155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:46.44, Y:-13.46, Z:7.00 [[ 8.63087099e-01 4.53042816e-01 -2.23232763e-01 4.64415155e+01] [-4.37674079e-01 8.91482579e-01 1.17047903e-01 -1.34624761e+01] [ 2.52035831e-01 -3.31934145e-03 9.67712210e-01 7.00401192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:46.47, Y:-13.48, Z:7.01 [[ 8.62511640e-01 4.53804074e-01 -2.23909654e-01 4.64696145e+01] [-4.38343602e-01 8.91095798e-01 1.17486872e-01 -1.34755930e+01] [ 2.52840973e-01 -3.18443088e-03 9.67502611e-01 7.01091909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.699999999999996 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:46.50, Y:-13.49, Z:7.02 [[ 8.62218897e-01 4.53989485e-01 -2.24660013e-01 4.64985580e+01] [-4.38408928e-01 8.91001245e-01 1.17959285e-01 -1.34902767e+01] [ 2.53724626e-01 -3.21376932e-03 9.67271154e-01 7.01779679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:46.54, Y:-13.49, Z:7.00 [[ 8.66639308e-01 4.41825097e-01 -2.31790624e-01 4.65371830e+01] [-4.34641400e-01 8.96668423e-01 8.40987037e-02 -1.34871500e+01] [ 2.44996251e-01 2.78625590e-02 9.69123581e-01 6.99574464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:-13.53, Z:7.05 [[ 8.61675054e-01 4.61796514e-01 -2.10380800e-01 4.65432862e+01] [-4.39968890e-01 8.86433385e-01 1.43747102e-01 -1.35265994e+01] [ 2.52870475e-01 -3.13022847e-02 9.66993635e-01 7.04992115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:46.58, Y:-13.53, Z:7.04 [[ 8.61226880e-01 4.56468886e-01 -2.23437727e-01 4.65806479e+01] [-4.41080141e-01 8.89735314e-01 1.17555856e-01 -1.35325444e+01] [ 2.52461027e-01 -2.68831901e-03 9.67603329e-01 7.04437457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:46.61, Y:-13.55, Z:7.05 [[ 8.60935644e-01 4.57147195e-01 -2.23173158e-01 4.66093375e+01] [-4.41796337e-01 8.89387360e-01 1.17499447e-01 -1.35469093e+01] [ 2.52201928e-01 -2.56237820e-03 9.67671236e-01 7.05090819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:46.64, Y:-13.56, Z:7.06 [[ 8.60446033e-01 4.57964822e-01 -2.23384974e-01 4.66370303e+01] [-4.42589746e-01 8.88967072e-01 1.17693930e-01 -1.35607857e+01] [ 2.52481566e-01 -2.40137606e-03 9.67598725e-01 7.05880906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.879999999999995 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:46.67, Y:-13.58, Z:7.07 [[ 8.59850996e-01 4.59007554e-01 -2.23535972e-01 4.66658642e+01] [-4.43625746e-01 8.88429719e-01 1.17850889e-01 -1.35753611e+01] [ 2.52690449e-01 -2.16789196e-03 9.67544747e-01 7.06606611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:46.69, Y:-13.59, Z:7.07 [[ 8.59452857e-01 4.59629716e-01 -2.23788542e-01 4.66936788e+01] [-4.44211779e-01 8.88108253e-01 1.18066196e-01 -1.35902298e+01] [ 2.53015183e-01 -2.06282292e-03 9.67460109e-01 7.07347090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:46.72, Y:-13.61, Z:7.08 [[ 8.59397842e-01 4.59747761e-01 -2.23757337e-01 4.67222749e+01] [-4.44318370e-01 8.88047070e-01 1.18125306e-01 -1.36054605e+01] [ 2.53014892e-01 -2.09713773e-03 9.67460111e-01 7.08179866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:46.75, Y:-13.62, Z:7.09 [[ 8.58815429e-01 4.60796185e-01 -2.23836847e-01 4.67496559e+01] [-4.45381088e-01 8.87504115e-01 1.18203776e-01 -1.36204499e+01] [ 2.53123972e-01 -1.82252765e-03 9.67432134e-01 7.09133361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.0 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:46.78, Y:-13.64, Z:7.10 [[ 8.58513986e-01 4.61311949e-01 -2.23930840e-01 4.67774801e+01] [-4.45879340e-01 8.87236290e-01 1.18335877e-01 -1.36355871e+01] [ 2.53269321e-01 -1.74687008e-03 9.67394232e-01 7.09868745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:46.81, Y:-13.65, Z:7.11 [[ 8.57627253e-01 4.62813587e-01 -2.24229966e-01 4.68057100e+01] [-4.47367759e-01 8.86454553e-01 1.18576612e-01 -1.36512033e+01] [ 2.53648542e-01 -1.38127652e-03 9.67295461e-01 7.10692507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.059999999999995 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:46.83, Y:-13.67, Z:7.11 [[ 8.57080186e-01 4.64014169e-01 -2.23840134e-01 4.68330746e+01] [-4.48641564e-01 8.85827095e-01 1.18452965e-01 -1.36661693e+01] [ 2.53247510e-01 -1.09970189e-03 9.67400894e-01 7.11474422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.089999999999996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:46.86, Y:-13.68, Z:7.12 [[ 8.56491910e-01 4.65160268e-01 -2.23713059e-01 4.68609071e+01] [-4.49823621e-01 8.85226092e-01 1.18462971e-01 -1.36811087e+01] [ 2.53140905e-01 -8.31158336e-04 9.67429063e-01 7.12219293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:46.89, Y:-13.70, Z:7.13 [[ 8.55758400e-01 4.66711462e-01 -2.23288987e-01 4.68886904e+01] [-4.51463778e-01 8.84409526e-01 1.18322641e-01 -1.36962924e+01] [ 2.52701440e-01 -4.48703837e-04 9.67544201e-01 7.13101400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:46.94, Y:-13.68, Z:7.08 [[ 0.86212874 0.44642593 -0.2396621 46.9388304 ] [ -0.44767568 0.8926607 0.05237711 -13.67932115] [ 0.23731944 0.06213508 0.96944248 7.08482647] [ 0. 0. 0. 1. ]] SLAMing on 48.18 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:46.93, Y:-13.74, Z:7.17 [[ 0.85340317 0.48327929 -0.19530527 46.92594175] [ -0.45562162 0.87361903 0.17087633 -13.74299638] [ 0.2532034 -0.0568411 0.96574175 7.17473872] [ 0. 0. 0. 1. ]] SLAMing on 48.21 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:46.99, Y:-13.71, Z:7.10 [[ 0.8591911 0.45249471 -0.23882878 46.99123813] [ -0.45306268 0.8897296 0.05581622 -13.70995705] [ 0.23774958 0.06024761 0.96945622 7.10349778] [ 0. 0. 0. 1. ]] SLAMing on 48.239999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:47.00, Y:-13.74, Z:7.13 [[ 8.57948948e-01 4.67291161e-01 -2.13453915e-01 4.70026013e+01] [-4.55459575e-01 8.84072906e-01 1.04745756e-01 -1.37435431e+01] [ 2.37655588e-01 7.35311839e-03 9.71321653e-01 7.13407226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.269999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:47.01, Y:-13.79, Z:7.20 [[ 0.84973195 0.4895864 -0.19560361 47.00730871] [ -0.46237751 0.87029749 0.16967413 -13.78710705] [ 0.25330348 -0.05373482 0.96589333 7.19916895] [ 0. 0. 0. 1. ]] SLAMing on 48.3 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:47.07, Y:-13.75, Z:7.13 [[ 0.85640764 0.45697996 -0.24028167 47.07416971] [ -0.45782858 0.887293 0.05571472 -13.75394044] [ 0.23866075 0.0622933 0.96910298 7.12627731] [ 0. 0. 0. 1. ]] SLAMing on 48.33 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:47.06, Y:-13.82, Z:7.21 [[ 0.84736725 0.49299755 -0.19728702 47.06205568] [ -0.46570149 0.86846663 0.16996419 -13.81715054] [ 0.25512913 -0.05214523 0.96549987 7.2143455 ] [ 0. 0. 0. 1. ]] SLAMing on 48.36 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:47.11, Y:-13.82, Z:7.20 [[ 8.46837058e-01 4.81775952e-01 -2.25297424e-01 4.71065809e+01] [-4.66594767e-01 8.76287566e-01 1.20039265e-01 -1.38158911e+01] [ 2.55257362e-01 3.46890070e-03 9.66866922e-01 7.19797502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:47.13, Y:-13.83, Z:7.21 [[ 8.46237735e-01 4.82499964e-01 -2.25998850e-01 4.71346813e+01] [-4.67226383e-01 8.75888485e-01 1.20494269e-01 -1.38306188e+01] [ 2.56088271e-01 3.62582798e-03 9.66646601e-01 7.20547850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:-13.85, Z:7.22 [[ 8.45736082e-01 4.83477969e-01 -2.25786475e-01 4.71626461e+01] [-4.68246502e-01 8.75348084e-01 1.20461385e-01 -1.38456746e+01] [ 2.55882184e-01 3.84518696e-03 9.66700327e-01 7.21580534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:47.19, Y:-13.86, Z:7.22 [[ 8.45325572e-01 4.83825199e-01 -2.26578583e-01 4.71901433e+01] [-4.68475508e-01 8.75156006e-01 1.20965545e-01 -1.38601424e+01] [ 2.56817787e-01 3.89124778e-03 9.66452007e-01 7.22116055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:47.22, Y:-13.88, Z:7.23 [[ 8.45130278e-01 4.83940766e-01 -2.27059788e-01 4.72178218e+01] [-4.68508555e-01 8.75092216e-01 1.21298588e-01 -1.38752778e+01] [ 2.57399585e-01 3.86634362e-03 9.66297317e-01 7.22894310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:47.25, Y:-13.89, Z:7.24 [[ 8.44914778e-01 4.84096060e-01 -2.27530267e-01 4.72460483e+01] [-4.68581834e-01 8.75006407e-01 1.21634094e-01 -1.38907647e+01] [ 2.57973027e-01 3.84610615e-03 9.66144464e-01 7.23681703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:47.27, Y:-13.91, Z:7.25 [[ 8.45095518e-01 4.84143257e-01 -2.26757298e-01 4.72721804e+01] [-4.68714971e-01 8.74980628e-01 1.21306127e-01 -1.39056972e+01] [ 2.57137786e-01 3.76927570e-03 9.66367400e-01 7.24628477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:47.30, Y:-13.92, Z:7.25 [[ 8.45207883e-01 4.84075570e-01 -2.26482840e-01 4.72999441e+01] [-4.68661753e-01 8.75018491e-01 1.21238619e-01 -1.39213077e+01] [ 2.56865326e-01 3.67200839e-03 9.66440231e-01 7.25387918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.6 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:47.33, Y:-13.94, Z:7.26 [[ 8.45473659e-01 4.83741447e-01 -2.26204565e-01 4.73280634e+01] [-4.68333636e-01 8.75203975e-01 1.21167686e-01 -1.39368607e+01] [ 2.56588965e-01 3.49511976e-03 9.66514297e-01 7.26163334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629999999999995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:47.35, Y:-13.96, Z:7.28 [[ 8.46938284e-01 4.85912960e-01 -2.15833590e-01 4.73523603e+01] [-4.67353002e-01 8.73921195e-01 1.33577380e-01 -1.39578533e+01] [ 2.53528529e-01 -1.22613210e-02 9.67250198e-01 7.27740300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:-13.96, Z:7.27 [[ 8.45442746e-01 4.78706634e-01 -2.36783704e-01 4.73864436e+01] [-4.68077147e-01 8.77655329e-01 1.03077194e-01 -1.39607112e+01] [ 2.57158217e-01 2.36871748e-02 9.66078966e-01 7.27174537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:47.40, Y:-13.98, Z:7.29 [[ 8.46336358e-01 4.83971863e-01 -2.22454502e-01 4.74031726e+01] [-4.67300687e-01 8.75079543e-01 1.25959761e-01 -1.39818195e+01] [ 2.55626364e-01 -2.65118342e-03 9.66772017e-01 7.29011194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:47.43, Y:-14.00, Z:7.29 [[ 8.46755923e-01 4.81859913e-01 -2.25422782e-01 4.74335504e+01] [-4.66410116e-01 8.76244336e-01 1.21068026e-01 -1.39955462e+01] [ 2.55863264e-01 2.62439790e-03 9.66709420e-01 7.29426394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:-14.01, Z:7.30 [[ 8.46450347e-01 4.80603277e-01 -2.29221071e-01 4.74611942e+01] [-4.66755385e-01 8.76884562e-01 1.14947272e-01 -1.40073716e+01] [ 2.56244454e-01 9.69301076e-03 9.66563410e-01 7.30121045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:47.49, Y:-14.03, Z:7.31 [[ 8.47375173e-01 4.82629182e-01 -2.21414517e-01 4.74859434e+01] [-4.65750492e-01 8.75814993e-01 1.26588221e-01 -1.40267094e+01] [ 2.55013323e-01 -4.14379550e-03 9.66928660e-01 7.31358957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:-14.04, Z:7.32 [[ 8.47136016e-01 4.81649088e-01 -2.24443150e-01 4.75147739e+01] [-4.66277314e-01 8.76360954e-01 1.20735020e-01 -1.40392284e+01] [ 2.54845125e-01 2.37376496e-03 9.66978969e-01 7.32102973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.839999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:47.54, Y:-14.05, Z:7.33 [[ 8.46813876e-01 4.81758141e-01 -2.25422608e-01 4.75429106e+01] [-4.66232535e-01 8.76301084e-01 1.21340984e-01 -1.40545118e+01] [ 2.55995082e-01 2.34612509e-03 9.66675237e-01 7.32840828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:47.58, Y:-14.05, Z:7.30 [[ 8.52339227e-01 4.66458115e-01 -2.36505116e-01 4.75829416e+01] [-4.60692003e-01 8.83704273e-01 8.26416113e-02 -1.40470636e+01] [ 2.47549432e-01 3.85173284e-02 9.68109340e-01 7.29896123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.9 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:47.60, Y:-14.07, Z:7.32 [[ 8.51502537e-01 4.75257262e-01 -2.21526440e-01 4.76004169e+01] [-4.61908639e-01 8.79819785e-01 1.12060502e-01 -1.40730971e+01] [ 2.48160912e-01 6.90517460e-03 9.68694214e-01 7.32363186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:47.61, Y:-14.11, Z:7.37 [[ 8.45302272e-01 4.90406003e-01 -2.12051930e-01 4.76137106e+01] [-4.67025166e-01 8.70979393e-01 1.52585685e-01 -1.41081179e+01] [ 2.59521797e-01 -2.99474381e-02 9.65272805e-01 7.36808560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:-14.09, Z:7.32 [[ 8.51820171e-01 4.66605675e-01 -2.38078853e-01 4.76658685e+01] [-4.61881195e-01 8.83429552e-01 7.88542282e-02 -1.40889192e+01] [ 2.47119725e-01 4.27945229e-02 9.68039498e-01 7.32286274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:47.67, Y:-14.14, Z:7.39 [[ 8.45345039e-01 4.91099574e-01 -2.10268813e-01 4.76664409e+01] [-4.66695465e-01 8.70426803e-01 1.56692449e-01 -1.41382644e+01] [ 2.59975205e-01 -3.43276826e-02 9.65004924e-01 7.38676569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.019999999999996 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:47.71, Y:-14.14, Z:7.38 [[ 8.45225935e-01 4.83030159e-01 -2.28637233e-01 4.77053662e+01] [-4.66914481e-01 8.75601054e-01 1.23748379e-01 -1.41422773e+01] [ 2.59969201e-01 2.15869596e-03 9.65614496e-01 7.37735808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:47.75, Y:-14.13, Z:7.34 [[ 0.85311402 0.46361175 -0.2392919 47.74932236] [ -0.46072008 0.88466577 0.07143862 -14.12950894] [ 0.24481314 0.04930129 0.96831602 7.34310997] [ 0. 0. 0. 1. ]] SLAMing on 49.08 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:47.76, Y:-14.16, Z:7.37 [[ 8.52261833e-01 4.75370887e-01 -2.18339846e-01 4.77635479e+01] [-4.62312798e-01 8.79761679e-01 1.10843425e-01 -1.41592817e+01] [ 2.44778766e-01 6.47368423e-03 9.69557346e-01 7.37082838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:47.79, Y:-14.17, Z:7.38 [[ 8.51081335e-01 4.76926805e-01 -2.19548136e-01 4.77912344e+01] [-4.63895875e-01 8.78911846e-01 1.10971099e-01 -1.41732239e+01] [ 2.45888549e-01 7.40204311e-03 9.69269844e-01 7.37883117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:47.82, Y:-14.18, Z:7.38 [[ 8.49820305e-01 4.77903293e-01 -2.22292356e-01 4.78214959e+01] [-4.66200311e-01 8.78307717e-01 1.05985023e-01 -1.41840541e+01] [ 2.45891684e-01 1.35645413e-02 9.69202395e-01 7.38312691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:47.83, Y:-14.23, Z:7.44 [[ 8.40690105e-01 5.00763311e-01 -2.06097682e-01 4.78272885e+01] [-4.73323398e-01 8.64413425e-01 1.69571203e-01 -1.42274601e+01] [ 2.63068640e-01 -4.50059769e-02 9.63726804e-01 7.44275611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.199999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:47.87, Y:-14.23, Z:7.43 [[ 8.39609543e-01 4.91819875e-01 -2.30584098e-01 4.78699577e+01] [-4.75538923e-01 8.70686725e-01 1.25568149e-01 -1.42272644e+01] [ 2.62523424e-01 4.22349717e-03 9.64916377e-01 7.42958983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:-14.21, Z:7.39 [[ 0.84624628 0.47230108 -0.24657437 47.91901049] [ -0.47248437 0.87913022 0.0623585 -14.20828266] [ 0.24622296 0.06373189 0.96711556 7.38709629] [ 0. 0. 0. 1. ]] SLAMing on 49.26 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:47.91, Y:-14.27, Z:7.47 [[ 8.36217713e-01 5.08062156e-01 -2.06428635e-01 4.79080423e+01] [-4.79329199e-01 8.60017107e-01 1.74968839e-01 -1.42703026e+01] [ 2.66427203e-01 -4.73647704e-02 9.62690565e-01 7.47113389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:47.98, Y:-14.24, Z:7.40 [[ 0.84440034 0.47338151 -0.25079477 47.97526768] [ -0.47455503 0.87819025 0.05982818 -14.23503561] [ 0.24856708 0.06849699 0.96618972 7.40087143] [ 0. 0. 0. 1. ]] SLAMing on 49.32 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:47.99, Y:-14.27, Z:7.43 [[ 8.41949427e-01 4.89193507e-01 -2.27620023e-01 4.79874143e+01] [-4.77245580e-01 8.72009026e-01 1.08797593e-01 -1.42687547e+01] [ 2.51709791e-01 1.70285790e-02 9.67652938e-01 7.43356964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:47.99, Y:-14.32, Z:7.50 [[ 0.83137706 0.51599514 -0.20630365 47.98702022] [ -0.48445036 0.85485239 0.18583659 -14.3150688 ] [ 0.27224995 -0.0545564 0.9606787 7.50476411] [ 0. 0. 0. 1. ]] SLAMing on 49.379999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.06, Y:-14.28, Z:7.43 [[ 0.84043114 0.47919541 -0.25307561 48.05581394] [ -0.47927062 0.87521165 0.06560669 -14.28116308] [ 0.25293315 0.0661538 0.9652194 7.43249157] [ 0. 0. 0. 1. ]] SLAMing on 49.41 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.04, Y:-14.34, Z:7.52 [[ 0.83135321 0.51433728 -0.21049704 48.04140741] [ -0.48383887 0.85620036 0.18116535 -14.34320379] [ 0.27340773 -0.04876575 0.96066129 7.51883823] [ 0. 0. 0. 1. ]] SLAMing on 49.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:-14.34, Z:7.50 [[ 8.32352635e-01 5.00680512e-01 -2.37714357e-01 4.80845818e+01] [-4.83293501e-01 8.65612018e-01 1.30932142e-01 -1.43432423e+01] [ 2.71323577e-01 5.90409029e-03 9.62470082e-01 7.50359598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:48.12, Y:-14.35, Z:7.49 [[ 8.34992364e-01 4.90859868e-01 -2.48685226e-01 4.81209568e+01] [-4.81565282e-01 8.70530018e-01 1.01352688e-01 -1.43477509e+01] [ 2.66237921e-01 3.51294501e-02 9.63266988e-01 7.48747138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.5 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.12, Y:-14.38, Z:7.53 [[ 8.33833980e-01 5.05134327e-01 -2.22621216e-01 4.81234856e+01] [-4.80725748e-01 8.62711199e-01 1.56946304e-01 -1.43796784e+01] [ 2.71336782e-01 -2.38474110e-02 9.62188990e-01 7.53231802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:48.16, Y:-14.39, Z:7.53 [[ 8.34938505e-01 4.96360410e-01 -2.37705775e-01 4.81604568e+01] [-4.78795958e-01 8.68105007e-01 1.30950862e-01 -1.43866898e+01] [ 2.71352397e-01 4.47664772e-03 9.62469655e-01 7.52618141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.559999999999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:48.19, Y:-14.40, Z:7.53 [[ 8.35314131e-01 4.95813121e-01 -2.37528210e-01 4.81887487e+01] [-4.78228015e-01 8.68419022e-01 1.30944140e-01 -1.44021770e+01] [ 2.71197839e-01 4.21315401e-03 9.62514406e-01 7.53456206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.589999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:-14.42, Z:7.55 [[ 8.35379303e-01 4.95712906e-01 -2.37508176e-01 4.82160549e+01] [-4.78101346e-01 8.68476779e-01 1.31023613e-01 -1.44174137e+01] [ 2.71220432e-01 4.09856414e-03 9.62508535e-01 7.54530006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.24, Y:-14.43, Z:7.55 [[ 8.35342905e-01 4.95513220e-01 -2.38052261e-01 4.82438739e+01] [-4.77785736e-01 8.68591362e-01 1.31414747e-01 -1.44330016e+01] [ 2.71887882e-01 3.96159861e-03 9.62320781e-01 7.55288509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:48.27, Y:-14.45, Z:7.56 [[ 8.35128182e-01 4.95501730e-01 -2.38828297e-01 4.82714039e+01] [-4.77630161e-01 8.68598241e-01 1.31933790e-01 -1.44486095e+01] [ 2.72819260e-01 3.88997189e-03 9.62057441e-01 7.56045207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:48.30, Y:-14.46, Z:7.57 [[ 8.35319751e-01 4.94960866e-01 -2.39279450e-01 4.82988131e+01] [-4.76972921e-01 8.68907647e-01 1.32273706e-01 -1.44649652e+01] [ 2.73382052e-01 3.63897899e-03 9.61898649e-01 7.56757536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:-14.48, Z:7.58 [[ 8.35028521e-01 4.95357883e-01 -2.39474293e-01 4.83257647e+01] [-4.77330089e-01 8.68681158e-01 1.32472760e-01 -1.44806997e+01] [ 2.73648232e-01 3.68975264e-03 9.61822765e-01 7.57897552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.739999999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:48.35, Y:-14.50, Z:7.59 [[ 8.35163646e-01 4.95100740e-01 -2.39534843e-01 4.83528602e+01] [-4.77027318e-01 8.68828429e-01 1.32597510e-01 -1.44962791e+01] [ 2.73763806e-01 3.52404319e-03 9.61790497e-01 7.58556033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.769999999999996 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:48.38, Y:-14.51, Z:7.59 [[ 8.34974707e-01 4.95424856e-01 -2.39523383e-01 4.83802702e+01] [-4.77341968e-01 8.68643533e-01 1.32676513e-01 -1.45120445e+01] [ 2.73791681e-01 3.55303073e-03 9.61782455e-01 7.59492448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.8 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:48.41, Y:-14.53, Z:7.61 [[ 8.34820050e-01 4.95829895e-01 -2.39224161e-01 4.84072286e+01] [-4.77783511e-01 8.68412208e-01 1.32601486e-01 -1.45279612e+01] [ 2.73492963e-01 3.59898001e-03 9.61867271e-01 7.60518183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:48.43, Y:-14.54, Z:7.61 [[ 8.34861218e-01 4.95869958e-01 -2.38997346e-01 4.84337279e+01] [-4.77834059e-01 8.68389632e-01 1.32567186e-01 -1.45434263e+01] [ 2.73278902e-01 3.52586879e-03 9.61928381e-01 7.61274989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:48.46, Y:-14.56, Z:7.62 [[ 8.34801231e-01 4.95988136e-01 -2.38961659e-01 4.84618740e+01] [-4.77938581e-01 8.68322292e-01 1.32631484e-01 -1.45591874e+01] [ 2.73279378e-01 3.48807025e-03 9.61928383e-01 7.62160502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:-14.58, Z:7.63 [[ 8.34799247e-01 4.96569224e-01 -2.37758752e-01 4.84887260e+01] [-4.78715975e-01 8.67989567e-01 1.32004269e-01 -1.45754688e+01] [ 2.71921373e-01 3.62184825e-03 9.62312657e-01 7.63272141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:48.52, Y:-14.59, Z:7.64 [[ 8.35052070e-01 4.96362345e-01 -2.37302473e-01 4.85155339e+01] [-4.78545363e-01 8.68108523e-01 1.31840542e-01 -1.45908971e+01] [ 2.71444980e-01 3.46628018e-03 9.62447717e-01 7.63940291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:48.54, Y:-14.61, Z:7.65 [[ 8.35340685e-01 4.96201621e-01 -2.36621831e-01 4.85423302e+01] [-4.78458835e-01 8.68200941e-01 1.31545694e-01 -1.46061507e+01] [ 2.70708483e-01 3.32833581e-03 9.62655618e-01 7.64734175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:-14.62, Z:7.66 [[ 8.35043772e-01 4.96873079e-01 -2.36260538e-01 4.85689065e+01] [-4.79188804e-01 8.67816298e-01 1.31426645e-01 -1.46220286e+01] [ 2.70333108e-01 3.46640305e-03 9.62760611e-01 7.65878477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.60, Y:-14.64, Z:7.67 [[ 8.35011000e-01 4.96721153e-01 -2.36695430e-01 4.85955742e+01] [-4.78939083e-01 8.67903753e-01 1.31758987e-01 -1.46382696e+01] [ 2.70876328e-01 3.34248838e-03 9.62608354e-01 7.66783262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:48.62, Y:-14.65, Z:7.67 [[ 8.35025838e-01 4.96557378e-01 -2.36986542e-01 4.86223457e+01] [-4.78698416e-01 8.67997961e-01 1.32012751e-01 -1.46539017e+01] [ 2.71255741e-01 3.21102404e-03 9.62501954e-01 7.67386712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:48.65, Y:-14.67, Z:7.68 [[ 8.34721200e-01 4.96703596e-01 -2.37752088e-01 4.86499260e+01] [-4.78716046e-01 8.67914276e-01 1.32498140e-01 -1.46700668e+01] [ 2.72160734e-01 3.21673343e-03 9.62246428e-01 7.68158065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.69, Y:-14.66, Z:7.66 [[ 8.40663772e-01 4.80829298e-01 -2.49173853e-01 4.86927897e+01] [-4.74903204e-01 8.75672349e-01 8.75493223e-02 -1.46639673e+01] [ 2.60290932e-01 4.47339177e-02 9.64493394e-01 7.65520651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:-14.69, Z:7.68 [[ 8.39821455e-01 4.91453853e-01 -2.30592787e-01 4.87078249e+01] [-4.75831787e-01 8.70880473e-01 1.23090669e-01 -1.46924608e+01] [ 2.61312139e-01 6.34919301e-03 9.65233471e-01 7.68189693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:-14.71, Z:7.69 [[ 8.38648349e-01 4.93957213e-01 -2.29510826e-01 4.87332783e+01] [-4.77120856e-01 8.69483290e-01 1.27884705e-01 -1.47085121e+01] [ 2.62725401e-01 2.25410490e-03 9.64868013e-01 7.69341804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:48.75, Y:-14.74, Z:7.73 [[ 8.32685888e-01 5.07853287e-01 -2.20724379e-01 4.87458709e+01] [-4.81378131e-01 8.60887551e-01 1.64765652e-01 -1.47399267e+01] [ 2.73695648e-01 -3.09461438e-02 9.61318380e-01 7.73405790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:-14.73, Z:7.69 [[ 8.38217689e-01 4.85654866e-01 -2.48053336e-01 4.87967870e+01] [-4.78044452e-01 8.73256811e-01 9.43188445e-02 -1.47257504e+01] [ 2.62420671e-01 3.95207971e-02 9.64143920e-01 7.69464135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:-14.77, Z:7.75 [[ 8.31790516e-01 5.08755424e-01 -2.22019043e-01 4.87981301e+01] [-4.82836966e-01 8.60449271e-01 1.62774436e-01 -1.47694846e+01] [ 2.73848501e-01 -2.81952308e-02 9.61359468e-01 7.75291738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:48.83, Y:-14.78, Z:7.75 [[ 8.31990016e-01 5.01166713e-01 -2.37959112e-01 4.88347450e+01] [-4.83127269e-01 8.65341280e-01 1.33313582e-01 -1.47753103e+01] [ 2.72728172e-01 4.04896694e-03 9.62082611e-01 7.74580718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309999999999995 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:48.86, Y:-14.79, Z:7.75 [[ 8.32195252e-01 5.00960346e-01 -2.37675816e-01 4.88634397e+01] [-4.82932362e-01 8.65461450e-01 1.33239677e-01 -1.47909878e+01] [ 2.72447051e-01 3.89991633e-03 9.62162873e-01 7.75207209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.339999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.90, Y:-14.78, Z:7.73 [[ 8.38437887e-01 4.85604128e-01 -2.47407639e-01 4.89031769e+01] [-4.78388096e-01 8.73236106e-01 9.27552345e-02 -1.47849281e+01] [ 2.61087608e-01 4.05873666e-02 9.64461470e-01 7.72866782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:48.91, Y:-14.83, Z:7.78 [[ 8.31938724e-01 5.08640950e-01 -2.21725831e-01 4.89060411e+01] [-4.82488211e-01 8.60485566e-01 1.63614537e-01 -1.48307412e+01] [ 2.74012930e-01 -2.91371692e-02 9.61284526e-01 7.78463895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.4 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:48.94, Y:-14.84, Z:7.78 [[ 8.31752903e-01 5.01178317e-01 -2.38762229e-01 4.89431295e+01] [-4.82909597e-01 8.65335976e-01 1.34134151e-01 -1.48362172e+01] [ 2.73834675e-01 3.73410284e-03 9.61769529e-01 7.77827920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:48.97, Y:-14.85, Z:7.79 [[ 8.31530002e-01 5.01604296e-01 -2.38644058e-01 4.89707029e+01] [-4.83347302e-01 8.65088848e-01 1.34151671e-01 -1.48519802e+01] [ 2.73739367e-01 3.79682241e-03 9.61796414e-01 7.78759561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:49.01, Y:-14.84, Z:7.75 [[ 0.83923468 0.48209848 -0.25152776 49.01485545] [ -0.47732707 0.87470979 0.08391455 -14.84098404] [ 0.26046887 0.04963701 0.96420544 7.75387887] [ 0. 0. 0. 1. ]] SLAMing on 50.489999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:49.01, Y:-14.89, Z:7.82 [[ 8.31050553e-01 5.11529288e-01 -2.18386733e-01 4.90109456e+01] [-4.83332199e-01 8.58469203e-01 1.71524378e-01 -1.48943590e+01] [ 2.75218028e-01 -3.69920895e-02 9.60669882e-01 7.82432328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.519999999999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.06, Y:-14.88, Z:7.78 [[ 8.37413943e-01 4.86503554e-01 -2.49102749e-01 4.90644821e+01] [-4.79333503e-01 8.72691329e-01 9.30012778e-02 -1.48762161e+01] [ 2.62635261e-01 4.15227267e-02 9.64001340e-01 7.78017321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:49.07, Y:-14.92, Z:7.84 [[ 8.30297641e-01 5.10703363e-01 -2.23132028e-01 4.90662165e+01] [-4.83979494e-01 8.59247594e-01 1.65702808e-01 -1.49226964e+01] [ 2.76350640e-01 -2.95913248e-02 9.60601206e-01 7.83842137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:49.10, Y:-14.93, Z:7.83 [[ 8.29842467e-01 5.03384647e-01 -2.40759999e-01 4.91044926e+01] [-4.84736687e-01 8.64053134e-01 1.35803263e-01 -1.49288779e+01] [ 2.76390709e-01 4.00988958e-03 9.61036990e-01 7.83121475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:49.15, Y:-14.92, Z:7.80 [[ 8.37113094e-01 4.84480267e-01 -2.54008936e-01 4.91484526e+01] [-4.78984405e-01 8.73458162e-01 8.74344276e-02 -1.49179840e+01] [ 2.64226433e-01 4.84738148e-02 9.63241756e-01 7.79693469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:-14.97, Z:7.87 [[ 8.29935598e-01 5.12273479e-01 -2.20868254e-01 4.91453546e+01] [-4.84667136e-01 8.58172706e-01 1.69225806e-01 -1.49681468e+01] [ 2.76232999e-01 -3.33989369e-02 9.60510198e-01 7.86607954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:-14.95, Z:7.82 [[ 8.35467039e-01 4.89004449e-01 -2.50737863e-01 4.91976571e+01] [-4.81265637e-01 8.71331673e-01 9.57314049e-02 -1.49534987e+01] [ 2.65288925e-01 4.06910840e-02 9.63309930e-01 7.82376611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.699999999999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:49.20, Y:-15.00, Z:7.88 [[ 8.29096666e-01 5.12627783e-01 -2.23184844e-01 4.91972707e+01] [-4.85300791e-01 8.58051365e-01 1.68020823e-01 -1.49986283e+01] [ 2.77636202e-01 -3.09937226e-02 9.60186195e-01 7.88441845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.25, Y:-14.99, Z:7.84 [[ 8.34335300e-01 4.90884268e-01 -2.50833097e-01 4.92481199e+01] [-4.81787006e-01 8.70454602e-01 1.00945864e-01 -1.49862951e+01] [ 2.67891560e-01 3.66254288e-02 9.62752663e-01 7.84491339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:49.25, Y:-15.03, Z:7.90 [[ 8.29368069e-01 5.11239186e-01 -2.25351063e-01 4.92517602e+01] [-4.85383741e-01 8.59062766e-01 1.62523191e-01 -1.50285351e+01] [ 2.76678931e-01 -2.54098028e-02 9.60626416e-01 7.89993833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:49.30, Y:-15.02, Z:7.86 [[ 8.35272780e-01 4.89083048e-01 -2.51231279e-01 4.93019402e+01] [-4.80988825e-01 8.71332058e-01 9.71091904e-02 -1.50155483e+01] [ 2.66400326e-01 3.97267742e-02 9.63043431e-01 7.85994533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.30, Y:-15.06, Z:7.92 [[ 8.29123705e-01 5.12011464e-01 -2.24495307e-01 4.93034190e+01] [-4.85321606e-01 8.58510726e-01 1.65596716e-01 -1.50602313e+01] [ 2.77519046e-01 -2.83477399e-02 9.60301820e-01 7.91818534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.34, Y:-15.07, Z:7.91 [[ 8.28901552e-01 5.04461219e-01 -2.41745934e-01 4.93406739e+01] [-4.85472165e-01 8.63426538e-01 1.37154624e-01 -1.50666316e+01] [ 2.77919043e-01 3.67324136e-03 9.60597477e-01 7.91154804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.879999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:49.37, Y:-15.08, Z:7.92 [[ 8.28517381e-01 5.04852635e-01 -2.42245261e-01 4.93674096e+01] [-4.85772332e-01 8.63197499e-01 1.37532976e-01 -1.50819917e+01] [ 2.78539389e-01 3.72758456e-03 9.60417573e-01 7.91951321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:49.41, Y:-15.08, Z:7.90 [[ 8.32994993e-01 4.92994985e-01 -2.51147935e-01 4.94052376e+01] [-4.82491439e-01 8.69421370e-01 1.06341398e-01 -1.50809457e+01] [ 2.70779158e-01 3.25948759e-02 9.62089508e-01 7.90121895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:49.42, Y:-15.11, Z:7.93 [[ 8.31669099e-01 5.01971416e-01 -2.37384095e-01 4.94218520e+01] [-4.83421419e-01 8.64881156e-01 1.35219516e-01 -1.51077545e+01] [ 2.73185362e-01 2.29866282e-03 9.61958666e-01 7.92529175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.45, Y:-15.12, Z:7.93 [[ 8.32373973e-01 4.99425148e-01 -2.40266708e-01 4.94513198e+01] [-4.83327803e-01 8.66286791e-01 1.26259379e-01 -1.51191067e+01] [ 2.71196984e-01 1.10325596e-02 9.62460637e-01 7.92952076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.0 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.48, Y:-15.14, Z:7.94 [[ 8.31748586e-01 5.00845152e-01 -2.39475308e-01 4.94772753e+01] [-4.83878442e-01 8.65498501e-01 1.29514473e-01 -1.51359976e+01] [ 2.72132216e-01 8.15345896e-03 9.62225326e-01 7.94028457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.49, Y:-15.17, Z:7.98 [[ 8.26916850e-01 5.13382069e-01 -2.29450157e-01 4.94916248e+01] [-4.87367264e-01 8.57853504e-01 1.62973973e-01 -1.51667757e+01] [ 2.80502536e-01 -2.29394288e-02 9.59579132e-01 7.97780379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.059999999999995 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:49.53, Y:-15.17, Z:7.97 [[ 8.26700107e-01 5.07496874e-01 -2.42927677e-01 4.95273759e+01] [-4.88189816e-01 8.61644649e-01 1.38705450e-01 -1.51743476e+01] [ 2.79709915e-01 3.92700791e-03 9.60076529e-01 7.97299290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.089999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.55, Y:-15.19, Z:7.99 [[ 8.26677232e-01 5.07793166e-01 -2.42385756e-01 4.95545023e+01] [-4.88561285e-01 8.61470008e-01 1.38482114e-01 -1.51897223e+01] [ 2.79128330e-01 3.94028555e-03 9.60245724e-01 7.98539385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:49.58, Y:-15.21, Z:7.99 [[ 8.26498740e-01 5.07967012e-01 -2.42630063e-01 4.95820933e+01] [-4.88675461e-01 8.61367609e-01 1.38716025e-01 -1.52058138e+01] [ 2.79456842e-01 3.91873774e-03 9.60150258e-01 7.99169673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.62, Y:-15.21, Z:7.97 [[ 8.31019303e-01 4.95972788e-01 -2.51829132e-01 4.96218603e+01] [-4.86114726e-01 8.67612381e-01 1.04600332e-01 -1.52058637e+01] [ 2.70368991e-01 3.54929545e-02 9.62102312e-01 7.97289273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.63, Y:-15.24, Z:8.03 [[ 8.25957225e-01 5.16003334e-01 -2.27013704e-01 4.96255994e+01] [-4.89619565e-01 8.56222924e-01 1.64787701e-01 -1.52441974e+01] [ 2.79405340e-01 -2.49572412e-02 9.59848838e-01 8.02605688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:49.66, Y:-15.25, Z:8.02 [[ 8.25771860e-01 5.09192066e-01 -2.42537161e-01 4.96628732e+01] [-4.89891264e-01 8.60643162e-01 1.38924069e-01 -1.52520586e+01] [ 2.79476983e-01 4.09724953e-03 9.60143650e-01 8.01855714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.239999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:49.69, Y:-15.27, Z:8.03 [[ 8.25597352e-01 5.09509140e-01 -2.42465354e-01 4.96897163e+01] [-4.90206138e-01 8.60455383e-01 1.38976529e-01 -1.52673538e+01] [ 2.79440431e-01 4.11935031e-03 9.60154194e-01 8.02837646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.269999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:49.72, Y:-15.28, Z:8.04 [[ 8.25494668e-01 5.09354430e-01 -2.43139092e-01 4.97177106e+01] [-4.89907768e-01 8.60547563e-01 1.39457060e-01 -1.52834459e+01] [ 2.80265824e-01 3.99467077e-03 9.59914116e-01 8.03655647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.3 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:49.76, Y:-15.28, Z:8.01 [[ 8.31431113e-01 4.92816915e-01 -2.56619939e-01 4.97615906e+01] [-4.85904759e-01 8.68903472e-01 9.43574135e-02 -1.52778149e+01] [ 2.69478885e-01 4.62411603e-02 9.61895465e-01 8.00728251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:49.76, Y:-15.33, Z:8.07 [[ 8.25117227e-01 5.18715994e-01 -2.23864421e-01 4.97580916e+01] [-4.89494749e-01 8.54231897e-01 1.75164942e-01 -1.53251594e+01] [ 2.82092986e-01 -3.49511523e-02 9.58750209e-01 8.07275061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:-15.33, Z:8.07 [[ 8.25270785e-01 5.09522840e-01 -2.43545902e-01 4.97968801e+01] [-4.89941261e-01 8.60448619e-01 1.39949041e-01 -1.53301158e+01] [ 2.80865968e-01 3.82733176e-03 9.59739371e-01 8.06705737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:49.82, Y:-15.35, Z:8.07 [[ 8.25534970e-01 5.08903969e-01 -2.43944179e-01 4.98240824e+01] [-4.89202523e-01 8.60816029e-01 1.40273501e-01 -1.53459006e+01] [ 2.81376801e-01 3.53742722e-03 9.59590841e-01 8.07344063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.419999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:49.87, Y:-15.34, Z:8.05 [[ 8.32171548e-01 4.92560701e-01 -2.54704675e-01 4.98664228e+01] [-4.84645366e-01 8.69252053e-01 9.75691393e-02 -1.53422925e+01] [ 2.69461285e-01 4.22471790e-02 9.62084088e-01 8.04802888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.449999999999996 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:49.87, Y:-15.39, Z:8.11 [[ 8.26521849e-01 5.16217205e-01 -2.24458081e-01 4.98651380e+01] [-4.87625343e-01 8.55812227e-01 1.72646913e-01 -1.53869540e+01] [ 2.81217277e-01 -3.32449966e-02 9.59068096e-01 8.10825783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:49.92, Y:-15.37, Z:8.06 [[ 8.32783009e-01 4.90299603e-01 -2.57057889e-01 4.99214205e+01] [-4.83569669e-01 8.70310511e-01 9.33808870e-02 -1.53708746e+01] [ 2.69504795e-01 4.65393826e-02 9.61873823e-01 8.06049976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:49.92, Y:-15.42, Z:8.13 [[ 8.26829563e-01 5.16480681e-01 -2.22711874e-01 4.99163802e+01] [-4.86788420e-01 8.55470754e-01 1.76654530e-01 -1.54189743e+01] [ 2.81762147e-01 -3.76496269e-02 9.58745325e-01 8.12865549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:-15.42, Z:8.12 [[ 8.26464239e-01 5.07753261e-01 -2.43194342e-01 4.99554816e+01] [-4.88008638e-01 8.61498075e-01 1.40244915e-01 -1.54229954e+01] [ 2.80721270e-01 2.77353303e-03 9.59785328e-01 8.12222146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:49.98, Y:-15.44, Z:8.13 [[ 8.26696831e-01 5.07278321e-01 -2.43394853e-01 4.99827610e+01] [-4.87451916e-01 8.61778578e-01 1.40457510e-01 -1.54382064e+01] [ 2.81003520e-01 2.52750955e-03 9.59703409e-01 8.12843230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.6 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:50.03, Y:-15.43, Z:8.10 [[ 8.33649049e-01 4.89253570e-01 -2.56242476e-01 5.00280292e+01] [-4.82962006e-01 8.70848139e-01 9.14943685e-02 -1.54302334e+01] [ 2.67912230e-01 4.74811871e-02 9.62272609e-01 8.09732222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:-15.48, Z:8.17 [[ 8.26257672e-01 5.17767647e-01 -2.21844369e-01 5.00217270e+01] [-4.87811861e-01 8.54645064e-01 1.77824081e-01 -1.54783638e+01] [ 2.81669751e-01 -3.87101965e-02 9.58730240e-01 8.16808601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:50.06, Y:-15.48, Z:8.15 [[ 8.26320641e-01 5.07631401e-01 -2.43935562e-01 5.00633806e+01] [-4.87645882e-01 8.61571017e-01 1.41056288e-01 -1.54830592e+01] [ 2.81772411e-01 2.39644970e-03 9.59478278e-01 8.15457861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.09, Y:-15.50, Z:8.16 [[ 8.26035472e-01 5.08025935e-01 -2.44080006e-01 5.00893553e+01] [-4.88004772e-01 8.61338300e-01 1.41236243e-01 -1.54983517e+01] [ 2.81987132e-01 2.44606113e-03 9.59415069e-01 8.16405036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:-15.51, Z:8.18 [[ 8.25719006e-01 5.08762584e-01 -2.43616002e-01 5.01159083e+01] [-4.88824107e-01 8.60902906e-01 1.41057363e-01 -1.55140788e+01] [ 2.81494432e-01 2.61162898e-03 9.59559307e-01 8.17642055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:-15.53, Z:8.19 [[ 8.25620040e-01 5.08942857e-01 -2.43574870e-01 5.01436514e+01] [-4.88991120e-01 8.60796418e-01 1.41128355e-01 -1.55302853e+01] [ 2.81494644e-01 2.58755070e-03 9.59559310e-01 8.18562397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.17, Y:-15.55, Z:8.19 [[ 8.25798280e-01 5.08551575e-01 -2.43787810e-01 5.01710605e+01] [-4.88528193e-01 8.61028193e-01 1.41317573e-01 -1.55459260e+01] [ 2.81775452e-01 2.39741004e-03 9.59477382e-01 8.19190346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809999999999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:50.20, Y:-15.56, Z:8.20 [[ 8.25428911e-01 5.09356045e-01 -2.43358855e-01 5.01978779e+01] [-4.89421096e-01 8.60551911e-01 1.41129015e-01 -1.55616056e+01] [ 2.81307844e-01 2.61298808e-03 9.59614021e-01 8.20246312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.839999999999996 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:50.23, Y:-15.58, Z:8.21 [[ 8.25312987e-01 5.09409138e-01 -2.43640726e-01 5.02252024e+01] [-4.89401056e-01 8.60520678e-01 1.41388716e-01 -1.55769811e+01] [ 2.81682587e-01 2.54808484e-03 9.59504261e-01 8.20971261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:50.25, Y:-15.59, Z:8.22 [[ 8.24345086e-01 5.10768224e-01 -2.44071712e-01 5.02536059e+01] [-4.90719647e-01 8.59713437e-01 1.41728737e-01 -1.55922643e+01] [ 2.82222266e-01 2.93739615e-03 9.59344549e-01 8.21764949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.9 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.28, Y:-15.61, Z:8.23 [[ 8.23733657e-01 5.11726015e-01 -2.44129777e-01 5.02805181e+01] [-4.91680491e-01 8.59142813e-01 1.41858809e-01 -1.56073528e+01] [ 2.82335186e-01 3.17997332e-03 9.59310549e-01 8.22524091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:50.31, Y:-15.62, Z:8.24 [[ 8.22355337e-01 5.14027948e-01 -2.43940500e-01 5.03076718e+01] [-4.94086608e-01 8.57764635e-01 1.41838833e-01 -1.56227193e+01] [ 2.82152658e-01 3.88581246e-03 9.59361651e-01 8.23633765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.34, Y:-15.63, Z:8.24 [[ 8.21664593e-01 5.10568015e-01 -2.53352714e-01 5.03393126e+01] [-4.93480608e-01 8.59678171e-01 1.32023981e-01 -1.56348135e+01] [ 2.85209020e-01 1.65452208e-02 9.58322530e-01 8.23887865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.36, Y:-15.66, Z:8.26 [[ 8.21251276e-01 5.18942264e-01 -2.37160848e-01 5.03555336e+01] [-4.95498109e-01 8.54757922e-01 1.54500869e-01 -1.56570235e+01] [ 2.82892145e-01 -9.37128382e-03 9.59105945e-01 8.26266595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.019999999999996 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:50.39, Y:-15.67, Z:8.26 [[ 8.21423325e-01 5.15187165e-01 -2.44634229e-01 5.03881612e+01] [-4.95119640e-01 8.57067829e-01 1.42447457e-01 -1.56689456e+01] [ 2.83055229e-01 4.11354736e-03 9.59094790e-01 8.26175509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:50.42, Y:-15.68, Z:8.27 [[ 8.21028747e-01 5.15619699e-01 -2.45047182e-01 5.04153442e+01] [-4.95473070e-01 8.56807343e-01 1.42785199e-01 -1.56845596e+01] [ 2.83581087e-01 4.18352706e-03 9.58939135e-01 8.27060779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:50.44, Y:-15.70, Z:8.28 [[ 8.20378465e-01 5.16577260e-01 -2.45208294e-01 5.04426894e+01] [-4.96416629e-01 8.56229118e-01 1.42976321e-01 -1.57007156e+01] [ 2.83812798e-01 4.43077994e-03 9.58869472e-01 8.27984097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:50.47, Y:-15.72, Z:8.29 [[ 8.20476206e-01 5.16369311e-01 -2.45319241e-01 5.04690810e+01] [-4.96152363e-01 8.56355336e-01 1.43137596e-01 -1.57162047e+01] [ 2.83992302e-01 4.27472944e-03 9.58817031e-01 8.28824280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:50.50, Y:-15.73, Z:8.30 [[ 8.20769776e-01 5.16223921e-01 -2.44642265e-01 5.04964225e+01] [-4.96096077e-01 8.56443569e-01 1.42804400e-01 -1.57324454e+01] [ 2.83241342e-01 4.15653270e-03 9.59039658e-01 8.29741638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:-15.75, Z:8.31 [[ 8.20698794e-01 5.16794551e-01 -2.43673719e-01 5.05218363e+01] [-4.96825476e-01 8.56098904e-01 1.42334513e-01 -1.57485399e+01] [ 2.82166504e-01 4.24954811e-03 9.59356037e-01 8.31146107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.199999999999996 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:50.55, Y:-15.77, Z:8.32 [[ 8.22597831e-01 5.13993274e-01 -2.43194825e-01 5.05486196e+01] [-4.93956236e-01 8.57788262e-01 1.42149689e-01 -1.57651496e+01] [ 2.81673651e-01 3.19557443e-03 9.59504947e-01 8.31631465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:50.57, Y:-15.78, Z:8.33 [[ 8.23598000e-01 5.12652495e-01 -2.42639144e-01 5.05746314e+01] [-4.92625774e-01 8.58592100e-01 1.41913540e-01 -1.57813218e+01] [ 2.81080383e-01 2.65058844e-03 9.59680568e-01 8.32682470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:50.60, Y:-15.80, Z:8.33 [[ 8.25799563e-01 5.09011248e-01 -2.42822222e-01 5.06010917e+01] [-4.88773411e-01 8.60758837e-01 1.42108332e-01 -1.57984543e+01] [ 2.81346113e-01 1.33204712e-03 9.59605435e-01 8.33477225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:50.63, Y:-15.81, Z:8.34 [[ 8.26881262e-01 5.07222644e-01 -2.42883859e-01 5.06267884e+01] [-4.86870818e-01 8.61814819e-01 1.42239320e-01 -1.58144371e+01] [ 2.81467913e-01 6.38034481e-04 9.59570428e-01 8.34337410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:50.66, Y:-15.82, Z:8.32 [[ 8.32432702e-01 4.93408631e-01 -2.52197780e-01 5.06645943e+01] [-4.81498553e-01 8.69326544e-01 1.11492172e-01 -1.58151465e+01] [ 2.74253424e-01 2.86231364e-02 9.61231385e-01 8.32487983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:50.67, Y:-15.85, Z:8.38 [[ 8.29879080e-01 5.08776402e-01 -2.29013722e-01 5.06692337e+01] [-4.81872570e-01 8.60476398e-01 1.65466595e-01 -1.58542014e+01] [ 2.81246401e-01 -2.69618346e-02 9.59256755e-01 8.37548122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.379999999999995 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:50.70, Y:-15.86, Z:8.37 [[ 8.30407804e-01 5.01282052e-01 -2.43185494e-01 5.07040047e+01] [-4.80550501e-01 8.65282429e-01 1.42679831e-01 -1.58628383e+01] [ 2.81946973e-01 -1.61953425e-03 9.59428622e-01 8.37041774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.73, Y:-15.88, Z:8.38 [[ 8.30555513e-01 5.00992344e-01 -2.43278054e-01 5.07299078e+01] [-4.80207018e-01 8.65449850e-01 1.42820784e-01 -1.58787964e+01] [ 2.82097075e-01 -1.79676062e-03 9.59384184e-01 8.38329636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:50.76, Y:-15.90, Z:8.39 [[ 8.31893404e-01 4.98740461e-01 -2.43333757e-01 5.07581855e+01] [-4.77823971e-01 8.66747345e-01 1.42945070e-01 -1.58955697e+01] [ 2.82201378e-01 -2.64435882e-03 9.59351546e-01 8.38894110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.78, Y:-15.91, Z:8.40 [[ 8.31550755e-01 4.98091664e-01 -2.45821149e-01 5.07844101e+01] [-4.78135845e-01 8.67123145e-01 1.39583545e-01 -1.59094302e+01] [ 2.82682608e-01 1.46510056e-03 9.59212384e-01 8.39732360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.5 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:50.81, Y:-15.93, Z:8.41 [[ 8.32630185e-01 4.98755400e-01 -2.40769654e-01 5.08100449e+01] [-4.77083340e-01 8.66719647e-01 1.45562840e-01 -1.59280151e+01] [ 2.81280042e-01 -6.33282389e-03 9.59604832e-01 8.40978443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:50.84, Y:-15.94, Z:8.42 [[ 8.33003265e-01 4.97580248e-01 -2.41907954e-01 5.08374570e+01] [-4.76795955e-01 8.67411922e-01 1.42345266e-01 -1.59423397e+01] [ 2.80662036e-01 -3.23333740e-03 9.59801212e-01 8.41745536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.559999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:50.87, Y:-15.96, Z:8.43 [[ 8.33600118e-01 4.97237487e-01 -2.40552956e-01 5.08650396e+01] [-4.76650801e-01 8.67607784e-01 1.41635965e-01 -1.59574169e+01] [ 2.79132328e-01 -3.40799846e-03 9.60246598e-01 8.42701030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.589999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.89, Y:-15.97, Z:8.44 [[ 8.33502073e-01 4.97463670e-01 -2.40425023e-01 5.08925256e+01] [-4.76881233e-01 8.67478088e-01 1.41654709e-01 -1.59729950e+01] [ 2.79031510e-01 -3.41531209e-03 9.60275873e-01 8.43601341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:50.92, Y:-15.99, Z:8.44 [[ 8.33303542e-01 4.97616580e-01 -2.40796484e-01 5.09202122e+01] [-4.76948081e-01 8.67390227e-01 1.41967327e-01 -1.59887624e+01] [ 2.79509813e-01 -3.45445514e-03 9.60136621e-01 8.44418001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:-16.00, Z:8.46 [[ 8.32582229e-01 4.98602422e-01 -2.41251854e-01 5.09464247e+01] [-4.77867065e-01 8.66824832e-01 1.42329825e-01 -1.60033253e+01] [ 2.80089093e-01 -3.21496728e-03 9.59968627e-01 8.45627415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:50.97, Y:-16.02, Z:8.46 [[ 8.32394348e-01 4.98565888e-01 -2.41974594e-01 5.09749433e+01] [-4.77676058e-01 8.66845459e-01 1.42844437e-01 -1.60192135e+01] [ 2.80971942e-01 -3.31743206e-03 9.59710249e-01 8.46244689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:51.00, Y:-16.03, Z:8.47 [[ 8.32049275e-01 4.99132202e-01 -2.41993901e-01 5.10031856e+01] [-4.78235586e-01 8.66519905e-01 1.42947468e-01 -1.60339510e+01] [ 2.81042217e-01 -3.20924244e-03 9.59690040e-01 8.47093849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.739999999999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:51.03, Y:-16.05, Z:8.48 [[ 8.31613959e-01 4.99939851e-01 -2.41823011e-01 5.10307726e+01] [-4.79079570e-01 8.66054869e-01 1.42939600e-01 -1.60494731e+01] [ 2.80893198e-01 -3.01810241e-03 9.59734287e-01 8.48145779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.769999999999996 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:51.06, Y:-16.06, Z:8.49 [[ 8.31189965e-01 5.00374600e-01 -2.42380902e-01 5.10586837e+01] [-4.79405579e-01 8.65803941e-01 1.43366055e-01 -1.60648517e+01] [ 2.81591073e-01 -2.96566977e-03 9.59529923e-01 8.48959874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:-16.06, Z:8.46 [[ 8.37658495e-01 4.82141708e-01 -2.56646877e-01 5.11053466e+01] [-4.75995090e-01 8.74839789e-01 8.99111650e-02 -1.60553659e+01] [ 2.67874823e-01 4.68478024e-02 9.62314067e-01 8.45685273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:51.10, Y:-16.11, Z:8.53 [[ 8.30242523e-01 5.12281378e-01 -2.19693292e-01 5.10967045e+01] [-4.80438933e-01 8.57521336e-01 1.83944530e-01 -1.61054245e+01] [ 2.82623043e-01 -4.71693594e-02 9.58070596e-01 8.52893910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:51.14, Y:-16.11, Z:8.52 [[ 8.29549464e-01 5.02376806e-01 -2.43854940e-01 5.11386278e+01] [-4.81184793e-01 8.64645348e-01 1.44393964e-01 -1.61087044e+01] [ 2.83388218e-01 -2.44264656e-03 9.59002164e-01 8.51667113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:51.17, Y:-16.12, Z:8.52 [[ 8.29159447e-01 5.02430894e-01 -2.45066946e-01 5.11667284e+01] [-4.80996279e-01 8.64613682e-01 1.45209367e-01 -1.61227853e+01] [ 2.84845907e-01 -2.52542955e-03 9.58569993e-01 8.52437410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.919999999999995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:51.19, Y:-16.14, Z:8.53 [[ 8.29241844e-01 5.02308380e-01 -2.45039295e-01 5.11942601e+01] [-4.80846478e-01 8.64684493e-01 1.45283832e-01 -1.61378145e+01] [ 2.84858965e-01 -2.64915085e-03 9.58565779e-01 8.53267635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.949999999999996 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:51.22, Y:-16.15, Z:8.54 [[ 8.29574146e-01 5.02164987e-01 -2.44207007e-01 5.12205795e+01] [-4.80817564e-01 8.64767384e-01 1.44885617e-01 -1.61524878e+01] [ 2.83938738e-01 -2.77434388e-03 9.58838410e-01 8.54236768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:51.25, Y:-16.17, Z:8.55 [[ 8.29902239e-01 5.01947143e-01 -2.43539196e-01 5.12480238e+01] [-4.80691721e-01 8.64893452e-01 1.44550290e-01 -1.61680119e+01] [ 2.83192061e-01 -2.89533465e-03 9.59058848e-01 8.55189274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:51.28, Y:-16.18, Z:8.56 [[ 8.30754462e-01 5.00944030e-01 -2.42697554e-01 5.12750368e+01] [-4.79768307e-01 8.65473344e-01 1.44146666e-01 -1.61826578e+01] [ 2.82257675e-01 -3.31189167e-03 9.59332912e-01 8.56187744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:-16.18, Z:8.54 [[ 8.35907777e-01 4.86466169e-01 -2.54182720e-01 5.13175405e+01] [-4.77077939e-01 8.72949232e-01 1.01765806e-01 -1.61805501e+01] [ 2.71394232e-01 3.61981392e-02 9.61787329e-01 8.53891270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:51.32, Y:-16.22, Z:8.60 [[ 8.31266347e-01 5.09480216e-01 -2.22319973e-01 5.13164448e+01] [-4.79467652e-01 8.59527556e-01 1.76983475e-01 -1.62221904e+01] [ 2.81259722e-01 -4.05251709e-02 9.58775615e-01 8.59702410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.1 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:51.36, Y:-16.23, Z:8.59 [[ 8.30519746e-01 5.01699363e-01 -2.41939456e-01 5.13564532e+01] [-4.80622122e-01 8.65035932e-01 1.43927800e-01 -1.62258261e+01] [ 2.81494809e-01 -3.25342536e-03 9.59557235e-01 8.59042816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129999999999995 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:51.38, Y:-16.24, Z:8.60 [[ 8.30203028e-01 5.02083138e-01 -2.42230170e-01 5.13834272e+01] [-4.80941736e-01 8.64813384e-01 1.44197284e-01 -1.62402165e+01] [ 2.81882918e-01 -3.21442338e-03 9.59443426e-01 8.59827387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:51.41, Y:-16.26, Z:8.61 [[ 8.29921331e-01 5.02454271e-01 -2.42425843e-01 5.14114764e+01] [-4.81266919e-01 8.64597965e-01 1.44403987e-01 -1.62551664e+01] [ 2.82157291e-01 -3.17241009e-03 9.59362913e-01 8.60673506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.44, Y:-16.27, Z:8.62 [[ 8.28812094e-01 5.04116530e-01 -2.42769515e-01 5.14394660e+01] [-4.82908794e-01 8.63631427e-01 1.44706098e-01 -1.62693162e+01] [ 2.82612119e-01 -2.69863036e-03 9.59230477e-01 8.61874792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:51.47, Y:-16.28, Z:8.62 [[ 8.28712958e-01 5.03775385e-01 -2.43813853e-01 5.14686368e+01] [-4.82337428e-01 8.63829763e-01 1.45426086e-01 -1.62847310e+01] [ 2.83875745e-01 -2.91593456e-03 9.58856641e-01 8.62452619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:-16.30, Z:8.64 [[ 8.28208422e-01 5.04764659e-01 -2.43481926e-01 5.14953822e+01] [-4.83399605e-01 8.63252897e-01 1.45324665e-01 -1.62998515e+01] [ 2.83541233e-01 -2.66004503e-03 9.58956356e-01 8.63642553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:51.52, Y:-16.31, Z:8.64 [[ 8.28144898e-01 5.04517128e-01 -2.44209944e-01 5.15247964e+01] [-4.82981871e-01 8.63397009e-01 1.45856496e-01 -1.63139484e+01] [ 2.84437235e-01 -2.84133753e-03 9.58690454e-01 8.64231959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309999999999995 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:51.55, Y:-16.32, Z:8.65 [[ 8.27404076e-01 5.02653838e-01 -2.50482762e-01 5.15519695e+01] [-4.83234263e-01 8.64463847e-01 1.38516802e-01 -1.63249820e+01] [ 2.86159294e-01 6.43248668e-03 9.58160467e-01 8.64714756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.339999999999996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:51.57, Y:-16.34, Z:8.66 [[ 8.28362875e-01 5.06904177e-01 -2.38459857e-01 5.15702976e+01] [-4.83213050e-01 8.61918414e-01 1.53628764e-01 -1.63433831e+01] [ 2.83408003e-01 -1.20334496e-02 9.58923928e-01 8.66269064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:-16.36, Z:8.67 [[ 8.28249607e-01 5.05523089e-01 -2.41762269e-01 5.15993860e+01] [-4.84452307e-01 8.62809402e-01 1.44450335e-01 -1.63559271e+01] [ 2.81617738e-01 -2.51864453e-03 9.59523374e-01 8.67183527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.4 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:51.63, Y:-16.37, Z:8.68 [[ 8.28537884e-01 5.04974293e-01 -2.41921347e-01 5.16275430e+01] [-4.83824100e-01 8.63129863e-01 1.44641211e-01 -1.63714122e+01] [ 2.81849633e-01 -2.79334489e-03 9.59454523e-01 8.67944494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:51.66, Y:-16.39, Z:8.69 [[ 8.28561752e-01 5.04731099e-01 -2.42346737e-01 5.16551641e+01] [-4.83465997e-01 8.63271511e-01 1.44992856e-01 -1.63869650e+01] [ 2.82393437e-01 -2.96912762e-03 9.59294079e-01 8.68813257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.70, Y:-16.38, Z:8.66 [[ 8.35252407e-01 4.86739458e-01 -2.55808749e-01 5.17018460e+01] [-4.79645191e-01 8.72424550e-01 9.38930012e-02 -1.63790309e+01] [ 2.68875261e-01 4.42730812e-02 9.62156946e-01 8.65753997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489999999999995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:51.70, Y:-16.43, Z:8.72 [[ 8.28439238e-01 5.14891128e-01 -2.20398628e-01 5.16963314e+01] [-4.82940027e-01 8.55999243e-01 1.84483672e-01 -1.64279566e+01] [ 2.83650065e-01 -4.63941935e-02 9.57804896e-01 8.72335869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.519999999999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:51.74, Y:-16.43, Z:8.71 [[ 8.27711341e-01 5.05432355e-01 -2.43786937e-01 5.17378864e+01] [-4.83863306e-01 8.62861106e-01 1.46106170e-01 -1.64299113e+01] [ 2.84201052e-01 -2.97418046e-03 9.58760093e-01 8.71340214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:51.77, Y:-16.45, Z:8.72 [[ 8.27518498e-01 5.05897270e-01 -2.43477079e-01 5.17661006e+01] [-4.84374983e-01 8.62588865e-01 1.46018238e-01 -1.64451435e+01] [ 2.83890846e-01 -2.89858701e-03 9.58852223e-01 8.72240815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:-16.46, Z:8.73 [[ 8.26868932e-01 5.07259770e-01 -2.42848297e-01 5.17920890e+01] [-4.85879805e-01 8.61789545e-01 1.45738106e-01 -1.64597989e+01] [ 2.83211202e-01 -2.51122900e-03 9.59054278e-01 8.73445525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:51.82, Y:-16.47, Z:8.74 [[ 8.26583300e-01 5.06878775e-01 -2.44609805e-01 5.18210529e+01] [-4.85138432e-01 8.62012991e-01 1.46881942e-01 -1.64747199e+01] [ 2.85308168e-01 -2.74054293e-03 9.58431917e-01 8.74016957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.85, Y:-16.49, Z:8.75 [[ 8.26073237e-01 5.07378063e-01 -2.45296776e-01 5.18481931e+01] [-4.85505485e-01 8.61719451e-01 1.47390679e-01 -1.64883245e+01] [ 2.86159801e-01 -2.66256516e-03 9.58178208e-01 8.74933846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669999999999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:51.87, Y:-16.50, Z:8.76 [[ 8.26046339e-01 5.07424530e-01 -2.45291238e-01 5.18743856e+01] [-4.85551220e-01 8.61692105e-01 1.47399896e-01 -1.65041005e+01] [ 2.86159846e-01 -2.65768429e-03 9.58178209e-01 8.75812564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.699999999999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.90, Y:-16.52, Z:8.77 [[ 8.25849100e-01 5.07595923e-01 -2.45600576e-01 5.19007912e+01] [-4.85668112e-01 8.61591274e-01 1.47604072e-01 -1.65189557e+01] [ 2.86530538e-01 -2.61832211e-03 9.58067532e-01 8.76658512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.93, Y:-16.53, Z:8.78 [[ 8.25734931e-01 5.07941647e-01 -2.45269457e-01 5.19261306e+01] [-4.86085637e-01 8.61387838e-01 1.47416915e-01 -1.65333593e+01] [ 2.86151318e-01 -2.50533624e-03 9.58181166e-01 8.77658226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.95, Y:-16.55, Z:8.79 [[ 8.25306369e-01 5.08992043e-01 -2.44533223e-01 5.19530221e+01] [-4.87314235e-01 8.60768572e-01 1.46977216e-01 -1.65474920e+01] [ 2.85296747e-01 -2.13671251e-03 9.58436853e-01 8.78780781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:51.98, Y:-16.56, Z:8.79 [[ 8.25716216e-01 5.08265752e-01 -2.44660287e-01 5.19796562e+01] [-4.86508621e-01 8.61196755e-01 1.47137728e-01 -1.65609290e+01] [ 2.85485713e-01 -2.46466918e-03 9.58379796e-01 8.79272420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.00, Y:-16.57, Z:8.80 [[ 8.25758563e-01 5.08707110e-01 -2.43597767e-01 5.20027967e+01] [-4.87160014e-01 8.60936560e-01 1.46503791e-01 -1.65732911e+01] [ 2.84249743e-01 -2.30566839e-03 9.58747499e-01 8.80206141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:52.03, Y:-16.59, Z:8.81 [[ 8.25272038e-01 5.09454917e-01 -2.43683711e-01 5.20284514e+01] [-4.87933047e-01 8.60494973e-01 1.46525573e-01 -1.65857130e+01] [ 2.84336782e-01 -2.02212265e-03 9.58722330e-01 8.80924431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.879999999999995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:52.05, Y:-16.60, Z:8.82 [[ 8.24758537e-01 5.10063610e-01 -2.44148457e-01 5.20512473e+01] [-4.88491100e-01 8.60134812e-01 1.46780622e-01 -1.65980455e+01] [ 2.84868041e-01 -1.79422273e-03 9.58565063e-01 8.81598889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:-16.61, Z:8.83 [[ 8.23912327e-01 5.11779914e-01 -2.43412812e-01 5.20742575e+01] [-4.90425331e-01 8.59115809e-01 1.46297718e-01 -1.66114028e+01] [ 2.83992028e-01 -1.16068425e-03 9.58825939e-01 8.82707346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:52.10, Y:-16.62, Z:8.83 [[ 8.22303168e-01 5.13447436e-01 -2.45334936e-01 5.21002265e+01] [-4.91826645e-01 8.58120858e-01 1.47428436e-01 -1.66232932e+01] [ 2.86223778e-01 -5.68610966e-04 9.58162630e-01 8.83165692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:52.12, Y:-16.64, Z:8.84 [[ 8.21267190e-01 5.14976535e-01 -2.45600022e-01 5.21247022e+01] [-4.93382165e-01 8.57204274e-01 1.47563107e-01 -1.66363953e+01] [ 2.86520926e-01 -1.40676672e-05 9.58073984e-01 8.83999479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.0 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:52.15, Y:-16.65, Z:8.84 [[ 8.20363831e-01 5.15796114e-01 -2.46895835e-01 5.21490825e+01] [-4.94012201e-01 8.56711317e-01 1.48316098e-01 -1.66486556e+01] [ 2.88019323e-01 2.96392687e-04 9.57624552e-01 8.84477576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:-16.64, Z:8.82 [[ 8.24127668e-01 5.03695078e-01 -2.59046047e-01 5.21900058e+01] [-4.95337338e-01 8.62732568e-01 1.01653520e-01 -1.66417831e+01] [ 2.74689839e-01 4.45397007e-02 9.60500759e-01 8.82181382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.059999999999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.19, Y:-16.69, Z:8.88 [[ 8.17139593e-01 5.30213754e-01 -2.26177498e-01 5.21860889e+01] [-4.99213739e-01 8.47099514e-01 1.82230780e-01 -1.66858423e+01] [ 2.88216115e-01 -3.59970709e-02 9.56888542e-01 8.87855631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.089999999999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:52.22, Y:-16.69, Z:8.87 [[ 8.14827752e-01 5.24233946e-01 -2.47456066e-01 5.22219312e+01] [-5.02751598e-01 8.51567702e-01 1.48570787e-01 -1.66871488e+01] [ 2.88611443e-01 3.34933265e-03 9.57440451e-01 8.86987905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.25, Y:-16.70, Z:8.88 [[ 8.13927748e-01 5.25814988e-01 -2.47063190e-01 5.22450958e+01] [-5.04484540e-01 8.50589859e-01 1.48297813e-01 -1.66998733e+01] [ 2.88126656e-01 3.93585447e-03 9.57584220e-01 8.87861988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.27, Y:-16.71, Z:8.89 [[ 8.13167500e-01 5.26855137e-01 -2.47350526e-01 5.22690358e+01] [-5.05532184e-01 8.49944002e-01 1.48433166e-01 -1.67127675e+01] [ 2.88436872e-01 4.34262499e-03 9.57489067e-01 8.88508379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:52.29, Y:-16.73, Z:8.89 [[ 8.12462194e-01 5.28040154e-01 -2.47141212e-01 5.22922344e+01] [-5.06818711e-01 8.49205886e-01 1.48270556e-01 -1.67256925e+01] [ 2.88166579e-01 4.79156944e-03 9.57568308e-01 8.89272532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.32, Y:-16.74, Z:8.90 [[ 8.11188039e-01 5.29894754e-01 -2.47357060e-01 5.23150419e+01] [-5.08730820e-01 8.48045654e-01 1.48362805e-01 -1.67390430e+01] [ 2.88386751e-01 5.48802699e-03 9.57498284e-01 8.90089666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.239999999999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:52.34, Y:-16.75, Z:8.91 [[ 8.10904405e-01 5.30485740e-01 -2.47020092e-01 5.23386238e+01] [-5.09418389e-01 8.47674547e-01 1.48124162e-01 -1.67534834e+01] [ 2.87970401e-01 5.72204162e-03 9.57622215e-01 8.90889247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.269999999999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:52.36, Y:-16.77, Z:8.92 [[ 8.10579900e-01 5.30981452e-01 -2.47020088e-01 5.23617448e+01] [-5.09944121e-01 8.47362761e-01 1.48099108e-01 -1.67682029e+01] [ 2.87953503e-01 5.92028114e-03 9.57626091e-01 8.91757205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.3 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.38, Y:-16.78, Z:8.93 [[ 8.10313385e-01 5.31213640e-01 -2.47395002e-01 5.23838970e+01] [-5.10129342e-01 8.47216409e-01 1.48298382e-01 -1.67827216e+01] [ 2.88375229e-01 6.03528545e-03 9.57498461e-01 8.92504657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:52.41, Y:-16.80, Z:8.93 [[ 8.10318974e-01 5.31132228e-01 -2.47551442e-01 5.24076686e+01] [-5.10026349e-01 8.47267431e-01 1.48361125e-01 -1.67973727e+01] [ 2.88541649e-01 6.03792342e-03 9.57448307e-01 8.93260741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:52.43, Y:-16.81, Z:8.94 [[ 8.10255920e-01 5.31247619e-01 -2.47510226e-01 5.24301226e+01] [-5.10161807e-01 8.47194637e-01 1.48311082e-01 -1.68111689e+01] [ 2.88479245e-01 6.10033208e-03 9.57466715e-01 8.94019333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.45, Y:-16.83, Z:8.95 [[ 8.10165739e-01 5.31221983e-01 -2.47860205e-01 5.24531648e+01] [-5.10083427e-01 8.47210513e-01 1.48489881e-01 -1.68265044e+01] [ 2.88870860e-01 6.12796874e-03 9.57348460e-01 8.94843086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.419999999999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:52.48, Y:-16.84, Z:8.96 [[ 8.10170190e-01 5.31015210e-01 -2.48288358e-01 5.24765313e+01] [-5.09800140e-01 8.47340418e-01 1.48721328e-01 -1.68415794e+01] [ 2.89358049e-01 6.08785346e-03 9.57201576e-01 8.95652154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.449999999999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:52.50, Y:-16.86, Z:8.96 [[ 8.10369885e-01 5.30759318e-01 -2.48183793e-01 5.24985732e+01] [-5.09558490e-01 8.47501238e-01 1.48633092e-01 -1.68563710e+01] [ 2.89224470e-01 6.01637768e-03 9.57242398e-01 8.96394398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:52.52, Y:-16.87, Z:8.97 [[ 8.11116506e-01 5.29371390e-01 -2.48708555e-01 5.25189345e+01] [-5.08025511e-01 8.48371952e-01 1.48913100e-01 -1.68721696e+01] [ 2.89827697e-01 5.56441768e-03 9.57062664e-01 8.97206868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:52.54, Y:-16.89, Z:8.98 [[ 8.11804693e-01 5.28020826e-01 -2.49333405e-01 5.25424820e+01] [-5.06515810e-01 8.49215905e-01 1.49245034e-01 -1.68876268e+01] [ 2.90542380e-01 5.13349256e-03 9.56848354e-01 8.97920568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:52.56, Y:-16.90, Z:8.99 [[ 8.12818670e-01 5.26390437e-01 -2.49477289e-01 5.25648736e+01] [-5.04792625e-01 8.50230657e-01 1.49305846e-01 -1.69029654e+01] [ 2.90706409e-01 4.57571693e-03 9.56801362e-01 8.98652793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:52.59, Y:-16.92, Z:9.00 [[ 8.15367999e-01 5.22947478e-01 -2.48396783e-01 5.25861705e+01] [-5.01392888e-01 8.52358296e-01 1.48628758e-01 -1.69216909e+01] [ 2.89448092e-01 3.35724745e-03 9.57187824e-01 8.99575713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.6 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:52.61, Y:-16.94, Z:9.00 [[ 8.16722065e-01 5.21059749e-01 -2.47914918e-01 5.26081149e+01] [-4.99512670e-01 8.53515922e-01 1.48316094e-01 -1.69378909e+01] [ 2.88880876e-01 2.70361570e-03 9.57361233e-01 9.00420339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629999999999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:52.63, Y:-16.95, Z:9.01 [[ 8.18071935e-01 5.19261122e-01 -2.47237125e-01 5.26314254e+01] [-4.97760977e-01 8.54613098e-01 1.47886655e-01 -1.69548303e+01] [ 2.88083876e-01 2.08307120e-03 9.57602914e-01 9.01270101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:52.66, Y:-16.97, Z:9.02 [[ 8.19311766e-01 5.17624599e-01 -2.46562374e-01 5.26558305e+01] [-4.96174956e-01 8.55606502e-01 1.47471785e-01 -1.69723894e+01] [ 2.87295394e-01 1.51270621e-03 9.57840837e-01 9.02163049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:52.68, Y:-16.99, Z:9.03 [[ 8.21398376e-01 5.14660145e-01 -2.45824414e-01 5.26809374e+01] [-4.93206654e-01 8.57394147e-01 1.47045817e-01 -1.69920600e+01] [ 2.86447036e-01 4.59042011e-04 9.58095969e-01 9.03128088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:52.71, Y:-17.01, Z:9.04 [[ 8.22019258e-01 5.14013127e-01 -2.45101702e-01 5.27068097e+01] [-4.92630625e-01 8.57782306e-01 1.46712584e-01 -1.70103799e+01] [ 2.85656098e-01 1.44035177e-04 9.58332183e-01 9.04146505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.73, Y:-17.03, Z:9.05 [[ 8.22609568e-01 5.13390495e-01 -2.44425240e-01 5.27319543e+01] [-4.92072210e-01 8.58155099e-01 1.46406168e-01 -1.70281417e+01] [ 2.84918300e-01 -1.60246436e-04 9.58551791e-01 9.05219819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:52.76, Y:-17.05, Z:9.06 [[ 8.23485994e-01 5.11809519e-01 -2.44789364e-01 5.27565479e+01] [-4.90328357e-01 8.59098586e-01 1.46723285e-01 -1.70472189e+01] [ 2.85392571e-01 -7.97403123e-04 9.58410374e-01 9.06003230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809999999999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:52.78, Y:-17.06, Z:9.07 [[ 8.23711179e-01 5.11373757e-01 -2.44942389e-01 5.27832413e+01] [-4.89827371e-01 8.59357824e-01 1.46878443e-01 -1.70649949e+01] [ 2.85602939e-01 -1.00592876e-03 9.58347510e-01 9.06872181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.839999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:-17.08, Z:9.08 [[ 8.23702363e-01 5.11661983e-01 -2.44369460e-01 5.28085712e+01] [-4.90202110e-01 8.59186263e-01 1.46631705e-01 -1.70824752e+01] [ 2.84984752e-01 -9.90456885e-04 9.58531538e-01 9.07996548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:52.84, Y:-17.10, Z:9.09 [[ 8.23821580e-01 5.11052309e-01 -2.45241805e-01 5.28356780e+01] [-4.89379752e-01 8.59548639e-01 1.47253507e-01 -1.70996760e+01] [ 2.86051504e-01 -1.29424278e-03 9.58213370e-01 9.08617565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.9 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:52.86, Y:-17.12, Z:9.09 [[ 8.24104495e-01 5.10025324e-01 -2.46426357e-01 5.28616054e+01] [-4.88063617e-01 8.60157610e-01 1.48063474e-01 -1.71187473e+01] [ 2.87481628e-01 -1.74803488e-03 9.57784557e-01 9.09326744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:-17.11, Z:9.06 [[ 8.30672291e-01 4.92225498e-01 -2.60187631e-01 5.29061047e+01] [-4.84343615e-01 8.69336815e-01 9.83095395e-02 -1.71147422e+01] [ 2.74581149e-01 4.43572073e-02 9.60540281e-01 9.06297053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:-17.16, Z:9.13 [[ 8.25041229e-01 5.19306377e-01 -2.22773107e-01 5.28970077e+01] [-4.86911339e-01 8.53399676e-01 1.86081546e-01 -1.71647969e+01] [ 2.86747831e-01 -4.50541956e-02 9.56946080e-01 9.13383794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989999999999995 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:52.94, Y:-17.17, Z:9.12 [[ 8.26019433e-01 5.07262296e-01 -2.45717031e-01 5.29365101e+01] [-4.85232325e-01 8.61786718e-01 1.47896055e-01 -1.71721367e+01] [ 2.86777766e-01 -2.93516877e-03 9.57992640e-01 9.12106813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.019999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:-17.19, Z:9.13 [[ 8.26422791e-01 5.07273249e-01 -2.44334240e-01 5.29609226e+01] [-4.85467329e-01 8.61780042e-01 1.47161924e-01 -1.71894851e+01] [ 2.85213679e-01 -3.00167669e-03 9.58459257e-01 9.13399332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:-17.21, Z:9.14 [[ 8.26748777e-01 5.07125757e-01 -2.43536291e-01 5.29862580e+01] [-4.85431850e-01 8.61866410e-01 1.46772652e-01 -1.72065634e+01] [ 2.84327941e-01 -3.12383819e-03 9.58721995e-01 9.14333172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:53.01, Y:-17.22, Z:9.15 [[ 8.27590409e-01 5.06134461e-01 -2.42738589e-01 5.30111668e+01] [-4.84518055e-01 8.62447356e-01 1.46379003e-01 -1.72232709e+01] [ 2.83436712e-01 -3.53063037e-03 9.58984445e-01 9.15022587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:53.04, Y:-17.24, Z:9.16 [[ 8.27588337e-01 5.06332486e-01 -2.42332328e-01 5.30372741e+01] [-4.84775997e-01 8.62331138e-01 1.46209580e-01 -1.72403065e+01] [ 2.83001373e-01 -3.52444762e-03 9.59113028e-01 9.15916375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:53.06, Y:-17.26, Z:9.17 [[ 8.27672858e-01 5.06159679e-01 -2.42404659e-01 5.30631675e+01] [-4.84553840e-01 8.62431962e-01 1.46351245e-01 -1.72569994e+01] [ 2.83134625e-01 -3.67284492e-03 9.59073143e-01 9.16609945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169999999999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:53.09, Y:-17.28, Z:9.17 [[ 8.27454116e-01 5.06023537e-01 -2.43433493e-01 5.30892386e+01] [-4.84196619e-01 8.62511212e-01 1.47064763e-01 -1.72751239e+01] [ 2.84382349e-01 -3.81966962e-03 9.58703338e-01 9.17451749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.199999999999996 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:53.12, Y:-17.29, Z:9.18 [[ 8.27093921e-01 5.06052957e-01 -2.44593642e-01 5.31159255e+01] [-4.83984630e-01 8.62493509e-01 1.47864210e-01 -1.72923507e+01] [ 2.85787549e-01 -3.91802571e-03 9.58284992e-01 9.18271325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:-17.31, Z:9.20 [[ 8.26822618e-01 5.06592030e-01 -2.44394913e-01 5.31415009e+01] [-4.84554245e-01 8.62177447e-01 1.47841923e-01 -1.73095501e+01] [ 2.85607322e-01 -3.81645308e-03 9.58339132e-01 9.19523183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:53.17, Y:-17.33, Z:9.20 [[ 8.27331630e-01 5.05683887e-01 -2.44553023e-01 5.31680276e+01] [-4.83548940e-01 8.62708520e-01 1.48035237e-01 -1.73269558e+01] [ 2.85837010e-01 -4.22087929e-03 9.58268954e-01 9.20267626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:53.19, Y:-17.34, Z:9.21 [[ 8.27497114e-01 5.05523752e-01 -2.44324095e-01 5.31948633e+01] [-4.83395107e-01 8.62801672e-01 1.47994746e-01 -1.73439359e+01] [ 2.85618096e-01 -4.36015286e-03 9.58333602e-01 9.21130724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:53.24, Y:-17.34, Z:9.19 [[ 8.32720124e-01 4.90577273e-01 -2.56731637e-01 5.32380176e+01] [-4.80360584e-01 8.70681409e-01 1.05676832e-01 -1.73435536e+01] [ 2.75374115e-01 3.53245347e-02 9.60687917e-01 9.18538414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:53.23, Y:-17.39, Z:9.25 [[ 8.27838804e-01 5.14360358e-01 -2.23866781e-01 5.32337134e+01] [-4.83210648e-01 8.56554723e-01 1.81166981e-01 -1.73864542e+01] [ 2.84939262e-01 -4.18022444e-02 9.57633640e-01 9.24748169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.379999999999995 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:53.27, Y:-17.39, Z:9.24 [[ 8.27668136e-01 5.05639544e-01 -2.43503816e-01 5.32717398e+01] [-4.83600505e-01 8.62733061e-01 1.47723449e-01 -1.73935384e+01] [ 2.84773609e-01 -4.50742323e-03 9.58584203e-01 9.23910649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:53.30, Y:-17.41, Z:9.25 [[ 8.27798245e-01 5.05678725e-01 -2.42979613e-01 5.32982084e+01] [-4.83709259e-01 8.62709759e-01 1.47503301e-01 -1.74103568e+01] [ 2.84210165e-01 -4.57148485e-03 9.58751106e-01 9.24784414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:53.34, Y:-17.41, Z:9.22 [[ 8.33359547e-01 4.89248540e-01 -2.57192012e-01 5.33433063e+01] [-4.80249853e-01 8.71266387e-01 1.01266784e-01 -1.74077189e+01] [ 2.73627381e-01 3.91247846e-02 9.61039701e-01 9.21759557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:53.34, Y:-17.46, Z:9.28 [[ 8.28143882e-01 5.15221165e-01 -2.20737088e-01 5.33377029e+01] [-4.83573694e-01 8.55866073e-01 1.83438677e-01 -1.74556640e+01] [ 2.83432874e-01 -4.51709692e-02 9.57927654e-01 9.28427247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:-17.46, Z:9.28 [[ 8.27658103e-01 5.06091017e-01 -2.42598323e-01 5.33754745e+01] [-4.84119007e-01 8.62467288e-01 1.47576979e-01 -1.74616470e+01] [ 2.83920500e-01 -4.69682307e-03 9.58836320e-01 9.27819975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:-17.48, Z:9.29 [[ 8.26980810e-01 5.06942849e-01 -2.43128955e-01 5.34013094e+01] [-4.84889999e-01 8.61968073e-01 1.47961918e-01 -1.74801448e+01] [ 2.84577633e-01 -4.47086769e-03 9.58642573e-01 9.28738050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.559999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:-17.50, Z:9.30 [[ 8.26918968e-01 5.07064191e-01 -2.43086253e-01 5.34286798e+01] [-4.84995867e-01 8.61896469e-01 1.48032042e-01 -1.74969519e+01] [ 2.84576931e-01 -4.51467522e-03 9.58642576e-01 9.29672604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.589999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:-17.50, Z:9.27 [[ 8.31070072e-01 4.93801362e-01 -2.55895977e-01 5.34714882e+01] [-4.82847255e-01 8.68938304e-01 1.08649676e-01 -1.74987628e+01] [ 2.76009175e-01 3.32631760e-02 9.60579251e-01 9.27118272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:53.47, Y:-17.54, Z:9.33 [[ 8.25711820e-01 5.17081150e-01 -2.25448608e-01 5.34689188e+01] [-4.85993991e-01 8.55004832e-01 1.81043029e-01 -1.75400687e+01] [ 2.86373587e-01 -3.99227007e-02 9.57285927e-01 9.32776873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:-17.55, Z:9.32 [[ 8.23604105e-01 5.11253773e-01 -2.45552147e-01 5.35054485e+01] [-4.88855390e-01 8.59423624e-01 1.49704514e-01 -1.75474684e+01] [ 2.87570314e-01 -3.25776133e-03 9.57753988e-01 9.32248265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:53.53, Y:-17.56, Z:9.33 [[ 8.22709859e-01 5.12283130e-01 -2.46403089e-01 5.35334398e+01] [-4.89743106e-01 8.58811414e-01 1.50315150e-01 -1.75647697e+01] [ 2.88617701e-01 -2.99154176e-03 9.57439749e-01 9.32796410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:53.56, Y:-17.58, Z:9.34 [[ 8.21543980e-01 5.14029078e-01 -2.46656837e-01 5.35587858e+01] [-4.91489328e-01 8.57769210e-01 1.50566341e-01 -1.75808423e+01] [ 2.88970118e-01 -2.46766816e-03 9.57334937e-01 9.33729645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.739999999999995 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:53.59, Y:-17.60, Z:9.35 [[ 8.20352497e-01 5.15848409e-01 -2.46824228e-01 5.35854576e+01] [-4.93330472e-01 8.56677753e-01 1.50758991e-01 -1.75981478e+01] [ 2.89217611e-01 -1.90960170e-03 9.57261473e-01 9.34647191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.769999999999996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:53.61, Y:-17.62, Z:9.36 [[ 8.18172196e-01 5.19313369e-01 -2.46795222e-01 5.36114781e+01] [-4.96924838e-01 8.54583539e-01 1.50839918e-01 -1.76156734e+01] [ 2.89240320e-01 -7.74351002e-04 9.57256203e-01 9.35621064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.8 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:53.65, Y:-17.61, Z:9.33 [[ 8.23173469e-01 5.05256632e-01 -2.59038948e-01 5.36539328e+01] [-4.95573398e-01 8.62009434e-01 1.06521087e-01 -1.76133735e+01] [ 2.77114503e-01 4.06874785e-02 9.59975042e-01 9.33021768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:53.65, Y:-17.66, Z:9.39 [[ 8.16529316e-01 5.31641469e-01 -2.25027165e-01 5.36500909e+01] [-5.00328738e-01 8.46146791e-01 1.83594016e-01 -1.76577608e+01] [ 2.88012206e-01 -3.73223385e-02 9.56899165e-01 9.39336209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:-17.64, Z:9.35 [[ 8.20909580e-01 5.10222058e-01 -2.56477898e-01 5.37054958e+01] [-5.01436250e-01 8.58946690e-01 1.03789555e-01 -1.76444326e+01] [ 2.73256562e-01 4.34054755e-02 9.60961402e-01 9.35011494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:53.70, Y:-17.69, Z:9.41 [[ 8.13490738e-01 5.37483007e-01 -2.22136978e-01 5.37012491e+01] [-5.06549115e-01 8.42476265e-01 1.83416841e-01 -1.76895121e+01] [ 2.85728567e-01 -3.66846112e-02 9.57608179e-01 9.41158040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.919999999999995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:53.74, Y:-17.69, Z:9.40 [[ 8.12435403e-01 5.29916203e-01 -2.43182099e-01 5.37380354e+01] [-5.08555363e-01 8.48045870e-01 1.48961894e-01 -1.76945961e+01] [ 2.85166896e-01 2.64964440e-03 9.58474215e-01 9.40231444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.949999999999996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:53.76, Y:-17.71, Z:9.41 [[ 8.10419884e-01 5.32557566e-01 -2.44135313e-01 5.37644542e+01] [-5.11144975e-01 8.46386126e-01 1.49537088e-01 -1.77112837e+01] [ 2.86269849e-01 3.60070890e-03 9.58142269e-01 9.41170466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:53.79, Y:-17.73, Z:9.42 [[ 8.09622850e-01 5.33585783e-01 -2.44534359e-01 5.37908635e+01] [-5.12117515e-01 8.45737038e-01 1.49881665e-01 -1.77268469e+01] [ 2.86786490e-01 3.88270766e-03 9.57986656e-01 9.42116495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:53.82, Y:-17.74, Z:9.43 [[ 8.08194497e-01 5.35116515e-01 -2.45910492e-01 5.38188188e+01] [-5.13441557e-01 8.44766965e-01 1.50819568e-01 -1.77434797e+01] [ 2.88443102e-01 4.36912111e-03 9.57487069e-01 9.42872416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:53.85, Y:-17.76, Z:9.44 [[ 8.07288005e-01 5.36218495e-01 -2.46486921e-01 5.38459954e+01] [-5.14459648e-01 8.44066206e-01 1.51272967e-01 -1.77600571e+01] [ 2.89166643e-01 4.68672309e-03 9.57267302e-01 9.43789855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:53.87, Y:-17.78, Z:9.45 [[ 8.06666497e-01 5.36925640e-01 -2.46981821e-01 5.38729335e+01] [-5.15079683e-01 8.43615557e-01 1.51676342e-01 -1.77763089e+01] [ 2.89796624e-01 4.86309455e-03 9.57075894e-01 9.44720368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.1 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:53.92, Y:-17.77, Z:9.41 [[ 8.12629066e-01 5.19744296e-01 -2.63628277e-01 5.39192223e+01] [-5.12361528e-01 8.52716060e-01 1.01788925e-01 -1.77723829e+01] [ 2.77704279e-01 5.23563477e-02 9.59238837e-01 9.41487412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129999999999995 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:53.91, Y:-17.82, Z:9.49 [[ 8.06409692e-01 5.47635415e-01 -2.23156584e-01 5.39101952e+01] [-5.14900889e-01 8.35821921e-01 1.90469924e-01 -1.78208446e+01] [ 2.90827240e-01 -3.86932693e-02 9.55992859e-01 9.48597674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:53.95, Y:-17.83, Z:9.47 [[ 8.06394506e-01 5.37323629e-01 -2.47004492e-01 5.39512621e+01] [-5.15431173e-01 8.43362311e-01 1.51890481e-01 -1.78263193e+01] [ 2.89928624e-01 4.83016565e-03 9.57036082e-01 9.47463134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:53.98, Y:-17.84, Z:9.48 [[ 8.06815208e-01 5.36877827e-01 -2.46599712e-01 5.39776663e+01] [-5.15017177e-01 8.43647460e-01 1.51711142e-01 -1.78434246e+01] [ 2.89493569e-01 4.60023085e-03 9.57168904e-01 9.48366865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.00, Y:-17.86, Z:9.50 [[ 8.08151937e-01 5.35758150e-01 -2.44650061e-01 5.40021674e+01] [-5.14169387e-01 8.44361646e-01 1.50609601e-01 -1.78607378e+01] [ 2.87263449e-01 4.07613109e-03 9.57842939e-01 9.49566634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:54.03, Y:-17.88, Z:9.50 [[ 8.09195929e-01 5.33446674e-01 -2.46244989e-01 5.40301763e+01] [-5.12114881e-01 8.45817811e-01 1.49434196e-01 -1.78779734e+01] [ 2.87993572e-01 5.18418060e-03 9.57618309e-01 9.50357233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:54.05, Y:-17.89, Z:9.51 [[ 8.09489404e-01 5.35042510e-01 -2.41777619e-01 5.40524199e+01] [-5.12693859e-01 8.44825133e-01 1.53021247e-01 -1.78943885e+01] [ 2.86132681e-01 8.88223513e-05 9.58190003e-01 9.51452928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309999999999995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:54.08, Y:-17.91, Z:9.52 [[ 8.09977795e-01 5.33554086e-01 -2.43425572e-01 5.40805741e+01] [-5.12010795e-01 8.45760456e-01 1.50113944e-01 -1.79105895e+01] [ 2.85973631e-01 3.04755911e-03 9.58232641e-01 9.52222899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.339999999999996 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:54.11, Y:-17.93, Z:9.53 [[ 8.10680586e-01 5.32964968e-01 -2.42374359e-01 5.41057750e+01] [-5.11555930e-01 8.46132876e-01 1.49564996e-01 -1.79265683e+01] [ 2.84793816e-01 2.73860180e-03 9.58584885e-01 9.53371121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.13, Y:-17.94, Z:9.54 [[ 8.10617215e-01 5.32848782e-01 -2.42841318e-01 5.41331241e+01] [-5.11322551e-01 8.46206420e-01 1.49946469e-01 -1.79432468e+01] [ 2.85392676e-01 2.62105294e-03 9.58407090e-01 9.54208645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.4 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:54.16, Y:-17.96, Z:9.55 [[ 8.10126143e-01 5.32982205e-01 -2.44183541e-01 5.41613342e+01] [-5.11188262e-01 8.46122468e-01 1.50875213e-01 -1.79587636e+01] [ 2.87022985e-01 2.59580573e-03 9.57920178e-01 9.54997712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:-17.95, Z:9.52 [[ 8.17114723e-01 5.14760247e-01 -2.59509958e-01 5.42073382e+01] [-5.07179243e-01 8.55920333e-01 1.00844436e-01 -1.79526790e+01] [ 2.74030557e-01 4.92165909e-02 9.60460817e-01 9.51865491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:-18.00, Z:9.59 [[ 8.08882024e-01 5.44052454e-01 -2.22972638e-01 5.41988302e+01] [-5.11151622e-01 8.38087046e-01 1.90615115e-01 -1.80006424e+01] [ 2.90575101e-01 -4.02123145e-02 9.56006841e-01 9.59030079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:54.24, Y:-18.01, Z:9.58 [[ 8.08361383e-01 5.33964629e-01 -2.47858123e-01 5.42398750e+01] [-5.11447694e-01 8.45502429e-01 1.53449986e-01 -1.80055576e+01] [ 2.91501510e-01 2.72342217e-03 9.56566491e-01 9.57572691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.519999999999996 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:54.27, Y:-18.02, Z:9.58 [[ 8.08297100e-01 5.33869696e-01 -2.48271918e-01 5.42660905e+01] [-5.11252153e-01 8.45562646e-01 1.53769463e-01 -1.80213723e+01] [ 2.92022316e-01 2.63814219e-03 9.56407866e-01 9.58359632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:54.29, Y:-18.04, Z:9.59 [[ 8.08287123e-01 5.34057840e-01 -2.47899477e-01 5.42923591e+01] [-5.11498943e-01 8.45443803e-01 1.53602108e-01 -1.80375693e+01] [ 2.91617486e-01 2.64571463e-03 9.56531360e-01 9.59369889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:54.32, Y:-18.05, Z:9.60 [[ 8.08357757e-01 5.34177687e-01 -2.47410460e-01 5.43190995e+01] [-5.11685127e-01 8.45368239e-01 1.53397755e-01 -1.80537010e+01] [ 2.91094602e-01 2.59598760e-03 9.56690751e-01 9.60343609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.35, Y:-18.07, Z:9.61 [[ 8.08614563e-01 5.34177343e-01 -2.46570588e-01 5.43453088e+01] [-5.11809899e-01 8.45368754e-01 1.52978092e-01 -1.80686467e+01] [ 2.90160501e-01 2.49695504e-03 9.56974738e-01 9.61390195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:-18.08, Z:9.63 [[ 8.08716066e-01 5.34421029e-01 -2.45708139e-01 5.43721463e+01] [-5.12195722e-01 8.45214740e-01 1.52537161e-01 -1.80848314e+01] [ 2.89195207e-01 2.49140432e-03 9.57266904e-01 9.62535523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:54.40, Y:-18.10, Z:9.63 [[ 8.08505850e-01 5.34584627e-01 -2.46043833e-01 5.43990428e+01] [-5.12274159e-01 8.45111355e-01 1.52846277e-01 -1.81013043e+01] [ 2.89643707e-01 2.46478863e-03 9.57131364e-01 9.63274304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.699999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:-18.10, Z:9.60 [[ 8.15338659e-01 5.16987462e-01 -2.60666138e-01 5.44446271e+01] [-5.08365441e-01 8.54709427e-01 1.05054151e-01 -1.80966569e+01] [ 2.77105484e-01 4.68589450e-02 9.59696197e-01 9.60175980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:54.44, Y:-18.14, Z:9.67 [[ 8.07817067e-01 5.44703807e-01 -2.25231765e-01 5.44375813e+01] [-5.11889367e-01 8.37754935e-01 1.90094567e-01 -1.81448702e+01] [ 2.92234258e-01 -3.82678902e-02 9.55580822e-01 9.66864733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:54.48, Y:-18.15, Z:9.66 [[ 8.07429040e-01 5.35645943e-01 -2.47268619e-01 5.44770340e+01] [-5.13071960e-01 8.44438621e-01 1.53884957e-01 -1.81506173e+01] [ 2.91231025e-01 2.61541200e-03 9.56649178e-01 9.65944412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:54.50, Y:-18.17, Z:9.67 [[ 8.06784024e-01 5.36610323e-01 -2.47283036e-01 5.45046509e+01] [-5.14047063e-01 8.43825278e-01 1.53995187e-01 -1.81670314e+01] [ 2.91299084e-01 2.87426148e-03 9.56627714e-01 9.66763733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:54.53, Y:-18.18, Z:9.68 [[ 8.06419362e-01 5.37534016e-01 -2.46464995e-01 5.45312820e+01] [-5.15134449e-01 8.43236342e-01 1.53587017e-01 -1.81832504e+01] [ 2.90386487e-01 3.10706517e-03 9.56904402e-01 9.67982650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:54.56, Y:-18.20, Z:9.69 [[ 8.06033022e-01 5.38039987e-01 -2.46624693e-01 5.45579431e+01] [-5.15603308e-01 8.42913230e-01 1.53787240e-01 -1.81994049e+01] [ 2.90626901e-01 3.20291420e-03 9.56831096e-01 9.68520309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.879999999999995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:54.58, Y:-18.22, Z:9.69 [[ 8.05654977e-01 5.38742138e-01 -2.46326950e-01 5.45849135e+01] [-5.16364362e-01 8.42463981e-01 1.53695435e-01 -1.82162534e+01] [ 2.90323790e-01 3.36896635e-03 9.56922540e-01 9.69462068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:54.61, Y:-18.23, Z:9.70 [[ 8.05312401e-01 5.39663319e-01 -2.45429092e-01 5.46115194e+01] [-5.17464003e-01 8.41873234e-01 1.53233363e-01 -1.82333566e+01] [ 2.89314609e-01 3.59999280e-03 9.57227296e-01 9.70465342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:54.64, Y:-18.25, Z:9.71 [[ 8.05335733e-01 5.39889850e-01 -2.44853643e-01 5.46374951e+01] [-5.17776977e-01 8.41728044e-01 1.52973531e-01 -1.82494869e+01] [ 2.88689035e-01 3.58452899e-03 9.57416206e-01 9.71299564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:54.66, Y:-18.27, Z:9.72 [[ 8.05185655e-01 5.40389805e-01 -2.44243567e-01 5.46639246e+01] [-5.18392818e-01 8.41406669e-01 1.52655506e-01 -1.82658646e+01] [ 2.88001645e-01 3.69808731e-03 9.57622774e-01 9.72248909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.0 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:54.69, Y:-18.28, Z:9.73 [[ 8.04746089e-01 5.41225066e-01 -2.43842491e-01 5.46909138e+01] [-5.19309365e-01 8.40868717e-01 1.52504374e-01 -1.82820358e+01] [ 2.87578713e-01 3.90239103e-03 9.57749057e-01 9.73165247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:54.72, Y:-18.30, Z:9.74 [[ 8.04506211e-01 5.41805158e-01 -2.43345284e-01 5.47177603e+01] [-5.19976465e-01 8.40494539e-01 1.52293811e-01 -1.82988264e+01] [ 2.87043955e-01 4.01250353e-03 9.57909008e-01 9.74186348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.059999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:54.74, Y:-18.32, Z:9.75 [[ 8.03353114e-01 5.43013423e-01 -2.44458988e-01 5.47438220e+01] [-5.21004624e-01 8.39712603e-01 1.53091234e-01 -1.83154984e+01] [ 2.88405889e-01 4.37794356e-03 9.57498239e-01 9.75135247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.089999999999996 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:54.77, Y:-18.33, Z:9.76 [[ 8.02649179e-01 5.43553636e-01 -2.45568198e-01 5.47704483e+01] [-5.21336650e-01 8.39362309e-01 1.53879863e-01 -1.83327278e+01] [ 2.89762648e-01 4.51215601e-03 9.57087900e-01 9.75992224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.80, Y:-18.35, Z:9.77 [[ 8.01712562e-01 5.44776426e-01 -2.45917900e-01 5.47957629e+01] [-5.22520411e-01 8.38567168e-01 1.54199625e-01 -1.83498413e+01] [ 2.90222998e-01 4.87334569e-03 9.56946635e-01 9.77250484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:54.84, Y:-18.35, Z:9.75 [[ 8.06184927e-01 5.32048472e-01 -2.58824820e-01 5.48364730e+01] [-5.19451885e-01 8.45905526e-01 1.20886641e-01 -1.83527797e+01] [ 2.83258898e-01 3.69900524e-02 9.58329866e-01 9.74925060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:54.84, Y:-18.39, Z:9.80 [[ 8.00913738e-01 5.52416141e-01 -2.31027252e-01 5.48377776e+01] [-5.22277833e-01 8.33198047e-01 1.81677956e-01 -1.83920652e+01] [ 2.92853291e-01 -2.48479577e-02 9.55834467e-01 9.80211327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:54.87, Y:-18.40, Z:9.80 [[ 8.00572081e-01 5.45707410e-01 -2.47563662e-01 5.48729407e+01] [-5.23105009e-01 8.37960834e-01 1.55508165e-01 -1.84007277e+01] [ 2.92310610e-01 5.00629642e-03 9.56310328e-01 9.79766531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.239999999999995 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:54.90, Y:-18.42, Z:9.81 [[ 8.00293952e-01 5.46106918e-01 -2.47581954e-01 5.48997921e+01] [-5.23499925e-01 8.37699987e-01 1.55584579e-01 -1.84180105e+01] [ 2.92365214e-01 5.09573658e-03 9.56293164e-01 9.80676821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.269999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:54.93, Y:-18.44, Z:9.82 [[ 7.99656732e-01 5.47098953e-01 -2.47450695e-01 5.49259570e+01] [-5.24532378e-01 8.37050727e-01 1.55601622e-01 -1.84360640e+01] [ 2.92258268e-01 5.36801705e-03 9.56324364e-01 9.81653028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.3 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:54.95, Y:-18.45, Z:9.83 [[ 7.99309868e-01 5.47524516e-01 -2.47630046e-01 5.49521305e+01] [-5.24912898e-01 8.36771974e-01 1.55817565e-01 -1.84538149e+01] [ 2.92523819e-01 5.43768775e-03 9.56242776e-01 9.82600553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.33 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:54.99, Y:-18.46, Z:9.81 [[ 8.04081706e-01 5.34533407e-01 -2.60243437e-01 5.49924852e+01] [-5.22328860e-01 8.44233154e-01 1.20178798e-01 -1.84562164e+01] [ 2.83945720e-01 3.92990854e-02 9.58034660e-01 9.80603067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:54.99, Y:-18.50, Z:9.86 [[ 8.00565483e-01 5.53329795e-01 -2.30045745e-01 5.49908203e+01] [-5.22372006e-01 8.32505467e-01 1.84559301e-01 -1.84964588e+01] [ 2.93636500e-01 -2.75823489e-02 9.55519136e-01 9.85953250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:-18.51, Z:9.86 [[ 8.00554061e-01 5.45749564e-01 -2.47529009e-01 5.50269546e+01] [-5.22995184e-01 8.37935922e-01 1.56010990e-01 -1.85052412e+01] [ 2.92556378e-01 4.56124774e-03 9.56237398e-01 9.85637578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.419999999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:55.05, Y:-18.52, Z:9.86 [[ 8.01123979e-01 5.44999780e-01 -2.47337039e-01 5.50534351e+01] [-5.22214886e-01 8.38425703e-01 1.55993442e-01 -1.85222344e+01] [ 2.92390122e-01 4.19299684e-03 9.56289933e-01 9.86316379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.449999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:-18.52, Z:9.84 [[ 8.07643905e-01 5.28865818e-01 -2.60791619e-01 5.50971322e+01] [-5.18733235e-01 8.47532409e-01 1.12270422e-01 -1.85221142e+01] [ 2.80405337e-01 4.46067582e-02 9.58844661e-01 9.83719667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:-18.55, Z:9.86 [[ 8.07076351e-01 5.39018102e-01 -2.41012965e-01 5.51115007e+01] [-5.19042282e-01 8.42259873e-01 1.45579584e-01 -1.85504638e+01] [ 2.81465581e-01 7.60208002e-03 9.59541211e-01 9.86389306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:55.12, Y:-18.58, Z:9.91 [[ 8.01518756e-01 5.53558680e-01 -2.26142593e-01 5.51178675e+01] [-5.20678136e-01 8.32050506e-01 1.91275283e-01 -1.85838038e+01] [ 2.94044152e-01 -3.55632227e-02 9.55129988e-01 9.90952007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:55.16, Y:-18.59, Z:9.90 [[ 8.01229300e-01 5.44318301e-01 -2.48493856e-01 5.51572507e+01] [-5.21156860e-01 8.38871025e-01 1.57133482e-01 -1.85912986e+01] [ 2.93984926e-01 3.60432800e-03 9.55803260e-01 9.90097954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:55.18, Y:-18.61, Z:9.91 [[ 8.01117732e-01 5.44318199e-01 -2.48853528e-01 5.51839717e+01] [-5.21056302e-01 8.38871452e-01 1.57464334e-01 -1.86088765e+01] [ 2.94466823e-01 3.51922851e-03 9.55655223e-01 9.91001359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.599999999999994 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:55.21, Y:-18.63, Z:9.92 [[ 8.00952595e-01 5.44669185e-01 -2.48617014e-01 5.52099479e+01] [-5.21436714e-01 8.38643463e-01 1.57419488e-01 -1.86253678e+01] [ 2.94242578e-01 3.55249188e-03 9.55724168e-01 9.91961097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.629999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:-18.64, Z:9.93 [[ 8.00277500e-01 5.45950102e-01 -2.47980663e-01 5.52358049e+01] [-5.22869211e-01 8.37808490e-01 1.57113724e-01 -1.86419346e+01] [ 2.93536558e-01 3.92687540e-03 9.55939783e-01 9.93303693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:55.26, Y:-18.66, Z:9.94 [[ 8.00006497e-01 5.46449701e-01 -2.47754573e-01 5.52629754e+01] [-5.23403499e-01 8.37482298e-01 1.57073798e-01 -1.86575576e+01] [ 2.93322999e-01 4.01555115e-03 9.56004965e-01 9.93849905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:-18.64, Z:9.90 [[ 0.80869308 0.52417112 -0.26694596 55.31416343] [ -0.51994756 0.84919436 0.09232269 -18.64496956] [ 0.27508188 0.06413718 0.95927909 9.89607439] [ 0. 0. 0. 1. ]] SLAMing on 57.72 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:55.30, Y:-18.70, Z:9.98 [[ 7.99362155e-01 5.60448004e-01 -2.16606048e-01 5.52961896e+01] [-5.24105561e-01 8.26669066e-01 2.04772109e-01 -1.87029603e+01] [ 2.93825639e-01 -5.01626402e-02 9.54541881e-01 9.98303099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:55.34, Y:-18.71, Z:9.97 [[ 7.98833131e-01 5.48189648e-01 -2.47696869e-01 5.53401911e+01] [-5.25164323e-01 8.36342227e-01 1.57270826e-01 -1.87052637e+01] [ 2.93373590e-01 4.44841222e-03 9.55987525e-01 9.96646800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:-18.69, Z:9.92 [[ 0.8093797 0.52094857 -0.27114034 55.39586531] [ -0.51995056 0.85029142 0.08158383 -18.68843389] [ 0.27304929 0.07494727 0.95907611 9.91525772] [ 0. 0. 0. 1. ]] SLAMing on 57.809999999999995 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:55.40, Y:-18.73, Z:9.96 [[ 8.05685932e-01 5.43257607e-01 -2.36096065e-01 5.53961654e+01] [-5.22490417e-01 8.39558918e-01 1.48810575e-01 -1.87294875e+01] [ 2.79059034e-01 3.46334469e-03 9.60267703e-01 9.95924032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.839999999999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:55.43, Y:-18.74, Z:9.95 [[ 8.07669433e-01 5.35930682e-01 -2.45862547e-01 5.54296811e+01] [-5.20773763e-01 8.43920750e-01 1.28811702e-01 -1.87367152e+01] [ 2.76522649e-01 2.40014894e-02 9.60707631e-01 9.95344089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:55.42, Y:-18.78, Z:10.03 [[ 0.79821354 0.56499865 -0.20888194 55.41916297] [ -0.52488255 0.82251254 0.2190238 -18.78342957] [ 0.29555616 -0.06518928 0.95309859 10.03308986] [ 0. 0. 0. 1. ]] SLAMing on 57.9 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:55.47, Y:-18.78, Z:10.01 [[ 7.97251806e-01 5.50089182e-01 -2.48578861e-01 5.54689758e+01] [-5.27021001e-01 8.35089313e-01 1.57717163e-01 -1.87820773e+01] [ 2.94344055e-01 5.26598679e-03 9.55685014e-01 1.00085461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:55.49, Y:-18.80, Z:10.02 [[ 7.96493523e-01 5.51366142e-01 -2.48180266e-01 5.54946090e+01] [-5.28402327e-01 8.34244324e-01 1.57567095e-01 -1.87975400e+01] [ 2.93920140e-01 5.63785938e-03 9.55813353e-01 1.00183689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:-18.77, Z:9.96 [[ 0.80764002 0.52131897 -0.27557962 55.55612283] [ -0.52406831 0.84880925 0.06982307 -18.77439252] [ 0.27031462 0.08803064 0.95873908 9.95835799] [ 0. 0. 0. 1. ]] SLAMing on 57.989999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:55.52, Y:-18.85, Z:10.07 [[ 0.79345422 0.57199371 -0.20797501 55.52287767] [ -0.53056886 0.81747771 0.22411354 -18.84816928] [ 0.29820647 -0.06747877 0.95211319 10.07304718] [ 0. 0. 0. 1. ]] SLAMing on 58.019999999999996 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:55.59, Y:-18.83, Z:10.01 [[ 0.79656435 0.54053898 -0.27074498 55.59067015] [ -0.53201627 0.83946362 0.11072269 -18.8271322 ] [ 0.28713049 0.05584299 0.95626233 10.01125736] [ 0. 0. 0. 1. ]] SLAMing on 58.05 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:55.58, Y:-18.87, Z:10.07 [[ 7.92548226e-01 5.66816906e-01 -2.24913103e-01 5.55797361e+01] [-5.31986017e-01 8.22950766e-01 1.99356253e-01 -1.88696502e+01] [ 2.98090905e-01 -3.83488187e-02 9.53766838e-01 1.00737791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:55.62, Y:-18.87, Z:10.06 [[ 7.92301167e-01 5.56658237e-01 -2.49780840e-01 5.56211925e+01] [-5.33594047e-01 8.30707722e-01 1.58751608e-01 -1.88734458e+01] [ 2.95865263e-01 7.50248528e-03 9.55200219e-01 1.00624764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:55.65, Y:-18.89, Z:10.07 [[ 7.92337994e-01 5.56921844e-01 -2.49075415e-01 5.56481398e+01] [-5.33973100e-01 8.30531107e-01 1.58400782e-01 -1.88901031e+01] [ 2.95081736e-01 7.49261377e-03 9.55442635e-01 1.00722996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:55.67, Y:-18.91, Z:10.08 [[ 7.92900091e-01 5.56773042e-01 -2.47615076e-01 5.56746495e+01] [-5.34059821e-01 8.30632578e-01 1.57574197e-01 -1.89062086e+01] [ 2.93410214e-01 7.30066789e-03 9.55958758e-01 1.00813589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:-18.92, Z:10.09 [[ 7.92757441e-01 5.57653649e-01 -2.46085449e-01 5.57000146e+01] [-5.35238439e-01 8.30039919e-01 1.56695710e-01 -1.89226262e+01] [ 2.91642680e-01 7.49270152e-03 9.56497991e-01 1.00944335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.199999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:55.73, Y:-18.94, Z:10.10 [[ 7.93243760e-01 5.57126353e-01 -2.45712362e-01 5.57272730e+01] [-5.34724631e-01 8.30396542e-01 1.56560377e-01 -1.89388923e+01] [ 2.91262607e-01 7.19790972e-03 9.56616059e-01 1.01014216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:55.75, Y:-18.95, Z:10.11 [[ 7.93422346e-01 5.56982836e-01 -2.45460997e-01 5.57540384e+01] [-5.34589960e-01 8.30494096e-01 1.56502813e-01 -1.89546970e+01] [ 2.91023290e-01 7.04815530e-03 9.56690006e-01 1.01085256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:55.78, Y:-18.97, Z:10.12 [[ 7.93208589e-01 5.57360137e-01 -2.45295357e-01 5.57804516e+01] [-5.34986699e-01 8.30240501e-01 1.56492625e-01 -1.89714210e+01] [ 2.90876891e-01 7.09845882e-03 9.56734156e-01 1.01186437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:55.81, Y:-18.99, Z:10.13 [[ 7.93235167e-01 5.57330755e-01 -2.45276169e-01 5.58070372e+01] [-5.34928437e-01 8.30261075e-01 1.56582612e-01 -1.89882548e+01] [ 2.90911561e-01 6.99836282e-03 9.56724352e-01 1.01257644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:55.83, Y:-19.00, Z:10.14 [[ 7.93534233e-01 5.56858843e-01 -2.45380622e-01 5.58340231e+01] [-5.34385973e-01 8.30579752e-01 1.56744720e-01 -1.90049888e+01] [ 2.91092859e-01 6.74566130e-03 9.56671021e-01 1.01354348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349999999999994 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:55.86, Y:-19.02, Z:10.14 [[ 7.93861588e-01 5.56248381e-01 -2.45706161e-01 5.58612787e+01] [-5.33654712e-01 8.30991119e-01 1.57055433e-01 -1.90222627e+01] [ 2.91541468e-01 6.44197466e-03 9.56536499e-01 1.01439450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.379999999999995 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:55.89, Y:-19.04, Z:10.15 [[ 7.94329104e-01 5.55707876e-01 -2.45418075e-01 5.58868983e+01] [-5.33111790e-01 8.31354906e-01 1.56974008e-01 -1.90388958e+01] [ 2.91261213e-01 6.14624578e-03 9.56623818e-01 1.01528592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:55.91, Y:-19.06, Z:10.16 [[ 7.95175750e-01 5.54653585e-01 -2.45061068e-01 5.59134103e+01] [-5.32046662e-01 8.32062063e-01 1.56840919e-01 -1.90563204e+01] [ 2.90898395e-01 5.66782802e-03 9.56737163e-01 1.01629119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:-19.07, Z:10.17 [[ 7.97314172e-01 5.51897880e-01 -2.44333466e-01 5.59377200e+01] [-5.29270055e-01 8.33899255e-01 1.56477605e-01 -1.90735786e+01] [ 2.90109153e-01 4.55657456e-03 9.56982715e-01 1.01741652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:55.96, Y:-19.09, Z:10.18 [[ 7.98862013e-01 5.49786104e-01 -2.44038366e-01 5.59641095e+01] [-5.27088733e-01 8.35297279e-01 1.56383897e-01 -1.90916930e+01] [ 2.89822277e-01 3.70071803e-03 9.57073327e-01 1.01809236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.5 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:55.99, Y:-19.11, Z:10.19 [[ 8.00303404e-01 5.47822603e-01 -2.43731116e-01 5.59897411e+01] [-5.25064018e-01 8.36589507e-01 1.56287472e-01 -1.91094566e+01] [ 2.89520704e-01 2.89704355e-03 9.57167367e-01 1.01898099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:56.03, Y:-19.11, Z:10.16 [[ 8.09752828e-01 5.27137171e-01 -2.57733895e-01 5.60341088e+01] [-5.17219233e-01 8.48659044e-01 1.10734330e-01 -1.91091463e+01] [ 2.77100383e-01 4.36374908e-02 9.59849544e-01 1.01602679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.559999999999995 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.03, Y:-19.16, Z:10.23 [[ 8.04334263e-01 5.51465878e-01 -2.21205284e-01 5.60262137e+01] [-5.18946585e-01 8.33312174e-01 1.90486910e-01 -1.91556441e+01] [ 2.89380087e-01 -3.84214219e-02 9.56442868e-01 1.02272884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.589999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:56.07, Y:-19.16, Z:10.22 [[ 8.05492079e-01 5.40443615e-01 -2.43111517e-01 5.60658163e+01] [-5.17395930e-01 8.41380235e-01 1.56143372e-01 -1.91638289e+01] [ 2.88935913e-01 1.26597877e-05 9.57348441e-01 1.02173618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:56.09, Y:-19.18, Z:10.23 [[ 8.07256220e-01 5.38281298e-01 -2.42055034e-01 5.60909855e+01] [-5.15312260e-01 8.42764811e-01 1.55565899e-01 -1.91820904e+01] [ 2.87733679e-01 -8.47612658e-04 9.57710087e-01 1.02278729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:56.13, Y:-19.18, Z:10.20 [[ 8.13409004e-01 5.22342970e-01 -2.55975805e-01 5.61346142e+01] [-5.10789833e-01 8.51934966e-01 1.15328052e-01 -1.91827047e+01] [ 2.78315536e-01 3.69409632e-02 9.59779051e-01 1.02005183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:-19.21, Z:10.22 [[ 8.14300022e-01 5.27444236e-01 -2.42318079e-01 5.61526670e+01] [-5.10190131e-01 8.49473121e-01 1.34541615e-01 -1.92062471e+01] [ 2.76805894e-01 1.40710526e-02 9.60822826e-01 1.02193092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.15, Y:-19.25, Z:10.28 [[ 8.06794713e-01 5.48642282e-01 -2.19257698e-01 5.61511545e+01] [-5.13742843e-01 8.34716228e-01 1.98285425e-01 -1.92456476e+01] [ 2.91805726e-01 -4.73335592e-02 9.55305685e-01 1.02781805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.21, Y:-19.23, Z:10.22 [[ 8.14335795e-01 5.18054135e-01 -2.61681345e-01 5.62147893e+01] [-5.09456113e-01 8.54025663e-01 1.05331074e-01 -1.92294702e+01] [ 2.78049782e-01 4.75402966e-02 9.59389514e-01 1.02223591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.769999999999996 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:56.23, Y:-19.26, Z:10.25 [[ 8.13942217e-01 5.30118414e-01 -2.37639505e-01 5.62251542e+01] [-5.09333070e-01 8.47922477e-01 1.46994209e-01 -1.92606878e+01] [ 2.79424215e-01 1.39286603e-03 9.60166740e-01 1.02516529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.8 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:56.25, Y:-19.28, Z:10.27 [[ 8.13298586e-01 5.32229280e-01 -2.35111469e-01 5.62470786e+01] [-5.09366596e-01 8.46580130e-01 1.54427181e-01 -1.92800489e+01] [ 2.81231366e-01 -5.83747875e-03 9.59622240e-01 1.02654137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:56.25, Y:-19.31, Z:10.31 [[ 8.07124858e-01 5.46676905e-01 -2.22921117e-01 5.62535498e+01] [-5.12509278e-01 8.36228221e-01 1.95081014e-01 -1.93125281e+01] [ 2.93059214e-01 -4.32055946e-02 9.55117571e-01 1.03138004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:56.31, Y:-19.30, Z:10.26 [[ 8.14442307e-01 5.17772424e-01 -2.61907324e-01 5.63140919e+01] [-5.07835335e-01 8.54412648e-01 1.09919517e-01 -1.92985518e+01] [ 2.80690224e-01 4.34826887e-02 9.58812940e-01 1.02615730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.30, Y:-19.35, Z:10.34 [[ 8.06931548e-01 5.47112951e-01 -2.22550885e-01 5.63025805e+01] [-5.12530164e-01 8.35873427e-01 1.96541204e-01 -1.93471092e+01] [ 2.93554609e-01 -4.45312560e-02 9.54904529e-01 1.03353475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919999999999995 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:56.34, Y:-19.35, Z:10.32 [[ 8.06573691e-01 5.37324379e-01 -2.46417110e-01 5.63427014e+01] [-5.13046712e-01 8.43372273e-01 1.59706858e-01 -1.93529852e+01] [ 2.93635746e-01 -2.39186147e-03 9.55914393e-01 1.03246161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.949999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:-19.35, Z:10.29 [[ 8.11175378e-01 5.20632527e-01 -2.66338653e-01 5.63912426e+01] [-5.11122689e-01 8.52478249e-01 1.09701555e-01 -1.93480823e+01] [ 2.84162106e-01 4.71445275e-02 9.57616463e-01 1.02899823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:56.40, Y:-19.38, Z:10.32 [[ 8.10441957e-01 5.35909942e-01 -2.36610161e-01 5.63987755e+01] [-5.12781969e-01 8.44260640e-01 1.55815994e-01 -1.93800083e+01] [ 2.83263986e-01 -4.95039493e-03 9.59029201e-01 1.03223417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.43, Y:-19.39, Z:10.33 [[ 8.07224464e-01 5.36105182e-01 -2.46941085e-01 5.64275308e+01] [-5.14848333e-01 8.44127118e-01 1.49601482e-01 -1.93944871e+01] [ 2.88651796e-01 6.37522971e-03 9.57412919e-01 1.03310272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:56.45, Y:-19.41, Z:10.34 [[ 8.05830635e-01 5.38535982e-01 -2.46203134e-01 5.64529528e+01] [-5.16106248e-01 8.42596801e-01 1.53834233e-01 -1.94125641e+01] [ 2.90295243e-01 3.10263825e-03 9.56932101e-01 1.03399242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.48, Y:-19.43, Z:10.35 [[ 8.03506452e-01 5.42850801e-01 -2.44316167e-01 5.64766641e+01] [-5.20174579e-01 8.39825946e-01 1.55276492e-01 -1.94297556e+01] [ 2.89475024e-01 2.32139636e-03 9.57182752e-01 1.03535702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099999999999994 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:56.48, Y:-19.46, Z:10.40 [[ 7.96418200e-01 5.59298283e-01 -2.30007566e-01 5.64834169e+01] [-5.23829650e-01 8.28066559e-01 1.99770548e-01 -1.94619020e+01] [ 3.02192899e-01 -3.86161176e-02 9.52464302e-01 1.03997168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:-19.47, Z:10.39 [[ 7.93849681e-01 5.53298548e-01 -2.52316073e-01 5.65226706e+01] [-5.28163050e-01 8.32979662e-01 1.64889889e-01 -1.94677619e+01] [ 3.01407493e-01 2.36624107e-03 9.53492488e-01 1.03944387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.55, Y:-19.48, Z:10.40 [[ 7.93022835e-01 5.54332631e-01 -2.52646230e-01 5.65496352e+01] [-5.29147999e-01 8.32290930e-01 1.65209569e-01 -1.94842507e+01] [ 3.01856221e-01 2.67228648e-03 9.53349716e-01 1.04018762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:56.58, Y:-19.50, Z:10.41 [[ 7.91885486e-01 5.55797369e-01 -2.52995379e-01 5.65764835e+01] [-5.30593477e-01 8.31311726e-01 1.65503403e-01 -1.95011638e+01] [ 3.02304382e-01 3.17795503e-03 9.53206148e-01 1.04110841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.60, Y:-19.52, Z:10.42 [[ 7.90679157e-01 5.57420033e-01 -2.53198298e-01 5.66015298e+01] [-5.32221353e-01 8.30222360e-01 1.65744576e-01 -1.95174297e+01] [ 3.02600236e-01 3.70675923e-03 9.53110359e-01 1.04207794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:56.63, Y:-19.53, Z:10.43 [[ 7.89051176e-01 5.59365770e-01 -2.53984599e-01 5.66279911e+01] [-5.34072386e-01 8.28909380e-01 1.66360832e-01 -1.95342494e+01] [ 3.03586772e-01 4.37895084e-03 9.52793733e-01 1.04296648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:56.65, Y:-19.55, Z:10.44 [[ 7.88256240e-01 5.60303667e-01 -2.54385339e-01 5.66530057e+01] [-5.34941484e-01 8.28274194e-01 1.66731722e-01 -1.95507624e+01] [ 3.04121207e-01 4.65395042e-03 9.52621978e-01 1.04410330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:-19.57, Z:10.45 [[ 7.87648810e-01 5.61048496e-01 -2.54625093e-01 5.66787194e+01] [-5.35653322e-01 8.27768508e-01 1.66957524e-01 -1.95679407e+01] [ 3.04441901e-01 4.88688214e-03 9.52518371e-01 1.04514366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339999999999996 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:56.70, Y:-19.58, Z:10.46 [[ 7.88016656e-01 5.60828673e-01 -2.53970373e-01 5.67049371e+01] [-5.35521325e-01 8.27918574e-01 1.66636568e-01 -1.95847052e+01] [ 3.03721354e-01 4.69415912e-03 9.52749339e-01 1.04582250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:56.73, Y:-19.60, Z:10.47 [[ 7.88026040e-01 5.60836080e-01 -2.53924894e-01 5.67290014e+01] [-5.35506790e-01 8.27914029e-01 1.66705843e-01 -1.96005038e+01] [ 3.03722634e-01 4.60995952e-03 9.52749343e-01 1.04672665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.4 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:56.75, Y:-19.62, Z:10.48 [[ 7.88247718e-01 5.60834540e-01 -2.53239323e-01 5.67547540e+01] [-5.35646456e-01 8.27915129e-01 1.66251052e-01 -1.96176135e+01] [ 3.02899999e-01 4.59973333e-03 9.53011245e-01 1.04777771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:56.78, Y:-19.63, Z:10.49 [[ 7.88567044e-01 5.60897165e-01 -2.52103923e-01 5.67797015e+01] [-5.35909570e-01 8.27873198e-01 1.65610689e-01 -1.96345107e+01] [ 3.01600647e-01 4.50977390e-03 9.53423679e-01 1.04887295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:56.80, Y:-19.65, Z:10.50 [[ 7.89385526e-01 5.60305525e-01 -2.50854959e-01 5.68046841e+01] [-5.35520875e-01 8.28275346e-01 1.64855525e-01 -1.96510475e+01] [ 3.00146439e-01 4.20350185e-03 9.53883874e-01 1.04992993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489999999999995 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:56.83, Y:-19.67, Z:10.51 [[ 7.89711477e-01 5.60020014e-01 -2.50466300e-01 5.68310278e+01] [-5.35269746e-01 8.28469400e-01 1.64695940e-01 -1.96684071e+01] [ 2.99736688e-01 4.00475843e-03 9.54013564e-01 1.05085741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519999999999996 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:56.86, Y:-19.68, Z:10.52 [[ 7.90013533e-01 5.59493726e-01 -2.50689826e-01 5.68558466e+01] [-5.34640083e-01 8.28826240e-01 1.64945584e-01 -1.96847875e+01] [ 3.00064326e-01 3.71958582e-03 9.53911718e-01 1.05176729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:-19.69, Z:10.50 [[ 7.95631426e-01 5.46545043e-01 -2.61264521e-01 5.68950419e+01] [-5.31136438e-01 8.36781507e-01 1.33006744e-01 -1.96881355e+01] [ 2.91315496e-01 3.29427610e-02 9.56059651e-01 1.05012936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:56.90, Y:-19.73, Z:10.55 [[ 7.90639370e-01 5.65121623e-01 -2.35641547e-01 5.68973336e+01] [-5.33123484e-01 8.24664943e-01 1.88963176e-01 -1.97256419e+01] [ 3.01112500e-01 -2.37756840e-02 9.53292179e-01 1.05486849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:-19.72, Z:10.52 [[ 7.95851100e-01 5.45726890e-01 -2.62303618e-01 5.69461473e+01] [-5.30188247e-01 8.37317373e-01 1.33416790e-01 -1.97214712e+01] [ 2.92440506e-01 3.28903960e-02 9.55717935e-01 1.05196474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:56.95, Y:-19.76, Z:10.57 [[ 7.90730159e-01 5.64756428e-01 -2.36211753e-01 5.69476608e+01] [-5.32401238e-01 8.24894642e-01 1.89994084e-01 -1.97586880e+01] [ 3.02150190e-01 -2.44746221e-02 9.52946093e-01 1.05685475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:-19.75, Z:10.54 [[ 7.95553530e-01 5.45723900e-01 -2.63210953e-01 5.69966183e+01] [-5.29928272e-01 8.37331000e-01 1.34360793e-01 -1.97545538e+01] [ 2.93718586e-01 3.25917225e-02 9.55336156e-01 1.05387792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699999999999996 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:57.00, Y:-19.79, Z:10.59 [[ 7.90321130e-01 5.64760879e-01 -2.37566117e-01 5.69984946e+01] [-5.32119126e-01 8.24894823e-01 1.90781989e-01 -1.97918698e+01] [ 3.03713264e-01 -2.43655622e-02 9.52451874e-01 1.05874175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:57.03, Y:-19.80, Z:10.58 [[ 7.89894925e-01 5.57958765e-01 -2.54456329e-01 5.70346773e+01] [-5.32058719e-01 8.29864446e-01 1.68043214e-01 -1.98022261e+01] [ 3.04925444e-01 2.64922671e-03 9.52372540e-01 1.05844569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:57.06, Y:-19.82, Z:10.59 [[ 7.89661093e-01 5.58271517e-01 -2.54496113e-01 5.70600562e+01] [-5.32344430e-01 8.29653994e-01 1.68177457e-01 -1.98190352e+01] [ 3.05032401e-01 2.67639384e-03 9.52338213e-01 1.05932538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:57.09, Y:-19.84, Z:10.60 [[ 7.89466060e-01 5.58590395e-01 -2.54401476e-01 5.70853985e+01] [-5.32667044e-01 8.29439221e-01 1.68215333e-01 -1.98358676e+01] [ 3.04974031e-01 2.71098619e-03 9.52356809e-01 1.06032266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:57.12, Y:-19.84, Z:10.59 [[ 7.93771282e-01 5.47213248e-01 -2.65489760e-01 5.71245317e+01] [-5.31229531e-01 8.36323176e-01 1.35494396e-01 -1.98389578e+01] [ 2.96179568e-01 3.34844400e-02 9.54545156e-01 1.05862247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849999999999994 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:57.13, Y:-19.88, Z:10.64 [[ 7.88528900e-01 5.67143228e-01 -2.37846029e-01 5.71257629e+01] [-5.34144255e-01 8.23254283e-01 1.92203798e-01 -1.98768241e+01] [ 3.04814845e-01 -2.45141596e-02 9.52096091e-01 1.06368176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879999999999995 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:57.16, Y:-19.89, Z:10.63 [[ 7.88168709e-01 5.60815099e-01 -2.53528126e-01 5.71597388e+01] [-5.35101618e-01 8.27934384e-01 1.67901501e-01 -1.98853034e+01] [ 3.04066349e-01 3.32860097e-03 9.52645042e-01 1.06310056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:57.18, Y:-19.90, Z:10.64 [[ 7.87992356e-01 5.61265867e-01 -2.53078394e-01 5.71822180e+01] [-5.35670499e-01 8.27628157e-01 1.67596987e-01 -1.99002745e+01] [ 3.03521273e-01 3.50148474e-03 9.52818229e-01 1.06407826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:-19.92, Z:10.65 [[ 7.87454279e-01 5.62048802e-01 -2.53015619e-01 5.72044480e+01] [-5.36513966e-01 8.27095230e-01 1.67529836e-01 -1.99154755e+01] [ 3.03427955e-01 3.82432707e-03 9.52846709e-01 1.06524915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.24, Y:-19.92, Z:10.64 [[ 7.90754198e-01 5.53398659e-01 -2.61644268e-01 5.72419525e+01] [-5.35914242e-01 8.32420296e-01 1.40969412e-01 -1.99214525e+01] [ 2.95810283e-01 2.87467351e-02 9.54814067e-01 1.06381579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.0 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:57.25, Y:-19.96, Z:10.68 [[ 7.85617053e-01 5.69916558e-01 -2.40833892e-01 5.72483825e+01] [-5.38492375e-01 8.21514452e-01 1.87456573e-01 -1.99552705e+01] [ 3.04683128e-01 -1.75818661e-02 9.52291483e-01 1.06778488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.28, Y:-19.96, Z:10.68 [[ 7.84584697e-01 5.65841088e-01 -2.53477249e-01 5.72769292e+01] [-5.40361242e-01 8.24498014e-01 1.67966521e-01 -1.99639545e+01] [ 3.04033847e-01 5.18531963e-03 9.52647118e-01 1.06800328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059999999999995 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:57.30, Y:-19.98, Z:10.69 [[ 7.84286516e-01 5.66236228e-01 -2.53517640e-01 5.73000891e+01] [-5.40780167e-01 8.24225501e-01 1.67955750e-01 -1.99782330e+01] [ 3.04058334e-01 5.37188165e-03 9.52638269e-01 1.06855331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.089999999999996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:57.32, Y:-19.99, Z:10.69 [[ 7.82996093e-01 5.67384575e-01 -2.54935018e-01 5.73221761e+01] [-5.41707774e-01 8.23431902e-01 1.68856712e-01 -1.99919874e+01] [ 3.05728321e-01 5.88613567e-03 9.52100597e-01 1.06916009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:57.34, Y:-20.01, Z:10.70 [[ 7.82756434e-01 5.67676733e-01 -2.55020571e-01 5.73443468e+01] [-5.42011323e-01 8.23229400e-01 1.68870012e-01 -2.00065612e+01] [ 3.05804008e-01 6.03994875e-03 9.52075327e-01 1.07002105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:57.37, Y:-20.02, Z:10.71 [[ 7.82647292e-01 5.67703325e-01 -2.55296203e-01 5.73666928e+01] [-5.41994342e-01 8.23210698e-01 1.69015623e-01 -2.00212493e+01] [ 3.06113296e-01 6.08947743e-03 9.51975613e-01 1.07091179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:57.39, Y:-20.04, Z:10.72 [[ 7.83411938e-01 5.66738893e-01 -2.55093633e-01 5.73884820e+01] [-5.41033622e-01 8.23877471e-01 1.68844700e-01 -2.00353752e+01] [ 3.05856755e-01 5.73927848e-03 9.52060243e-01 1.07168392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:-20.05, Z:10.73 [[ 7.83713842e-01 5.66626861e-01 -2.54414256e-01 5.74090415e+01] [-5.41069284e-01 8.23954693e-01 1.68352886e-01 -2.00492390e+01] [ 3.05019088e-01 5.71525202e-03 9.52329088e-01 1.07289637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239999999999995 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:57.43, Y:-20.06, Z:10.73 [[ 7.84533607e-01 5.65513396e-01 -2.54365127e-01 5.74322897e+01] [-5.39922525e-01 8.24721963e-01 1.68277598e-01 -2.00640585e+01] [ 3.04943743e-01 5.31803065e-03 9.52355518e-01 1.07336423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.269999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:57.45, Y:-20.08, Z:10.74 [[ 7.85410440e-01 5.64700551e-01 -2.53463466e-01 5.74538977e+01] [-5.39283937e-01 8.25280339e-01 1.67586388e-01 -2.00786659e+01] [ 3.03814540e-01 5.06467659e-03 9.52717731e-01 1.07442473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.3 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:57.48, Y:-20.09, Z:10.75 [[ 7.85848248e-01 5.63970771e-01 -2.53731159e-01 5.74767994e+01] [-5.38492259e-01 8.25780390e-01 1.67668825e-01 -2.00932252e+01] [ 3.04086531e-01 4.87001293e-03 9.52631967e-01 1.07500114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:-20.11, Z:10.76 [[ 7.85576763e-01 5.64386622e-01 -2.53647177e-01 5.75016393e+01] [-5.38975779e-01 8.25494786e-01 1.67521542e-01 -2.01101299e+01] [ 3.03931339e-01 5.10865407e-03 9.52680242e-01 1.07630326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:57.53, Y:-20.13, Z:10.77 [[ 7.85159168e-01 5.64481184e-01 -2.54727449e-01 5.75275787e+01] [-5.38818750e-01 8.25430326e-01 1.68342304e-01 -2.01273694e+01] [ 3.05285824e-01 5.07642249e-03 9.52247234e-01 1.07699459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:57.55, Y:-20.14, Z:10.78 [[ 7.84716760e-01 5.64738228e-01 -2.55519747e-01 5.75538151e+01] [-5.38893027e-01 8.25254295e-01 1.68966427e-01 -2.01447914e+01] [ 3.06290569e-01 5.10702270e-03 9.51924370e-01 1.07785877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419999999999995 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:57.58, Y:-20.16, Z:10.79 [[ 7.84579455e-01 5.64898656e-01 -2.55586751e-01 5.75805488e+01] [-5.39013143e-01 8.25144670e-01 1.69118615e-01 -2.01624250e+01] [ 3.06430924e-01 5.07762725e-03 9.51879355e-01 1.07878624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.449999999999996 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:57.62, Y:-20.16, Z:10.77 [[ 7.87588403e-01 5.53405584e-01 -2.71010640e-01 5.76175885e+01] [-5.37329244e-01 8.32077368e-01 1.37566482e-01 -2.01644903e+01] [ 3.01631880e-01 3.72761761e-02 9.52695490e-01 1.07727583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:57.62, Y:-20.20, Z:10.82 [[ 7.84057900e-01 5.72538003e-01 -2.39694480e-01 5.76165715e+01] [-5.38580651e-01 8.19515010e-01 1.95770352e-01 -2.02000119e+01] [ 3.08519190e-01 -2.44004824e-02 9.50905109e-01 1.08176575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:57.65, Y:-20.21, Z:10.81 [[ 7.83674951e-01 5.65291003e-01 -2.57487188e-01 5.76520957e+01] [-5.39055449e-01 8.24874266e-01 1.70298760e-01 -2.02090047e+01] [ 3.08662912e-01 5.34099962e-03 9.51156496e-01 1.08138613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:57.68, Y:-20.23, Z:10.82 [[ 7.83709657e-01 5.65173831e-01 -2.57638730e-01 5.76783789e+01] [-5.38878218e-01 8.24955208e-01 1.70467507e-01 -2.02270742e+01] [ 3.08884185e-01 5.23886845e-03 9.51085230e-01 1.08226598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:57.70, Y:-20.24, Z:10.84 [[ 7.83764423e-01 5.65197504e-01 -2.57420107e-01 5.77027723e+01] [-5.38912815e-01 8.24939567e-01 1.70433824e-01 -2.02440818e+01] [ 3.08684803e-01 5.14702675e-03 9.51150461e-01 1.08359410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599999999999994 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:57.73, Y:-20.26, Z:10.85 [[ 7.84326320e-01 5.64448826e-01 -2.57351405e-01 5.77272289e+01] [-5.38105636e-01 8.25454333e-01 1.70491845e-01 -2.02625509e+01] [ 3.08665754e-01 4.76100044e-03 9.51158654e-01 1.08454848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.629999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:57.75, Y:-20.28, Z:10.85 [[ 7.84598955e-01 5.63966698e-01 -2.57577258e-01 5.77531479e+01] [-5.37517446e-01 8.25785344e-01 1.70744141e-01 -2.02808968e+01] [ 3.08997534e-01 4.48659534e-03 9.51052256e-01 1.08538347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:57.78, Y:-20.30, Z:10.86 [[ 7.84899273e-01 5.63700059e-01 -2.57245749e-01 5.77784512e+01] [-5.37271463e-01 8.25968470e-01 1.70632534e-01 -2.02987355e+01] [ 3.08662447e-01 4.28144782e-03 9.51162007e-01 1.08634476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:57.81, Y:-20.31, Z:10.86 [[ 7.86895655e-01 5.56604434e-01 -2.66433354e-01 5.78111147e+01] [-5.37592477e-01 8.30316805e-01 1.46861608e-01 -2.03087727e+01] [ 3.02967913e-01 2.76678052e-02 9.52599043e-01 1.08577935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:57.81, Y:-20.34, Z:10.89 [[ 7.86372080e-01 5.68431920e-01 -2.41876217e-01 5.78136783e+01] [-5.35757109e-01 8.22470816e-01 1.91065636e-01 -2.03357810e+01] [ 3.07543936e-01 -2.06617789e-02 9.51309528e-01 1.08933505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:-20.35, Z:10.89 [[ 7.86524392e-01 5.62153616e-01 -2.55661285e-01 5.78472865e+01] [-5.35971014e-01 8.27024867e-01 1.69602306e-01 -2.03466067e+01] [ 3.06780790e-01 3.63068793e-03 9.51773274e-01 1.08936047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:57.87, Y:-20.36, Z:10.90 [[ 7.86609965e-01 5.61995712e-01 -2.55745150e-01 5.78735930e+01] [-5.35751989e-01 8.27132845e-01 1.69767672e-01 -2.03642052e+01] [ 3.06943917e-01 3.47503042e-03 9.51721259e-01 1.09003744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.809999999999995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:57.90, Y:-20.38, Z:10.91 [[ 7.86942628e-01 5.61822486e-01 -2.55101540e-01 5.79000728e+01] [-5.35682831e-01 8.27251082e-01 1.69409421e-01 -2.03814811e+01] [ 3.06211047e-01 3.33802019e-03 9.51957800e-01 1.09100759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839999999999996 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:57.93, Y:-20.40, Z:10.92 [[ 7.87100334e-01 5.61926528e-01 -2.54384831e-01 5.79253744e+01] [-5.35907619e-01 8.27180669e-01 1.69041900e-01 -2.03982777e+01] [ 3.05411342e-01 3.27383300e-03 9.52214889e-01 1.09224704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:57.95, Y:-20.42, Z:10.93 [[ 7.87616067e-01 5.61156274e-01 -2.54488835e-01 5.79512053e+01] [-5.35041488e-01 8.27704857e-01 1.69219607e-01 -2.04159506e+01] [ 3.05600289e-01 2.88200346e-03 9.52155532e-01 1.09309354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:-20.43, Z:10.94 [[ 7.87801340e-01 5.60981423e-01 -2.54300790e-01 5.79757788e+01] [-5.34862246e-01 8.27823931e-01 1.69203772e-01 -2.04329027e+01] [ 3.05436453e-01 2.71693324e-03 9.52208586e-01 1.09433508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:-20.45, Z:10.95 [[ 7.88025886e-01 5.60746159e-01 -2.54123884e-01 5.80014949e+01] [-5.34619625e-01 8.27983888e-01 1.69187878e-01 -2.04507136e+01] [ 3.05281934e-01 2.53518824e-03 9.52258638e-01 1.09534959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:58.03, Y:-20.47, Z:10.96 [[ 7.88213453e-01 5.60443733e-01 -2.54209311e-01 5.80278857e+01] [-5.34248543e-01 8.28189244e-01 1.69354862e-01 -2.04685806e+01] [ 3.05447289e-01 2.32317354e-03 9.52206152e-01 1.09599538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989999999999995 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:58.05, Y:-20.49, Z:10.97 [[ 7.88120537e-01 5.60719256e-01 -2.53889612e-01 5.80541279e+01] [-5.34572702e-01 8.28002688e-01 1.69244126e-01 -2.04858913e+01] [ 3.05119721e-01 2.33768388e-03 9.52311131e-01 1.09708902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:-20.50, Z:10.98 [[ 7.87962497e-01 5.61118378e-01 -2.53498066e-01 5.80797713e+01] [-5.35039999e-01 8.27732103e-01 1.69090999e-01 -2.05024045e+01] [ 3.04708554e-01 2.39423874e-03 9.52442631e-01 1.09831053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:58.10, Y:-20.52, Z:10.99 [[ 7.87977601e-01 5.60186587e-01 -2.55503989e-01 5.81031290e+01] [-5.34730144e-01 8.28351291e-01 1.67026381e-01 -2.05157065e+01] [ 3.05212997e-01 5.01263743e-03 9.52270917e-01 1.09886464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:58.12, Y:-20.53, Z:11.00 [[ 7.88624625e-01 5.61294878e-01 -2.51036374e-01 5.81242889e+01] [-5.34653361e-01 8.27615714e-01 1.70874262e-01 -2.05311165e+01] [ 3.03672496e-01 -5.38209542e-04 9.52776325e-01 1.09994887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:58.15, Y:-20.55, Z:11.01 [[ 7.88436789e-01 5.60566501e-01 -2.53244204e-01 5.81513243e+01] [-5.34562880e-01 8.28106184e-01 1.68768108e-01 -2.05481511e+01] [ 3.04318839e-01 2.31196615e-03 9.52567425e-01 1.10051903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:58.18, Y:-20.56, Z:11.02 [[ 7.88529017e-01 5.60732313e-01 -2.52589118e-01 5.81759965e+01] [-5.34852834e-01 8.27993924e-01 1.68399846e-01 -2.05648270e+01] [ 3.03569490e-01 2.30984100e-03 9.52806501e-01 1.10173759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:-20.58, Z:11.03 [[ 7.88518311e-01 5.61053941e-01 -2.51907419e-01 5.82021746e+01] [-5.35301664e-01 8.27775936e-01 1.68045020e-01 -2.05818228e+01] [ 3.02805220e-01 2.33988510e-03 9.53049591e-01 1.10290283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:-20.60, Z:11.04 [[ 7.88319223e-01 5.61405429e-01 -2.51747386e-01 5.82283808e+01] [-5.35669827e-01 8.27537481e-01 1.68046284e-01 -2.05988450e+01] [ 3.02672494e-01 2.37936211e-03 9.53091653e-01 1.10382666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:58.26, Y:-20.62, Z:11.04 [[ 7.87600047e-01 5.61986390e-01 -2.52700342e-01 5.82560442e+01] [-5.36045245e-01 8.27142644e-01 1.68791414e-01 -2.06160076e+01] [ 3.03877707e-01 2.51869114e-03 9.52707718e-01 1.10441827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:58.28, Y:-20.63, Z:11.06 [[ 7.87346663e-01 5.62528812e-01 -2.52282715e-01 5.82818457e+01] [-5.36668110e-01 8.26773502e-01 1.68620628e-01 -2.06330198e+01] [ 3.03434625e-01 2.62919876e-03 9.52848632e-01 1.10550390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:58.31, Y:-20.65, Z:11.07 [[ 7.87277102e-01 5.62648388e-01 -2.52233138e-01 5.83082863e+01] [-5.36769925e-01 8.26692280e-01 1.68694758e-01 -2.06508531e+01] [ 3.03435022e-01 2.58164260e-03 9.52848636e-01 1.10651288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:58.33, Y:-20.67, Z:11.07 [[ 7.86910158e-01 5.63049800e-01 -2.52482329e-01 5.83342439e+01] [-5.37123768e-01 8.26418566e-01 1.68909479e-01 -2.06683798e+01] [ 3.03760532e-01 2.69767487e-03 9.52744594e-01 1.10746642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349999999999994 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:58.36, Y:-20.69, Z:11.08 [[ 7.86460171e-01 5.63365320e-01 -2.53179613e-01 5.83604387e+01] [-5.37273641e-01 8.26203390e-01 1.69484492e-01 -2.06857067e+01] [ 3.04659539e-01 2.73393036e-03 9.52457396e-01 1.10845797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:58.39, Y:-20.70, Z:11.10 [[ 7.86196196e-01 5.63798191e-01 -2.53035848e-01 5.83861596e+01] [-5.37723934e-01 8.25907821e-01 1.69497025e-01 -2.07028713e+01] [ 3.04546402e-01 2.80551574e-03 9.52493369e-01 1.10953201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:58.41, Y:-20.72, Z:11.10 [[ 7.85764325e-01 5.64183949e-01 -2.53517056e-01 5.84120414e+01] [-5.37992334e-01 8.25644148e-01 1.69929366e-01 -2.07200804e+01] [ 3.05186295e-01 2.86579931e-03 9.52288356e-01 1.11028392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:-20.73, Z:11.09 [[ 7.89276958e-01 5.55281031e-01 -2.62116120e-01 5.84486295e+01] [-5.36794479e-01 8.31237051e-01 1.44556746e-01 -2.07263880e+01] [ 2.98150250e-01 2.66071775e-02 9.54148042e-01 1.10924122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:-20.75, Z:11.12 [[ 7.87955548e-01 5.62996067e-01 -2.49322048e-01 5.84649584e+01] [-5.37535434e-01 8.26456879e-01 1.67405750e-01 -2.07510809e+01] [ 3.00302700e-01 2.11114543e-03 9.53841618e-01 1.11150432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.5 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:58.49, Y:-20.77, Z:11.13 [[ 7.86770147e-01 5.64576999e-01 -2.49490578e-01 5.84883406e+01] [-5.38151388e-01 8.25380404e-01 1.70705222e-01 -2.07695852e+01] [ 3.02300876e-01 -4.20714644e-05 9.53212557e-01 1.11250196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:-20.79, Z:11.15 [[ 7.84195723e-01 5.70405423e-01 -2.44284100e-01 5.85042941e+01] [-5.40691799e-01 8.21294239e-01 1.82011404e-01 -2.07901392e+01] [ 3.04449416e-01 -1.06501554e-02 9.52468964e-01 1.11495533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:-20.80, Z:11.15 [[ 7.84030196e-01 5.67264876e-01 -2.52006373e-01 5.85354205e+01] [-5.41454511e-01 8.23526695e-01 1.69206367e-01 -2.08040954e+01] [ 3.03518804e-01 3.78708595e-03 9.52817922e-01 1.11524663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.589999999999996 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:58.56, Y:-20.82, Z:11.16 [[ 7.83934138e-01 5.67146414e-01 -2.52571202e-01 5.85616258e+01] [-5.41176729e-01 8.23608873e-01 1.69694350e-01 -2.08219682e+01] [ 3.04261425e-01 3.65646257e-03 9.52581553e-01 1.11589091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:58.59, Y:-20.84, Z:11.17 [[ 7.84030259e-01 5.66885518e-01 -2.52858385e-01 5.85876909e+01] [-5.40809700e-01 8.23789266e-01 1.69988570e-01 -2.08396500e+01] [ 3.04666082e-01 3.47208498e-03 9.52452898e-01 1.11679900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:-20.86, Z:11.18 [[ 7.84232591e-01 5.67047774e-01 -2.51865171e-01 5.86124985e+01] [-5.41154775e-01 8.23677780e-01 1.69429700e-01 -2.08566526e+01] [ 3.03530479e-01 3.42574680e-03 9.52815571e-01 1.11809262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:-20.87, Z:11.19 [[ 7.84063361e-01 5.67109516e-01 -2.52252737e-01 5.86369666e+01] [-5.41102735e-01 8.23635543e-01 1.69800832e-01 -2.08739598e+01] [ 3.04059987e-01 3.36003533e-03 9.52646962e-01 1.11907518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:-20.89, Z:11.20 [[ 7.84086916e-01 5.67050296e-01 -2.52312644e-01 5.86616750e+01] [-5.40995289e-01 8.23676757e-01 1.69943215e-01 -2.08918699e+01] [ 3.04190411e-01 3.24970031e-03 9.52605707e-01 1.12007686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739999999999995 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:58.69, Y:-20.91, Z:11.21 [[ 7.83922088e-01 5.66975335e-01 -2.52992350e-01 5.86884193e+01] [-5.40750532e-01 8.23728666e-01 1.70469781e-01 -2.09102216e+01] [ 3.05049212e-01 3.17072104e-03 9.52331310e-01 1.12076697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.769999999999996 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:58.71, Y:-20.93, Z:11.22 [[ 7.83691523e-01 5.67329242e-01 -2.52913282e-01 5.87143487e+01] [-5.41104350e-01 8.23484794e-01 1.70525295e-01 -2.09276881e+01] [ 3.05014229e-01 3.21324886e-03 9.52342373e-01 1.12179766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.8 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:58.74, Y:-20.94, Z:11.23 [[ 7.83525888e-01 5.67661165e-01 -2.52681587e-01 5.87413833e+01] [-5.41467614e-01 8.23255895e-01 1.70477430e-01 -2.09447766e+01] [ 3.04795023e-01 3.24541655e-03 9.52412443e-01 1.12275590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:-20.96, Z:11.24 [[ 7.83293665e-01 5.68263383e-01 -2.52047145e-01 5.87666357e+01] [-5.42200340e-01 8.22839792e-01 1.70157186e-01 -2.09619439e+01] [ 3.04088518e-01 3.37700168e-03 9.52637795e-01 1.12399147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:-20.98, Z:11.24 [[ 7.82784645e-01 5.64535925e-01 -2.61815562e-01 5.87965942e+01] [-5.41093284e-01 8.25270531e-01 1.61699130e-01 -2.09763278e+01] [ 3.07353636e-01 1.50910458e-02 9.51475697e-01 1.12439543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:58.81, Y:-21.00, Z:11.26 [[ 7.83793135e-01 5.70223459e-01 -2.45994978e-01 5.88106136e+01] [-5.40498435e-01 8.21432837e-01 1.81960261e-01 -2.09988435e+01] [ 3.05826362e-01 -9.65930240e-03 9.52038305e-01 1.12606595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:-21.01, Z:11.27 [[ 7.83629099e-01 5.67422414e-01 -2.52897686e-01 5.88401482e+01] [-5.41097910e-01 8.23421551e-01 1.70850818e-01 -2.10127128e+01] [ 3.05185989e-01 2.95873698e-03 9.52288170e-01 1.12675653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.949999999999996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:58.87, Y:-21.03, Z:11.27 [[ 7.83633289e-01 5.66800917e-01 -2.54274632e-01 5.88660707e+01] [-5.40115098e-01 8.23850565e-01 1.71889288e-01 -2.10308285e+01] [ 3.06911305e-01 2.63940013e-03 9.51734461e-01 1.12727528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:-21.05, Z:11.29 [[ 7.83465008e-01 5.67187606e-01 -2.53930700e-01 5.88877706e+01] [-5.40563953e-01 8.23584191e-01 1.71754747e-01 -2.10458193e+01] [ 3.06550474e-01 2.70194885e-03 9.51850569e-01 1.12853444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:58.91, Y:-21.06, Z:11.29 [[ 7.83372041e-01 5.67131312e-01 -2.54342920e-01 5.89135608e+01] [-5.40419526e-01 8.23622983e-01 1.72023017e-01 -2.10636952e+01] [ 3.07042313e-01 2.69385837e-03 9.51692052e-01 1.12947998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:58.94, Y:-21.08, Z:11.30 [[ 7.83380762e-01 5.66931679e-01 -2.54760775e-01 5.89388807e+01] [-5.40084407e-01 8.23760942e-01 1.72414454e-01 -2.10810594e+01] [ 3.07609192e-01 2.52615588e-03 9.51509434e-01 1.13035324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:58.97, Y:-21.10, Z:11.31 [[ 7.83677280e-01 5.65425121e-01 -2.57185447e-01 5.89667660e+01] [-5.38462899e-01 8.24793188e-01 1.72551163e-01 -2.10996685e+01] [ 3.09689567e-01 3.26039537e-03 9.50832131e-01 1.13117206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099999999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:-21.12, Z:11.33 [[ 7.83486486e-01 5.67195541e-01 -2.53846696e-01 5.89899441e+01] [-5.39680844e-01 8.23583115e-01 1.74514866e-01 -2.11170962e+01] [ 3.08047907e-01 2.66160057e-04 9.51370809e-01 1.13267774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.129999999999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:59.02, Y:-21.13, Z:11.33 [[ 7.83895164e-01 5.65849057e-01 -2.55584068e-01 5.90164847e+01] [-5.38709568e-01 8.24506535e-01 1.73150151e-01 -2.11340227e+01] [ 3.08707584e-01 1.95401697e-03 9.51154987e-01 1.13324414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:59.04, Y:-21.15, Z:11.34 [[ 7.83944793e-01 5.65931299e-01 -2.55249537e-01 5.90419915e+01] [-5.38835746e-01 8.24450225e-01 1.73025618e-01 -2.11516627e+01] [ 3.08361151e-01 1.89504274e-03 9.51267475e-01 1.13421928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:-21.17, Z:11.36 [[ 7.83817741e-01 5.66604286e-01 -2.54144314e-01 5.90670041e+01] [-5.39748171e-01 8.23987474e-01 1.72384901e-01 -2.11693782e+01] [ 3.07085755e-01 2.05558492e-03 9.51679628e-01 1.13552869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.09, Y:-21.19, Z:11.37 [[ 7.84584561e-01 5.65909606e-01 -2.53324661e-01 5.90928262e+01] [-5.39160359e-01 8.24465576e-01 1.71937842e-01 -2.11875179e+01] [ 3.06158739e-01 1.68283903e-03 9.51978988e-01 1.13654997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:-21.21, Z:11.38 [[ 7.84717089e-01 5.66004662e-01 -2.52701036e-01 5.91182141e+01] [-5.39360187e-01 8.24400445e-01 1.71623118e-01 -2.12050861e+01] [ 3.05466332e-01 1.62128451e-03 9.52201497e-01 1.13763665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:59.14, Y:-21.22, Z:11.39 [[ 7.85481863e-01 5.65292652e-01 -2.51917568e-01 5.91444555e+01] [-5.38746533e-01 8.24889488e-01 1.71200192e-01 -2.12224909e+01] [ 3.04582364e-01 1.24507045e-03 9.52485188e-01 1.13851885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:-21.24, Z:11.40 [[ 7.86090583e-01 5.65107717e-01 -2.50429358e-01 5.91687678e+01] [-5.38838291e-01 8.25016436e-01 1.70297319e-01 -2.12389361e+01] [ 3.02844666e-01 1.07180818e-03 9.53039327e-01 1.13966319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:-21.26, Z:11.41 [[ 7.86397391e-01 5.64974024e-01 -2.49766883e-01 5.91935780e+01] [-5.38808122e-01 8.25108167e-01 1.69947992e-01 -2.12557433e+01] [ 3.02100896e-01 9.29767535e-04 9.53275503e-01 1.14062072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:59.22, Y:-21.27, Z:11.41 [[ 7.86875332e-01 5.64164422e-01 -2.50091418e-01 5.92208536e+01] [-5.37856862e-01 8.25662292e-01 1.70269712e-01 -2.12736425e+01] [ 3.02551167e-01 5.32349010e-04 9.53132996e-01 1.14133617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.4 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:59.25, Y:-21.29, Z:11.42 [[ 7.86692088e-01 5.64336529e-01 -2.50279524e-01 5.92463539e+01] [-5.37962015e-01 8.25544686e-01 1.70507603e-01 -2.12900208e+01] [ 3.02840600e-01 5.03895229e-04 9.53041089e-01 1.14220372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:59.27, Y:-21.31, Z:11.43 [[ 7.86135862e-01 5.65169797e-01 -2.50146969e-01 5.92723460e+01] [-5.38832601e-01 8.24974277e-01 1.70519411e-01 -2.13074742e+01] [ 3.02737236e-01 7.35918051e-04 9.53073777e-01 1.14333566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:59.30, Y:-21.32, Z:11.44 [[ 7.85350977e-01 5.66033454e-01 -2.50659075e-01 5.92994865e+01] [-5.39594119e-01 8.24381691e-01 1.70976647e-01 -2.13240189e+01] [ 3.03417254e-01 9.77485965e-04 9.52857290e-01 1.14404845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:-21.34, Z:11.45 [[ 7.83961271e-01 5.68023913e-01 -2.50506607e-01 5.93248583e+01] [-5.41682030e-01 8.23010391e-01 1.70980919e-01 -2.13413458e+01] [ 3.03290791e-01 1.65250874e-03 9.52896618e-01 1.14533644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519999999999996 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:59.35, Y:-21.36, Z:11.46 [[ 7.83183137e-01 5.68890527e-01 -2.50973589e-01 5.93515423e+01] [-5.42456542e-01 8.22411069e-01 1.71408674e-01 -2.13585842e+01] [ 3.03916228e-01 1.89788209e-03 9.52696869e-01 1.14621758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:-21.38, Z:11.47 [[ 7.82114859e-01 5.70138490e-01 -2.51472562e-01 5.93773712e+01] [-5.43624606e-01 8.21545399e-01 1.71858793e-01 -2.13757268e+01] [ 3.04579439e-01 2.29335672e-03 9.52484176e-01 1.14724215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:59.41, Y:-21.39, Z:11.48 [[ 7.81015354e-01 5.70911954e-01 -2.53129527e-01 5.94051472e+01] [-5.44042569e-01 8.21007431e-01 1.73102514e-01 -2.13923242e+01] [ 3.06647518e-01 2.51751717e-03 9.51819816e-01 1.14776641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:-21.41, Z:11.49 [[ 7.79519303e-01 5.73274294e-01 -2.52400949e-01 5.94299759e+01] [-5.46650570e-01 8.19356689e-01 1.72707181e-01 -2.14094119e+01] [ 3.05814993e-01 3.34654168e-03 9.52085075e-01 1.14917949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:59.46, Y:-21.43, Z:11.50 [[ 7.79088730e-01 5.73654864e-01 -2.52865276e-01 5.94576161e+01] [-5.46914911e-01 8.19090031e-01 1.73134634e-01 -2.14267653e+01] [ 3.06438952e-01 3.40854774e-03 9.51884211e-01 1.14977819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:59.48, Y:-21.44, Z:11.51 [[ 7.78564929e-01 5.74682450e-01 -2.52144269e-01 5.94830230e+01] [-5.48115717e-01 8.18368097e-01 1.72750739e-01 -2.14445802e+01] [ 3.05623644e-01 3.70656977e-03 9.52145183e-01 1.15095379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699999999999996 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:59.51, Y:-21.46, Z:11.52 [[ 7.78750324e-01 5.74422199e-01 -2.52164767e-01 5.95090715e+01] [-5.47802442e-01 8.18551658e-01 1.72874720e-01 -2.14623522e+01] [ 3.05712965e-01 3.51023117e-03 9.52117252e-01 1.15172570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:-21.48, Z:11.53 [[ 7.79220299e-01 5.74718319e-01 -2.50029157e-01 5.95325747e+01] [-5.48538645e-01 8.18343819e-01 1.71518943e-01 -2.14793921e+01] [ 3.03184894e-01 3.49961298e-03 9.52925324e-01 1.15312205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:59.56, Y:-21.50, Z:11.54 [[ 7.80158731e-01 5.73521754e-01 -2.49850258e-01 5.95592202e+01] [-5.47288240e-01 8.19185038e-01 1.71497685e-01 -2.14971761e+01] [ 3.03031246e-01 2.94469162e-03 9.52976072e-01 1.15385967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:59.59, Y:-21.51, Z:11.55 [[ 7.80988036e-01 5.73032020e-01 -2.48378726e-01 5.95852924e+01] [-5.47056355e-01 8.19528708e-01 1.70593203e-01 -2.15138903e+01] [ 3.01308864e-01 2.64591022e-03 9.53522924e-01 1.15487363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:59.62, Y:-21.52, Z:11.54 [[ 7.84777361e-01 5.64407904e-01 -2.56062904e-01 5.96200887e+01] [-5.44224340e-01 8.25233179e-01 1.51030027e-01 -2.15210065e+01] [ 2.96554145e-01 2.08307190e-02 9.54788835e-01 1.15382988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849999999999994 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:59.64, Y:-21.54, Z:11.55 [[ 7.85087497e-01 5.67401962e-01 -2.48380022e-01 5.96425122e+01] [-5.44992538e-01 8.23366083e-01 1.58276428e-01 -2.15410474e+01] [ 2.94314042e-01 1.11044142e-02 9.55644252e-01 1.15520779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879999999999995 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:59.66, Y:-21.56, Z:11.57 [[ 7.84784869e-01 5.70127240e-01 -2.43038351e-01 5.96636942e+01] [-5.45362101e-01 8.21553735e-01 1.66221661e-01 -2.15605976e+01] [ 2.94436562e-01 2.09566169e-03 9.55668729e-01 1.15664790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:59.68, Y:-21.59, Z:11.60 [[ 7.80710325e-01 5.78555028e-01 -2.36147134e-01 5.96792799e+01] [-5.47429925e-01 8.15455192e-01 1.88024751e-01 -2.15870481e+01] [ 3.01350071e-01 -1.75188568e-02 9.53352623e-01 1.15952460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:59.71, Y:-21.60, Z:11.59 [[ 7.80495257e-01 5.73622237e-01 -2.48565247e-01 5.97118054e+01] [-5.47519884e-01 8.19115968e-01 1.71087720e-01 -2.15990491e+01] [ 3.01743484e-01 2.56126098e-03 9.53385709e-01 1.15944602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:59.74, Y:-21.61, Z:11.60 [[ 7.80494516e-01 5.73515883e-01 -2.48812866e-01 5.97357484e+01] [-5.47323011e-01 8.19190819e-01 1.71359051e-01 -2.16148653e+01] [ 3.02102353e-01 2.43620757e-03 9.53272381e-01 1.16026486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.0 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:59.76, Y:-21.63, Z:11.61 [[ 7.80341372e-01 5.73765795e-01 -2.48717018e-01 5.97603046e+01] [-5.47608012e-01 8.19015491e-01 1.71286577e-01 -2.16318027e+01] [ 3.01981470e-01 2.53742955e-03 9.53310418e-01 1.16137466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:-21.65, Z:11.62 [[ 7.80178352e-01 5.73998706e-01 -2.48691023e-01 5.97821571e+01] [-5.47853934e-01 8.18852027e-01 1.71281714e-01 -2.16470661e+01] [ 3.01956630e-01 2.61606986e-03 9.53318074e-01 1.16238975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:-21.66, Z:11.63 [[ 7.80800079e-01 5.73332914e-01 -2.48275263e-01 5.98052596e+01] [-5.47249269e-01 8.19319089e-01 1.70980903e-01 -2.16629506e+01] [ 3.01445642e-01 2.36655368e-03 9.53480427e-01 1.16323124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.089999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:-21.68, Z:11.64 [[ 7.81171950e-01 5.72971941e-01 -2.47938580e-01 5.98281466e+01] [-5.46947033e-01 8.19571937e-01 1.70736004e-01 -2.16786691e+01] [ 3.01030441e-01 2.23509377e-03 9.53611911e-01 1.16406567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:-21.69, Z:11.65 [[ 7.81726596e-01 5.72295524e-01 -2.47752623e-01 5.98501783e+01] [-5.46285562e-01 8.20045031e-01 1.70582041e-01 -2.16935685e+01] [ 3.00791646e-01 1.99516289e-03 9.53687792e-01 1.16489220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:59.88, Y:-21.71, Z:11.66 [[ 7.82622065e-01 5.71170110e-01 -2.47522543e-01 5.98766974e+01] [-5.45164713e-01 8.20830179e-01 1.70391470e-01 -2.17122192e+01] [ 3.00496487e-01 1.58843209e-03 9.53781599e-01 1.16571169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:59.90, Y:-21.73, Z:11.67 [[ 7.82550206e-01 5.71290671e-01 -2.47471503e-01 5.99028932e+01] [-5.45267726e-01 8.20746366e-01 1.70465569e-01 -2.17304137e+01] [ 3.00496725e-01 1.54035772e-03 9.53781603e-01 1.16672007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:59.93, Y:-21.75, Z:11.68 [[ 7.82876190e-01 5.70984076e-01 -2.47147843e-01 5.99276651e+01] [-5.45000783e-01 8.20959976e-01 1.70290531e-01 -2.17478776e+01] [ 3.00131669e-01 1.37936541e-03 9.53896786e-01 1.16767391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:-21.76, Z:11.67 [[ 7.86721565e-01 5.63264201e-01 -2.52591802e-01 5.99593202e+01] [-5.41653072e-01 8.26146103e-01 1.55224248e-01 -2.17578927e+01] [ 2.96109995e-01 1.46988623e-02 9.55040740e-01 1.16720401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.269999999999996 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:59.97, Y:-21.79, Z:11.70 [[ 7.84354498e-01 5.71677120e-01 -2.40776437e-01 5.99727090e+01] [-5.42234915e-01 8.20394010e-01 1.81479928e-01 -2.17871435e+01] [ 3.01279469e-01 -1.17872067e-02 9.53463027e-01 1.16996969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:-21.79, Z:11.69 [[ 7.87584007e-01 5.61752093e-01 -2.53270642e-01 6.00085873e+01] [-5.39794378e-01 8.27191365e-01 1.56129672e-01 -2.17941452e+01] [ 2.97209458e-01 1.37488360e-02 9.54713312e-01 1.16912035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:60.02, Y:-21.82, Z:11.72 [[ 7.85443408e-01 5.69901955e-01 -2.41434077e-01 6.00211872e+01] [-5.40213445e-01 8.21617570e-01 1.81972532e-01 -2.18227715e+01] [ 3.02072982e-01 -1.25031907e-02 9.53202803e-01 1.17189484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.05, Y:-21.84, Z:11.72 [[ 7.86515990e-01 5.65452566e-01 -2.48306247e-01 6.00478344e+01] [-5.38814844e-01 8.24780075e-01 1.71512075e-01 -2.18354711e+01] [ 3.01779987e-01 -1.10589761e-03 9.53376954e-01 1.17237267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:60.07, Y:-21.85, Z:11.73 [[ 7.86947914e-01 5.64854961e-01 -2.48297913e-01 6.00715235e+01] [-5.38194169e-01 8.25189142e-01 1.71493196e-01 -2.18508782e+01] [ 3.01761524e-01 -1.32372427e-03 9.53382520e-01 1.17316222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419999999999995 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:60.09, Y:-21.86, Z:11.74 [[ 7.87476462e-01 5.63767167e-01 -2.49093162e-01 6.00936515e+01] [-5.36882077e-01 8.25931940e-01 1.72029257e-01 -2.18649787e+01] [ 3.02718445e-01 -1.73533703e-03 9.53078450e-01 1.17400307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.449999999999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:60.12, Y:-21.88, Z:11.75 [[ 7.88080798e-01 5.62569445e-01 -2.49888528e-01 6.01160827e+01] [-5.35459623e-01 8.26747174e-01 1.72545942e-01 -2.18802931e+01] [ 3.03663709e-01 -2.17492710e-03 9.52776795e-01 1.17462554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:60.14, Y:-21.90, Z:11.76 [[ 7.88647628e-01 5.61674498e-01 -2.50113330e-01 6.01376551e+01] [-5.34482986e-01 8.27354558e-01 1.72662596e-01 -2.18951256e+01] [ 3.03912581e-01 -2.48862734e-03 9.52696673e-01 1.17553514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:-21.90, Z:11.74 [[ 7.93970293e-01 5.49763729e-01 -2.59559274e-01 6.01707655e+01] [-5.30065898e-01 8.35065293e-01 1.47295964e-01 -2.18976884e+01] [ 2.97726920e-01 2.06348999e-02 9.54428039e-01 1.17412405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:60.17, Y:-21.93, Z:11.78 [[ 7.90858240e-01 5.63942079e-01 -2.37723737e-01 6.01749573e+01] [-5.31037358e-01 8.25429957e-01 1.91480315e-01 -2.19311415e+01] [ 3.04208101e-01 -2.51935996e-02 9.52272395e-01 1.17822738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:60.20, Y:-21.94, Z:11.78 [[ 7.92582037e-01 5.56326758e-01 -2.49628231e-01 6.02048151e+01] [-5.29009922e-01 8.30951644e-01 1.72243630e-01 -2.19384044e+01] [ 3.03252729e-01 -4.46139608e-03 9.52899721e-01 1.17805571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599999999999994 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:60.23, Y:-21.95, Z:11.79 [[ 7.93242378e-01 5.55272149e-01 -2.49878711e-01 6.02269695e+01] [-5.27861854e-01 8.31654671e-01 1.72372765e-01 -2.19527477e+01] [ 3.03526593e-01 -4.83194204e-03 9.52810716e-01 1.17889292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.629999999999995 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:60.25, Y:-21.97, Z:11.80 [[ 7.93949394e-01 5.54429139e-01 -2.49504889e-01 6.02489285e+01] [-5.27074013e-01 8.32215225e-01 1.72077900e-01 -2.19669487e+01] [ 3.03046770e-01 -5.11360170e-03 9.52961965e-01 1.17979980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:-21.98, Z:11.81 [[ 7.94556296e-01 5.53618403e-01 -2.49373127e-01 6.02711301e+01] [-5.26265585e-01 8.32753047e-01 1.71950275e-01 -2.19811637e+01] [ 3.02861068e-01 -5.38767870e-03 9.53019489e-01 1.18074122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:60.29, Y:-21.99, Z:11.81 [[ 7.95750958e-01 5.51585691e-01 -2.50067268e-01 6.02941085e+01] [-5.23990070e-01 8.34095572e-01 1.72391945e-01 -2.19945147e+01] [ 3.03668931e-01 -6.14828990e-03 9.52757776e-01 1.18141786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:60.32, Y:-22.01, Z:11.82 [[ 7.96878949e-01 5.49614016e-01 -2.50815417e-01 6.03171565e+01] [-5.21766993e-01 8.35390346e-01 1.72864613e-01 -2.20068537e+01] [ 3.04537593e-01 -6.88496544e-03 9.52475434e-01 1.18214872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:-22.02, Z:11.83 [[ 7.97384006e-01 5.48725389e-01 -2.51155717e-01 6.03393535e+01] [-5.20779051e-01 8.35971855e-01 1.73032473e-01 -2.20202820e+01] [ 3.04906422e-01 -7.17669077e-03 9.52355275e-01 1.18312461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:-22.03, Z:11.84 [[ 7.98081975e-01 5.47568734e-01 -2.51463005e-01 6.03627189e+01] [-5.19526923e-01 8.36726695e-01 1.73147951e-01 -2.20345678e+01] [ 3.05216213e-01 -7.54445792e-03 9.52253193e-01 1.18394581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.809999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.39, Y:-22.05, Z:11.85 [[ 7.98684927e-01 5.46299061e-01 -2.52308785e-01 6.03855638e+01] [-5.18032260e-01 8.37552229e-01 1.73634218e-01 -2.20481547e+01] [ 3.06177995e-01 -7.97494257e-03 9.51940878e-01 1.18477589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839999999999996 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:60.41, Y:-22.06, Z:11.85 [[ 7.99705661e-01 5.43945174e-01 -2.54154487e-01 6.04095537e+01] [-5.15166808e-01 8.39073945e-01 1.74808680e-01 -2.20603626e+01] [ 3.08340746e-01 -8.86353539e-03 9.51234683e-01 1.18534299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:-22.07, Z:11.86 [[ 7.99748503e-01 5.43886137e-01 -2.54146025e-01 6.04311615e+01] [-5.15127741e-01 8.39112577e-01 1.74738358e-01 -2.20734531e+01] [ 3.08294897e-01 -8.82907256e-03 9.51249864e-01 1.18636270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:-22.08, Z:11.87 [[ 7.99958159e-01 5.43066360e-01 -2.55236895e-01 6.04547497e+01] [-5.14026466e-01 8.39639908e-01 1.75446906e-01 -2.20849129e+01] [ 3.09586396e-01 -9.15166407e-03 9.50827277e-01 1.18709417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:60.48, Y:-22.10, Z:11.88 [[ 8.00280967e-01 5.42133630e-01 -2.56205972e-01 6.04778502e+01] [-5.12833469e-01 8.40238404e-01 1.76071742e-01 -2.20977003e+01] [ 3.10728509e-01 -9.51586686e-03 9.50451073e-01 1.18774293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:-22.11, Z:11.89 [[ 8.00331892e-01 5.42266142e-01 -2.55766093e-01 6.05004962e+01] [-5.13089199e-01 8.40154077e-01 1.75728769e-01 -2.21113718e+01] [ 3.10174688e-01 -9.41051811e-03 9.50633002e-01 1.18876633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989999999999995 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:60.52, Y:-22.12, Z:11.89 [[ 8.01897038e-01 5.40103615e-01 -2.55439279e-01 6.05242667e+01] [-5.10909097e-01 8.41536737e-01 1.75464567e-01 -2.21232073e+01] [ 3.09730585e-01 -1.01982651e-02 9.50769667e-01 1.18947175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:60.55, Y:-22.14, Z:11.90 [[ 8.02558216e-01 5.39244763e-01 -2.55177183e-01 6.05463427e+01] [-5.10084347e-01 8.42083908e-01 1.75238841e-01 -2.21364088e+01] [ 3.09377227e-01 -1.04774844e-02 9.50881672e-01 1.19028609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.57, Y:-22.15, Z:11.91 [[ 8.02972032e-01 5.38994279e-01 -2.54403387e-01 6.05692769e+01] [-5.10017394e-01 8.42243980e-01 1.74663492e-01 -2.21503435e+01] [ 3.08412345e-01 -1.04997464e-02 9.51194818e-01 1.19137724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:60.59, Y:-22.16, Z:11.92 [[ 8.03596526e-01 5.37754114e-01 -2.55055162e-01 6.05920940e+01] [-5.08572698e-01 8.43030199e-01 1.75082536e-01 -2.21633703e+01] [ 3.09170558e-01 -1.09816260e-02 9.50943200e-01 1.19201310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.62, Y:-22.18, Z:11.93 [[ 8.03735733e-01 5.38232865e-01 -2.53602552e-01 6.06152324e+01] [-5.09434132e-01 8.42728521e-01 1.74027311e-01 -2.21751319e+01] [ 3.07385321e-01 -1.06781724e-02 9.51525218e-01 1.19317325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:-22.19, Z:11.94 [[ 8.03663990e-01 5.38487646e-01 -2.53288860e-01 6.06384908e+01] [-5.09787460e-01 8.42567602e-01 1.73771639e-01 -2.21881803e+01] [ 3.06986868e-01 -1.05305247e-02 9.51655490e-01 1.19402326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:60.66, Y:-22.20, Z:11.95 [[ 8.02962332e-01 5.39268079e-01 -2.53853170e-01 6.06641037e+01] [-5.10487498e-01 8.42072126e-01 1.74117919e-01 -2.21999235e+01] [ 3.07658914e-01 -1.02212601e-02 9.51441810e-01 1.19462161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:-22.21, Z:11.96 [[ 8.01938237e-01 5.41044685e-01 -2.53309520e-01 6.06859598e+01] [-5.12489985e-01 8.40940393e-01 1.73704548e-01 -2.22131726e+01] [ 3.07000129e-01 -9.48172679e-03 9.51662239e-01 1.19574041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:60.71, Y:-22.23, Z:11.96 [[ 8.01382997e-01 5.41640453e-01 -2.53793049e-01 6.07102075e+01] [-5.13015760e-01 8.40559509e-01 1.73995808e-01 -2.22268144e+01] [ 3.07571329e-01 -9.23744795e-03 9.51480188e-01 1.19642414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25999999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.73, Y:-22.24, Z:11.97 [[ 7.98539632e-01 5.45698339e-01 -2.54062549e-01 6.07335707e+01] [-5.17219853e-01 8.37946674e-01 1.74152220e-01 -2.22373327e+01] [ 3.07925445e-01 -7.66125524e-03 9.51379643e-01 1.19732241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28999999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:60.76, Y:-22.25, Z:11.98 [[ 7.97127796e-01 5.47667760e-01 -2.54258337e-01 6.07576659e+01] [-5.19257338e-01 8.36667737e-01 1.74238097e-01 -2.22509982e+01] [ 3.08154336e-01 -6.86452316e-03 9.51311612e-01 1.19805092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:60.78, Y:-22.26, Z:11.99 [[ 7.95453105e-01 5.50025424e-01 -2.54413819e-01 6.07806286e+01] [-5.21710422e-01 8.35126937e-01 1.74302139e-01 -2.22639328e+01] [ 3.08338441e-01 -5.91883734e-03 9.51258310e-01 1.19880844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.80, Y:-22.28, Z:12.00 [[ 7.91495763e-01 5.55957950e-01 -2.53860622e-01 6.08048463e+01] [-5.28089037e-01 8.31202878e-01 1.73849777e-01 -2.22752965e+01] [ 3.07662846e-01 -3.54035050e-03 9.51488854e-01 1.19988573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.84, Y:-22.28, Z:11.99 [[ 7.91453553e-01 5.52612445e-01 -2.61191042e-01 6.08367189e+01] [-5.30745556e-01 8.33282023e-01 1.54758599e-01 -2.22828316e+01] [ 3.03167328e-01 1.61417414e-02 9.52800617e-01 1.19921777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:60.85, Y:-22.31, Z:12.02 [[ 7.85670153e-01 5.68242684e-01 -2.44586718e-01 6.08465875e+01] [-5.35844192e-01 8.22659214e-01 1.90007421e-01 -2.23065164e+01] [ 3.09181844e-01 -1.82227873e-02 9.50828332e-01 1.20202790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:60.87, Y:-22.31, Z:12.02 [[ 7.83684766e-01 5.66326134e-01 -2.55172290e-01 6.08745508e+01] [-5.38736212e-01 8.24180995e-01 1.74610945e-01 -2.23147406e+01] [ 3.09194893e-01 6.30614928e-04 9.50998486e-01 1.20220333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:-22.33, Z:12.03 [[ 7.81659519e-01 5.69576803e-01 -2.54146928e-01 6.08967066e+01] [-5.42396360e-01 8.21935807e-01 1.73861205e-01 -2.23285009e+01] [ 3.07919770e-01 1.94810244e-03 9.51410332e-01 1.20330746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.5 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.92, Y:-22.34, Z:12.04 [[ 7.79247508e-01 5.73147691e-01 -2.53525235e-01 6.09208725e+01] [-5.46300374e-01 8.19445101e-01 1.73394426e-01 -2.23415606e+01] [ 3.07130627e-01 3.38375618e-03 9.51661352e-01 1.20404667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:60.94, Y:-22.36, Z:12.05 [[ 7.78617613e-01 5.73781066e-01 -2.54027362e-01 6.09444455e+01] [-5.46871582e-01 8.19000460e-01 1.73694326e-01 -2.23559520e+01] [ 3.07711042e-01 3.67888340e-03 9.51472743e-01 1.20460802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:60.97, Y:-22.37, Z:12.05 [[ 7.77689246e-01 5.75653098e-01 -2.52632040e-01 6.09672164e+01] [-5.49176633e-01 8.17681715e-01 1.72631512e-01 -2.23701521e+01] [ 3.05948465e-01 4.48594318e-03 9.52037506e-01 1.20546760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.99, Y:-22.38, Z:12.06 [[ 7.77083850e-01 5.76685912e-01 -2.52138949e-01 6.09880145e+01] [-5.50381486e-01 8.16951146e-01 1.72252852e-01 -2.23844792e+01] [ 3.05320996e-01 4.91770009e-03 9.52236791e-01 1.20643880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.01, Y:-22.40, Z:12.07 [[ 7.76878153e-01 5.76856825e-01 -2.52381731e-01 6.10104589e+01] [-5.50524783e-01 8.16829778e-01 1.72370463e-01 -2.23994775e+01] [ 3.05585992e-01 5.03155107e-03 9.52151188e-01 1.20716981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64999999999999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:61.03, Y:-22.42, Z:12.08 [[ 7.76706279e-01 5.77051841e-01 -2.52464908e-01 6.10323014e+01] [-5.50725306e-01 8.16691311e-01 1.72386020e-01 -2.24150389e+01] [ 3.05661567e-01 5.14550955e-03 9.52126320e-01 1.20793727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67999999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.05, Y:-22.43, Z:12.09 [[ 7.76560376e-01 5.77170138e-01 -2.52643256e-01 6.10525011e+01] [-5.50825069e-01 8.16607162e-01 1.72465898e-01 -2.24296399e+01] [ 3.05852459e-01 5.23205665e-03 9.52064546e-01 1.20892169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:-22.45, Z:12.10 [[ 7.76291828e-01 5.77314136e-01 -2.53139065e-01 6.10730221e+01] [-5.50886200e-01 8.16504655e-01 1.72755732e-01 -2.24450417e+01] [ 3.06423551e-01 5.34195486e-03 9.51880282e-01 1.20986419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.09, Y:-22.46, Z:12.10 [[ 7.77355043e-01 5.75465634e-01 -2.54083533e-01 6.10948410e+01] [-5.48754571e-01 8.17812609e-01 1.73352117e-01 -2.24622111e+01] [ 3.07550903e-01 4.67335732e-03 9.51520153e-01 1.21032788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:-22.46, Z:12.08 [[ 7.83812439e-01 5.60647241e-01 -2.67044437e-01 6.11348097e+01] [-5.46311621e-01 8.26996731e-01 1.32740422e-01 -2.24636324e+01] [ 2.95265428e-01 4.18458853e-02 9.54498428e-01 1.20840295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.8 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:61.13, Y:-22.51, Z:12.13 [[ 7.77897221e-01 5.82697542e-01 -2.35243466e-01 6.11279335e+01] [-5.46720858e-01 8.12138540e-01 2.03782471e-01 -2.25084802e+01] [ 3.09793830e-01 -2.99093087e-02 9.50333213e-01 1.21338768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:61.16, Y:-22.52, Z:12.13 [[ 7.78089581e-01 5.73754647e-01 -2.55699450e-01 6.11607748e+01] [-5.46592108e-01 8.19017497e-01 1.74491852e-01 -2.25155638e+01] [ 3.09537834e-01 3.99300925e-03 9.50878744e-01 1.21292444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:61.18, Y:-22.53, Z:12.14 [[ 7.78674012e-01 5.72547200e-01 -2.56625189e-01 6.11801528e+01] [-5.45132537e-01 8.19864017e-01 1.75081440e-01 -2.25331640e+01] [ 3.10640146e-01 3.56337289e-03 9.50520911e-01 1.21374618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.22, Y:-22.53, Z:12.12 [[ 7.85211043e-01 5.57016852e-01 -2.70510340e-01 6.12195784e+01] [-5.42105203e-01 8.29484894e-01 1.34449842e-01 -2.25337972e+01] [ 2.99275069e-01 4.10735624e-02 9.53282432e-01 1.21152358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.21, Y:-22.58, Z:12.17 [[ 7.79490452e-01 5.80086504e-01 -2.36419718e-01 6.12113416e+01] [-5.43730440e-01 8.13971058e-01 2.04470840e-01 -2.25779683e+01] [ 3.11049583e-01 -3.08344707e-02 9.49893359e-01 1.21711623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.24, Y:-22.59, Z:12.17 [[ 7.80977050e-01 5.69605480e-01 -2.56172687e-01 6.12418800e+01] [-5.42142151e-01 8.21914724e-01 1.74751466e-01 -2.25871956e+01] [ 3.10091496e-01 2.40512683e-03 9.50703676e-01 1.21661362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:61.26, Y:-22.60, Z:12.17 [[ 7.81836541e-01 5.68442942e-01 -2.56133256e-01 6.12633060e+01] [-5.40947640e-01 8.22720264e-01 1.74662580e-01 -2.26041523e+01] [ 3.10011731e-01 1.99709302e-03 9.50730634e-01 1.21744728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:-22.62, Z:12.19 [[ 7.82145484e-01 5.68124648e-01 -2.55896124e-01 6.12827914e+01] [-5.40678563e-01 8.22940311e-01 1.74458984e-01 -2.26201193e+01] [ 3.09701684e-01 1.90524185e-03 9.50831866e-01 1.21856892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:-22.64, Z:12.19 [[ 7.83653528e-01 5.66627833e-01 -2.54597814e-01 6.13029617e+01] [-5.39404835e-01 8.23972745e-01 1.73526192e-01 -2.26378164e+01] [ 3.08106430e-01 1.34687920e-03 9.51350941e-01 1.21945063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:-22.65, Z:12.20 [[ 7.84303980e-01 5.65784093e-01 -2.54471268e-01 6.13241300e+01] [-5.38558669e-01 8.24552762e-01 1.73399259e-01 -2.26540560e+01] [ 3.07931529e-01 1.04997830e-03 9.51407941e-01 1.22027386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:-22.67, Z:12.21 [[ 7.84352790e-01 5.65707966e-01 -2.54490075e-01 6.13466754e+01] [-5.38487592e-01 8.24604986e-01 1.73371652e-01 -2.26692850e+01] [ 3.07931510e-01 1.05520844e-03 9.51407942e-01 1.22113309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.37, Y:-22.69, Z:12.22 [[ 7.84975988e-01 5.64937204e-01 -2.54280658e-01 6.13679634e+01] [-5.37734228e-01 8.25133532e-01 1.73195138e-01 -2.26859515e+01] [ 3.07659874e-01 7.81389109e-04 9.51496080e-01 1.22197623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:-22.70, Z:12.23 [[ 7.85863300e-01 5.63425218e-01 -2.54893894e-01 6.13878846e+01] [-5.36022984e-01 8.26167037e-01 1.73572424e-01 -2.27045000e+01] [ 3.08380014e-01 2.24787631e-04 9.51263221e-01 1.22287090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:-22.72, Z:12.24 [[ 7.86333546e-01 5.62566112e-01 -2.55340800e-01 6.14091729e+01] [-5.35034111e-01 8.26752299e-01 1.73836521e-01 -2.27211815e+01] [ 3.08898130e-01 -7.74502688e-05 9.51095126e-01 1.22372043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:61.43, Y:-22.74, Z:12.24 [[ 7.87538084e-01 5.60316994e-01 -2.56570913e-01 6.14306629e+01] [-5.32408611e-01 8.28277732e-01 1.74634104e-01 -2.27394340e+01] [ 3.10362430e-01 -9.30444102e-04 9.50617850e-01 1.22435654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:61.47, Y:-22.75, Z:12.23 [[ 7.91795657e-01 5.49961402e-01 -2.65710546e-01 6.14658029e+01] [-5.29967924e-01 8.34871979e-01 1.48737280e-01 -2.27468735e+01] [ 3.03634052e-01 2.30485344e-02 9.52509909e-01 1.22317155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.48, Y:-22.77, Z:12.25 [[ 7.91930545e-01 5.55651666e-01 -2.53174322e-01 6.14822382e+01] [-5.30014618e-01 8.31412653e-01 1.66845751e-01 -2.27717472e+01] [ 3.03200454e-01 2.05584534e-03 9.52924581e-01 1.22514155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.49, Y:-22.80, Z:12.28 [[ 7.87872107e-01 5.65593063e-01 -2.43643243e-01 6.14920047e+01] [-5.31152637e-01 8.24306341e-01 1.95948799e-01 -2.28019658e+01] [ 3.11663952e-01 -2.49708424e-02 9.49864221e-01 1.22848979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:-22.81, Z:12.28 [[ 7.87591761e-01 5.59787533e-01 -2.57559968e-01 6.15229708e+01] [-5.31546250e-01 8.28635052e-01 1.75563480e-01 -2.28135762e+01] [ 3.11701465e-01 -1.36731575e-03 9.50179103e-01 1.22849864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.54, Y:-22.83, Z:12.29 [[ 7.88027095e-01 5.59246701e-01 -2.57403233e-01 6.15434448e+01] [-5.31012767e-01 8.28999778e-01 1.75456005e-01 -2.28313689e+01] [ 3.11510415e-01 -1.57968268e-03 9.50241425e-01 1.22937949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:61.57, Y:-22.85, Z:12.30 [[ 7.88319898e-01 5.58592456e-01 -2.57926745e-01 6.15681244e+01] [-5.30212875e-01 8.29440255e-01 1.75792976e-01 -2.28496332e+01] [ 3.12131456e-01 -1.82502005e-03 9.50037170e-01 1.23008721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:-22.87, Z:12.31 [[ 7.88210321e-01 5.59377630e-01 -2.56556341e-01 6.15906067e+01] [-5.31342763e-01 8.28911554e-01 1.74872820e-01 -2.28675531e+01] [ 3.10482459e-01 -1.51720613e-03 9.50577898e-01 1.23125684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:61.61, Y:-22.89, Z:12.32 [[ 7.88120436e-01 5.59897919e-01 -2.55696105e-01 6.16121750e+01] [-5.32077685e-01 8.28560546e-01 1.74300769e-01 -2.28865183e+01] [ 3.09450342e-01 -1.31980610e-03 9.50914688e-01 1.23216360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:61.64, Y:-22.90, Z:12.33 [[ 7.87546878e-01 5.60411114e-01 -2.56338250e-01 6.16363252e+01] [-5.32463373e-01 8.28213779e-01 1.74770403e-01 -2.29048452e+01] [ 3.10246147e-01 -1.14915646e-03 9.50655567e-01 1.23304928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:61.66, Y:-22.92, Z:12.34 [[ 7.86819563e-01 5.61426812e-01 -2.56349197e-01 6.16593404e+01] [-5.33524737e-01 8.27526046e-01 1.74791299e-01 -2.29222916e+01] [ 3.10268159e-01 -7.60575088e-04 9.50648774e-01 1.23391211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:61.68, Y:-22.94, Z:12.35 [[ 7.84099010e-01 5.65234012e-01 -2.56318656e-01 6.16826229e+01] [-5.37536226e-01 8.24930275e-01 1.74770840e-01 -2.29409726e+01] [ 3.10231443e-01 7.42920804e-04 9.50660770e-01 1.23499563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:-22.96, Z:12.36 [[ 7.82076173e-01 5.67901022e-01 -2.56603368e-01 6.17079257e+01] [-5.40274230e-01 8.23094912e-01 1.74981491e-01 -2.29598421e+01] [ 3.10581094e-01 1.78733217e-03 9.50545206e-01 1.23609530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.73, Y:-22.98, Z:12.37 [[ 7.78291462e-01 5.72490090e-01 -2.57909861e-01 6.17319324e+01] [-5.44781751e-01 8.19904006e-01 1.75983706e-01 -2.29781286e+01] [ 3.12210255e-01 3.53796960e-03 9.50006442e-01 1.23694664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.76, Y:-23.00, Z:12.38 [[ 7.76455711e-01 5.74493175e-01 -2.58986721e-01 6.17568740e+01] [-5.46636175e-01 8.18498011e-01 1.76776406e-01 -2.29960275e+01] [ 3.13536955e-01 4.31245999e-03 9.49566207e-01 1.23782485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:61.78, Y:-23.01, Z:12.39 [[ 7.74970637e-01 5.76046617e-01 -2.59982321e-01 6.17804683e+01] [-5.48022579e-01 8.17402285e-01 1.77552125e-01 -2.30137665e+01] [ 3.14788444e-01 4.87849865e-03 9.49149322e-01 1.23869597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.7 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:61.80, Y:-23.03, Z:12.39 [[ 7.73602362e-01 5.76924749e-01 -2.62101543e-01 6.18015861e+01] [-5.48477042e-01 8.16780252e-01 1.79005459e-01 -2.30319956e+01] [ 3.17352044e-01 5.27763275e-03 9.48293112e-01 1.23945911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:61.83, Y:-23.05, Z:12.40 [[ 7.74598014e-01 5.74952130e-01 -2.63491868e-01 6.18254107e+01] [-5.48667400e-01 8.18110796e-01 1.72217332e-01 -2.30478177e+01] [ 3.14582264e-01 1.11701946e-02 9.49164488e-01 1.23998057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:61.84, Y:-23.07, Z:12.42 [[ 7.75858493e-01 5.75438161e-01 -2.58678412e-01 6.18411109e+01] [-5.45042573e-01 8.17842328e-01 1.84560343e-01 -2.30664754e+01] [ 3.17761219e-01 -2.20196254e-03 9.48168212e-01 1.24164130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78999999999999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:61.87, Y:-23.08, Z:12.42 [[ 7.76097003e-01 5.73197316e-01 -2.62903553e-01 6.18694572e+01] [-5.44423334e-01 8.19407991e-01 1.79370505e-01 -2.30823871e+01] [ 3.18239964e-01 3.92191752e-03 9.48002080e-01 1.24236070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:61.89, Y:-23.10, Z:12.43 [[ 7.76755813e-01 5.72702276e-01 -2.62035324e-01 6.18933590e+01] [-5.44059643e-01 8.19755484e-01 1.78885581e-01 -2.30981336e+01] [ 3.17253073e-01 3.61243004e-03 9.48334033e-01 1.24335661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:61.92, Y:-23.11, Z:12.44 [[ 7.77069301e-01 5.72613617e-01 -2.61298579e-01 6.19205239e+01] [-5.44127193e-01 8.19817668e-01 1.78394474e-01 -2.31134513e+01] [ 3.16368297e-01 3.55479271e-03 9.48629782e-01 1.24444729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:61.95, Y:-23.13, Z:12.45 [[ 7.76373823e-01 5.73556202e-01 -2.61298624e-01 6.19467283e+01] [-5.45083486e-01 8.19157212e-01 1.78508975e-01 -2.31296533e+01] [ 3.16429582e-01 3.83986930e-03 9.48608230e-01 1.24547332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:-23.15, Z:12.46 [[ 7.75498456e-01 5.74834621e-01 -2.61088689e-01 6.19718753e+01] [-5.46441295e-01 8.18258528e-01 1.78479389e-01 -2.31456781e+01] [ 3.16234179e-01 4.25915100e-03 9.48671600e-01 1.24646472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:62.00, Y:-23.16, Z:12.48 [[ 7.73496620e-01 5.77177288e-01 -2.61857514e-01 6.19981918e+01] [-5.48706462e-01 8.16602693e-01 1.79112425e-01 -2.31629878e+01] [ 3.17213174e-01 5.14005489e-03 9.48340330e-01 1.24754119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:62.02, Y:-23.18, Z:12.49 [[ 7.72086466e-01 5.78269239e-01 -2.63604205e-01 6.20241737e+01] [-5.49429760e-01 8.15827259e-01 1.80424007e-01 -2.31805470e+01] [ 3.19389149e-01 5.52906127e-03 9.47607514e-01 1.24856676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:-23.20, Z:12.50 [[ 7.70400383e-01 5.80710642e-01 -2.63169909e-01 6.20492115e+01] [-5.52067922e-01 8.14084650e-01 1.80242038e-01 -2.31978216e+01] [ 3.18911053e-01 6.42912987e-03 9.47762843e-01 1.24967611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:62.08, Y:-23.21, Z:12.51 [[ 7.69545128e-01 5.81122906e-01 -2.64757367e-01 6.20761704e+01] [-5.52111082e-01 8.13789447e-01 1.81438940e-01 -2.32149780e+01] [ 3.20895075e-01 6.55002431e-03 9.47092101e-01 1.25058086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:-23.23, Z:12.52 [[ 7.69411383e-01 5.81571118e-01 -2.64161235e-01 6.21017656e+01] [-5.52679245e-01 8.13468633e-01 1.81147550e-01 -2.32323286e+01] [ 3.20237062e-01 6.61944493e-03 9.47314313e-01 1.25163058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:62.13, Y:-23.25, Z:12.53 [[ 7.69228833e-01 5.81043781e-01 -2.65847941e-01 6.21276592e+01] [-5.51702051e-01 8.13847559e-01 1.82419839e-01 -2.32494350e+01] [ 3.22353610e-01 6.34625462e-03 9.46598054e-01 1.25257387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:62.15, Y:-23.27, Z:12.54 [[ 7.71081515e-01 5.78869885e-01 -2.65222459e-01 6.21518768e+01] [-5.49520964e-01 8.15402294e-01 1.82059902e-01 -2.32667931e+01] [ 3.21651997e-01 5.36227628e-03 9.46842774e-01 1.25363399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:-23.29, Z:12.55 [[ 7.72713406e-01 5.77467636e-01 -2.63524423e-01 6.21765831e+01] [-5.48417065e-01 8.16399896e-01 1.80914160e-01 -2.32854513e+01] [ 3.19613384e-01 4.72649385e-03 9.47536250e-01 1.25476590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:62.20, Y:-23.30, Z:12.56 [[ 7.73951173e-01 5.75436171e-01 -2.64334627e-01 6.22009527e+01] [-5.46047160e-01 8.17837865e-01 1.81586688e-01 -2.33035290e+01] [ 3.20674416e-01 3.79994260e-03 9.47181862e-01 1.25580601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.22, Y:-23.32, Z:12.57 [[ 7.78602102e-01 5.70440130e-01 -2.61489625e-01 6.22245500e+01] [-5.41385802e-01 8.21337584e-01 1.79738662e-01 -2.33231671e+01] [ 3.17301403e-01 1.62186984e-03 9.48323357e-01 1.25699948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.25, Y:-23.34, Z:12.58 [[ 7.80648469e-01 5.67982200e-01 -2.60737779e-01 6.22487927e+01] [-5.38928182e-01 8.23040672e-01 1.79333396e-01 -2.33412641e+01] [ 3.16455973e-01 5.22596032e-04 9.48607055e-01 1.25799757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:62.27, Y:-23.36, Z:12.59 [[ 7.84623453e-01 5.62473040e-01 -2.60749143e-01 6.22739942e+01] [-5.33094543e-01 8.26813735e-01 1.79413644e-01 -2.33602122e+01] [ 3.16506311e-01 -1.76820805e-03 9.48588756e-01 1.25900009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.30, Y:-23.38, Z:12.60 [[ 7.86649951e-01 5.59953732e-01 -2.60064748e-01 6.22989677e+01] [-5.30561540e-01 8.28518895e-01 1.79055557e-01 -2.33784863e+01] [ 3.15731385e-01 -2.87369154e-03 9.48844263e-01 1.26001771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:62.32, Y:-23.40, Z:12.61 [[ 7.88192818e-01 5.57432112e-01 -2.60809358e-01 6.23234606e+01] [-5.27694915e-01 8.30212917e-01 1.79679128e-01 -2.33959486e+01] [ 3.16686214e-01 -3.99402633e-03 9.48521950e-01 1.26095267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:62.35, Y:-23.41, Z:12.62 [[ 7.90380854e-01 5.53601753e-01 -2.62341771e-01 6.23473147e+01] [-5.23273895e-01 8.32762516e-01 1.80806590e-01 -2.34140172e+01] [ 3.18563239e-01 -5.62946707e-03 9.47884894e-01 1.26189207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.37, Y:-23.43, Z:12.63 [[ 7.91741484e-01 5.52256142e-01 -2.61071973e-01 6.23696964e+01] [-5.22129875e-01 8.33651339e-01 1.80016219e-01 -2.34304955e+01] [ 3.17058063e-01 -6.21283196e-03 9.48385779e-01 1.26282340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:-23.45, Z:12.64 [[ 7.92306168e-01 5.51297639e-01 -2.61384486e-01 6.23922968e+01] [-5.21048929e-01 8.34282551e-01 1.80223855e-01 -2.34464337e+01] [ 3.17425502e-01 -6.59836564e-03 9.48260256e-01 1.26375045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:62.41, Y:-23.46, Z:12.65 [[ 7.91845186e-01 5.51607001e-01 -2.62127675e-01 6.24145721e+01] [-5.21206805e-01 8.34079042e-01 1.80708654e-01 -2.34607586e+01] [ 3.18315358e-01 -6.47054945e-03 9.47962797e-01 1.26455557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.44, Y:-23.47, Z:12.65 [[ 7.90522511e-01 5.53691690e-01 -2.61724422e-01 6.24374151e+01] [-5.23510210e-01 8.32702974e-01 1.80396276e-01 -2.34740284e+01] [ 3.17822623e-01 -5.59191023e-03 9.48133699e-01 1.26528805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:62.46, Y:-23.49, Z:12.66 [[ 7.89128952e-01 5.55374152e-01 -2.62364342e-01 6.24642385e+01] [-5.25143964e-01 8.31586192e-01 1.80798846e-01 -2.34912216e+01] [ 3.18589570e-01 -4.89455316e-03 9.47880124e-01 1.26623795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:62.49, Y:-23.51, Z:12.67 [[ 7.87850258e-01 5.57350863e-01 -2.62015241e-01 6.24901518e+01] [-5.27270986e-01 8.30266497e-01 1.80673328e-01 -2.35080670e+01] [ 3.18240912e-01 -4.19049387e-03 9.48000613e-01 1.26719129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:-23.52, Z:12.68 [[ 7.86643798e-01 5.59324270e-01 -2.61434307e-01 6.25152117e+01] [-5.29451425e-01 8.28941653e-01 1.80379944e-01 -2.35245182e+01] [ 3.17604668e-01 -3.47799801e-03 9.48216842e-01 1.26812953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.6 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:62.54, Y:-23.54, Z:12.69 [[ 7.84063419e-01 5.62949704e-01 -2.61404257e-01 6.25409113e+01] [-5.33245258e-01 8.26488487e-01 1.80461286e-01 -2.35401667e+01] [ 3.17638236e-01 -2.10051247e-03 9.48209649e-01 1.26912658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:62.58, Y:-23.55, Z:12.68 [[ 7.84545722e-01 5.58385771e-01 -2.69617027e-01 6.25796554e+01] [-5.37774636e-01 8.29192583e-01 1.52440484e-01 -2.35483000e+01] [ 3.08685036e-01 2.53966691e-02 9.50825198e-01 1.26790701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:-23.58, Z:12.72 [[ 7.80351982e-01 5.75962392e-01 -2.43553090e-01 6.25826448e+01] [-5.40598231e-01 8.17106494e-01 2.00226199e-01 -2.35789484e+01] [ 3.14331572e-01 -2.45825419e-02 9.48994922e-01 1.27222525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.62, Y:-23.59, Z:12.72 [[ 7.78858928e-01 5.71798771e-01 -2.57730354e-01 6.26173853e+01] [-5.43358857e-01 8.20392828e-01 1.78091999e-01 -2.35896982e+01] [ 3.13272920e-01 1.33152738e-03 9.49662205e-01 1.27205998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:-23.61, Z:12.73 [[ 7.77207158e-01 5.74237915e-01 -2.57293316e-01 6.26433300e+01] [-5.45989868e-01 8.18685484e-01 1.77902062e-01 -2.36070476e+01] [ 3.12800412e-01 2.21278795e-03 9.49816301e-01 1.27305596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:62.68, Y:-23.62, Z:12.72 [[ 7.75891462e-01 5.72144685e-01 -2.65787320e-01 6.26786175e+01] [-5.49786020e-01 8.19856153e-01 1.59910040e-01 -2.36191639e+01] [ 3.09399049e-01 2.20533184e-02 9.50676538e-01 1.27249073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:62.69, Y:-23.64, Z:12.76 [[ 7.73887444e-01 5.83831235e-01 -2.45436984e-01 6.26871855e+01] [-5.50810161e-01 8.11735346e-01 1.94149155e-01 -2.36439839e+01] [ 3.12580216e-01 -1.50604085e-02 9.49771969e-01 1.27570599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:62.72, Y:-23.66, Z:12.76 [[ 7.72899889e-01 5.79948422e-01 -2.57459881e-01 6.27198061e+01] [-5.51897026e-01 8.14641679e-01 1.78237501e-01 -2.36556746e+01] [ 3.13106107e-01 4.33159785e-03 9.49708273e-01 1.27565832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:62.75, Y:-23.67, Z:12.75 [[ 7.74632818e-01 5.73431448e-01 -2.66684030e-01 6.27530482e+01] [-5.50686688e-01 8.18962240e-01 1.61384700e-01 -2.36674309e+01] [ 3.10947213e-01 2.18454601e-02 9.50176092e-01 1.27506910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:62.76, Y:-23.69, Z:12.78 [[ 7.73887363e-01 5.82928703e-01 -2.47573172e-01 6.27601612e+01] [-5.49819550e-01 8.12400084e-01 1.94176637e-01 -2.36919562e+01] [ 3.14319601e-01 -1.41502758e-02 9.49211756e-01 1.27811295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.79, Y:-23.71, Z:12.78 [[ 7.75280242e-01 5.76616197e-01 -2.57787329e-01 6.27912971e+01] [-5.48285259e-01 8.17009938e-01 1.78544210e-01 -2.37056951e+01] [ 3.13566293e-01 2.91919444e-03 9.49561824e-01 1.27830286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:-23.72, Z:12.79 [[ 7.75778641e-01 5.76065146e-01 -2.57519800e-01 6.28163723e+01] [-5.47727304e-01 8.17399665e-01 1.78472933e-01 -2.37242771e+01] [ 3.13308634e-01 2.59513647e-03 9.49647811e-01 1.27931537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:-23.74, Z:12.80 [[ 7.76723819e-01 5.74866155e-01 -2.57349981e-01 6.28415877e+01] [-5.46464856e-01 8.18244987e-01 1.78469334e-01 -2.37434396e+01] [ 3.13171312e-01 2.01133741e-03 9.49694521e-01 1.28030195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:-23.76, Z:12.81 [[ 7.76652580e-01 5.74985759e-01 -2.57297779e-01 6.28677051e+01] [-5.46565929e-01 8.18161062e-01 1.78544565e-01 -2.37617141e+01] [ 3.13171606e-01 1.96310243e-03 9.49694525e-01 1.28131644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:-23.78, Z:12.82 [[ 7.76946861e-01 5.74539385e-01 -2.57406431e-01 6.28929022e+01] [-5.46053830e-01 8.18475089e-01 1.78672168e-01 -2.37799871e+01] [ 3.13334949e-01 1.73898745e-03 9.49641083e-01 1.28227753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:-23.80, Z:12.83 [[ 7.77426376e-01 5.73964126e-01 -2.57241932e-01 6.29188976e+01] [-5.45447788e-01 8.18879234e-01 1.78671516e-01 -2.37985821e+01] [ 3.13201117e-01 1.40809358e-03 9.49685778e-01 1.28322863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:-23.82, Z:12.84 [[ 7.78532179e-01 5.72523704e-01 -2.57107478e-01 6.29445275e+01] [-5.43923923e-01 8.19887843e-01 1.78691608e-01 -2.38175255e+01] [ 3.13104477e-01 7.29740630e-04 9.49718408e-01 1.28413295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:-23.84, Z:12.85 [[ 7.78913410e-01 5.71974445e-01 -2.57175297e-01 6.29695355e+01] [-5.43292481e-01 8.20271336e-01 1.78852494e-01 -2.38361094e+01] [ 3.13252581e-01 4.10799207e-04 9.49669759e-01 1.28512715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:-23.86, Z:12.86 [[ 7.79637013e-01 5.70903798e-01 -2.57361577e-01 6.29932095e+01] [-5.42084966e-01 8.21016955e-01 1.79095085e-01 -2.38553361e+01] [ 3.13544282e-01 -1.17315498e-04 9.49573572e-01 1.28612755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:-23.87, Z:12.87 [[ 7.79847693e-01 5.70584619e-01 -2.57431092e-01 6.30178078e+01] [-5.41709004e-01 8.21238758e-01 1.79215675e-01 -2.38735773e+01] [ 3.13670098e-01 -3.08189819e-04 9.49531977e-01 1.28711514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.04, Y:-23.89, Z:12.88 [[ 7.79944119e-01 5.70374367e-01 -2.57604839e-01 6.30430402e+01] [-5.41415124e-01 8.21384717e-01 1.79434697e-01 -2.38920675e+01] [ 3.13937629e-01 -4.77881064e-04 9.49443488e-01 1.28812373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:-23.91, Z:12.89 [[ 7.79996728e-01 5.70236177e-01 -2.57751444e-01 6.30678694e+01] [-5.41198409e-01 8.21480556e-01 1.79649598e-01 -2.39098807e+01] [ 3.14180500e-01 -6.31426553e-04 9.49363058e-01 1.28904930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:63.09, Y:-23.93, Z:12.90 [[ 7.79718746e-01 5.70436369e-01 -2.58149231e-01 6.30941143e+01] [-5.41282013e-01 8.21341546e-01 1.80032908e-01 -2.39277070e+01] [ 3.14726007e-01 -6.43497673e-04 9.49182346e-01 1.29001638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:-23.95, Z:12.91 [[ 7.79386932e-01 5.71224683e-01 -2.57407016e-01 6.31194926e+01] [-5.42246821e-01 8.20793631e-01 1.79627951e-01 -2.39451775e+01] [ 3.13885959e-01 -4.21541079e-04 9.49460598e-01 1.29098389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:-23.96, Z:12.92 [[ 7.79010175e-01 5.72298420e-01 -2.56159453e-01 6.31422303e+01] [-5.43631802e-01 8.20045434e-01 1.78857348e-01 -2.39604463e+01] [ 3.12422167e-01 -7.52690318e-05 9.49943358e-01 1.29192374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:63.17, Y:-23.98, Z:12.93 [[ 7.78275981e-01 5.74030128e-01 -2.54511119e-01 6.31677681e+01] [-5.45836497e-01 8.18833936e-01 1.77689345e-01 -2.39771104e+01] [ 3.10401378e-01 6.30108206e-04 9.50605379e-01 1.29288363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:-23.99, Z:12.94 [[ 7.77734175e-01 5.75393319e-01 -2.53085126e-01 6.31922146e+01] [-5.47562473e-01 8.17876121e-01 1.76787977e-01 -2.39936806e+01] [ 3.08714902e-01 1.08586617e-03 9.51153999e-01 1.29386655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:63.22, Y:-24.01, Z:12.95 [[ 7.77107642e-01 5.76492089e-01 -2.52508583e-01 6.32183574e+01] [-5.48842584e-01 8.17101344e-01 1.76400713e-01 -2.40113259e+01] [ 3.08018718e-01 1.50512122e-03 9.51379106e-01 1.29483565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:-24.03, Z:12.96 [[ 7.76129094e-01 5.78433233e-01 -2.51074939e-01 6.32439916e+01] [-5.51168199e-01 8.15726853e-01 1.75508738e-01 -2.40291516e+01] [ 3.06328657e-01 2.16708403e-03 9.51923347e-01 1.29590579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:63.27, Y:-24.05, Z:12.97 [[ 7.74710623e-01 5.81028055e-01 -2.49459115e-01 6.32707938e+01] [-5.54216858e-01 8.13877720e-01 1.74489918e-01 -2.40459556e+01] [ 3.04412753e-01 3.07525419e-03 9.52535258e-01 1.29682192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.5 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:63.30, Y:-24.06, Z:12.98 [[ 7.73758964e-01 5.82504718e-01 -2.48968510e-01 6.32970909e+01] [-5.55840560e-01 8.12819553e-01 1.74257411e-01 -2.40633179e+01] [ 3.03872237e-01 3.55356256e-03 9.52706165e-01 1.29785253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:-24.08, Z:12.99 [[ 7.72024175e-01 5.84768605e-01 -2.49046885e-01 6.33240016e+01] [-5.58166278e-01 8.11188482e-01 1.74423773e-01 -2.40794815e+01] [ 3.04021511e-01 4.35020322e-03 9.52655235e-01 1.29877203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:-24.10, Z:13.00 [[ 7.71577558e-01 5.85311952e-01 -2.49154552e-01 6.33500114e+01] [-5.58677669e-01 8.10795865e-01 1.74611935e-01 -2.40957667e+01] [ 3.04215933e-01 4.47043393e-03 9.52592610e-01 1.29960612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:-24.11, Z:13.00 [[ 7.70692143e-01 5.85928784e-01 -2.50441770e-01 6.33769084e+01] [-5.59009688e-01 8.10349204e-01 1.75619863e-01 -2.41120815e+01] [ 3.05846022e-01 4.65052740e-03 9.52069632e-01 1.30047628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:-24.13, Z:13.01 [[ 7.70286410e-01 5.86326835e-01 -2.50758227e-01 6.34022248e+01] [-5.59322803e-01 8.10060836e-01 1.75952960e-01 -2.41294920e+01] [ 3.06295361e-01 4.72062007e-03 9.51924822e-01 1.30140905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:63.43, Y:-24.15, Z:13.02 [[ 7.70531765e-01 5.86088344e-01 -2.50561873e-01 6.34272834e+01] [-5.59084649e-01 8.10234433e-01 1.75910543e-01 -2.41465824e+01] [ 3.06112976e-01 4.54063606e-03 9.51984364e-01 1.30227842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67999999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:63.45, Y:-24.16, Z:13.03 [[ 7.70798918e-01 5.85721915e-01 -2.50597018e-01 6.34523068e+01] [-5.58687163e-01 8.10500227e-01 1.75948960e-01 -2.41636303e+01] [ 3.06166101e-01 4.38406900e-03 9.51968013e-01 1.30318042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.47, Y:-24.18, Z:13.04 [[ 7.71599912e-01 5.85039650e-01 -2.49724214e-01 6.34748461e+01] [-5.58158283e-01 8.10994397e-01 1.75349422e-01 -2.41786634e+01] [ 3.05111303e-01 4.08604020e-03 9.52307932e-01 1.30399242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:63.50, Y:-24.19, Z:13.05 [[ 7.73178521e-01 5.83084113e-01 -2.49415099e-01 6.34979156e+01] [-5.56177972e-01 8.12404981e-01 1.75111996e-01 -2.41939260e+01] [ 3.04731091e-01 3.32634923e-03 9.52432621e-01 1.30474296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:-24.21, Z:13.06 [[ 7.73825658e-01 5.82262746e-01 -2.49326985e-01 6.35198839e+01] [-5.55343048e-01 8.12995048e-01 1.75023289e-01 -2.42092725e+01] [ 3.04611145e-01 3.02449605e-03 9.52471996e-01 1.30564154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:-24.22, Z:13.06 [[ 7.74723758e-01 5.80925985e-01 -2.49655959e-01 6.35416752e+01] [-5.53876377e-01 8.13952452e-01 1.75220901e-01 -2.42247885e+01] [ 3.04998455e-01 2.53074324e-03 9.52349483e-01 1.30647895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:63.56, Y:-24.24, Z:13.07 [[ 7.76558721e-01 5.78584336e-01 -2.49392702e-01 6.35637510e+01] [-5.51485618e-01 8.15620922e-01 1.75003212e-01 -2.42422327e+01] [ 3.04664023e-01 1.63621776e-03 9.52458480e-01 1.30732972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:63.59, Y:-24.26, Z:13.08 [[ 7.77126765e-01 5.77895485e-01 -2.49220385e-01 6.35868167e+01] [-5.50808953e-01 8.16109603e-01 1.74855979e-01 -2.42594236e+01] [ 3.04439630e-01 1.38755753e-03 9.52530622e-01 1.30830438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:-24.28, Z:13.09 [[ 7.77495412e-01 5.77352856e-01 -2.49328227e-01 6.36086220e+01] [-5.50215121e-01 8.16493905e-01 1.74931480e-01 -2.42754859e+01] [ 3.04572167e-01 1.17573752e-03 9.52488537e-01 1.30927553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:63.63, Y:-24.29, Z:13.10 [[ 7.78328786e-01 5.76587737e-01 -2.48497248e-01 6.36336784e+01] [-5.49603147e-01 8.17034754e-01 1.74328972e-01 -2.42943709e+01] [ 3.03546835e-01 8.89612263e-04 9.52816104e-01 1.31011892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:-24.31, Z:13.11 [[ 7.77636095e-01 5.77435679e-01 -2.48696885e-01 6.36587660e+01] [-5.50418451e-01 8.16435385e-01 1.74564576e-01 -2.43124048e+01] [ 3.03844752e-01 1.13963900e-03 9.52720876e-01 1.31120395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:63.68, Y:-24.33, Z:13.12 [[ 7.77568232e-01 5.77629115e-01 -2.48459754e-01 6.36849183e+01] [-5.50639055e-01 8.16298568e-01 1.74508677e-01 -2.43309846e+01] [ 3.03618634e-01 1.11924127e-03 9.52792985e-01 1.31207933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:63.71, Y:-24.35, Z:13.13 [[ 7.77066376e-01 5.78237414e-01 -2.48614844e-01 6.37105132e+01] [-5.51207979e-01 8.15867573e-01 1.74727980e-01 -2.43493085e+01] [ 3.03871045e-01 1.26324697e-03 9.52712335e-01 1.31304361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:63.73, Y:-24.37, Z:13.14 [[ 7.75792488e-01 5.79631313e-01 -2.49346257e-01 6.37346465e+01] [-5.52472538e-01 8.14877041e-01 1.75355363e-01 -2.43673034e+01] [ 3.04828000e-01 1.71758602e-03 9.52405870e-01 1.31398801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:63.77, Y:-24.38, Z:13.13 [[ 7.78531856e-01 5.72049676e-01 -2.58161418e-01 6.37702711e+01] [-5.51333915e-01 8.19915647e-01 1.54172780e-01 -2.43772343e+01] [ 2.99865075e-01 2.23047246e-02 9.53720838e-01 1.31306480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:-24.41, Z:13.17 [[ 7.73749703e-01 5.86924230e-01 -2.38393258e-01 6.37760486e+01] [-5.54745063e-01 8.09471376e-01 1.92390243e-01 -2.44090855e+01] [ 3.05891014e-01 -1.66144101e-02 9.51921556e-01 1.31697991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:63.82, Y:-24.41, Z:13.15 [[ 7.77870901e-01 5.72159956e-01 -2.59903533e-01 6.38203191e+01] [-5.52743889e-01 8.19703329e-01 1.50202014e-01 -2.44113601e+01] [ 2.98983369e-01 2.68223135e-02 9.53881286e-01 1.31465468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:63.84, Y:-24.44, Z:13.17 [[ 7.75870068e-01 5.80533185e-01 -2.46995665e-01 6.38367155e+01] [-5.54960374e-01 8.14222390e-01 1.70472527e-01 -2.44362614e+01] [ 3.00074360e-01 4.80827532e-03 9.53903695e-01 1.31678547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:-24.46, Z:13.20 [[ 7.70263662e-01 5.91771163e-01 -2.37698930e-01 6.38491938e+01] [-5.59097396e-01 8.05925775e-01 1.94663162e-01 -2.44634760e+01] [ 3.06763741e-01 -1.70451076e-02 9.51633055e-01 1.32009413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:-24.48, Z:13.20 [[ 7.69973021e-01 5.86990263e-01 -2.50167900e-01 6.38815881e+01] [-5.59799600e-01 8.09583895e-01 1.76630474e-01 -2.44752138e+01] [ 3.06212272e-01 4.04319060e-03 9.51954672e-01 1.32010933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:63.92, Y:-24.48, Z:13.19 [[ 7.73969643e-01 5.78653205e-01 -2.57160378e-01 6.39166474e+01] [-5.57944170e-01 8.15238841e-01 1.55189998e-01 -2.44833935e+01] [ 2.99448319e-01 2.33687863e-02 9.53826297e-01 1.31902561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:63.92, Y:-24.52, Z:13.23 [[ 7.69766975e-01 5.92197309e-01 -2.38245989e-01 6.39246016e+01] [-5.60964675e-01 8.05691819e-01 1.90208640e-01 -2.45156331e+01] [ 3.04593889e-01 -1.27687460e-02 9.52396725e-01 1.32267137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:-24.53, Z:13.23 [[ 7.69178978e-01 5.88486145e-01 -2.49093873e-01 6.39548840e+01] [-5.61554821e-01 8.08494950e-01 1.76045730e-01 -2.45288819e+01] [ 3.04991612e-01 4.46919061e-03 9.52344551e-01 1.32318444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:63.98, Y:-24.55, Z:13.24 [[ 7.70337279e-01 5.87373402e-01 -2.48139001e-01 6.39798066e+01] [-5.60561257e-01 8.09306583e-01 1.75481999e-01 -2.45485642e+01] [ 3.03893986e-01 3.91678408e-03 9.52697803e-01 1.32401122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:-24.57, Z:13.25 [[ 7.69922638e-01 5.87573737e-01 -2.48950266e-01 6.40036507e+01] [-5.60556161e-01 8.09161155e-01 1.76167576e-01 -2.45663444e+01] [ 3.04952326e-01 3.91519998e-03 9.52359570e-01 1.32523624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-24.59, Z:13.26 [[ 7.70437700e-01 5.86743428e-01 -2.49314862e-01 6.40287976e+01] [-5.59568933e-01 8.09765320e-01 1.76529700e-01 -2.45853641e+01] [ 3.05464170e-01 3.50371488e-03 9.52197125e-01 1.32618225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:-24.60, Z:13.27 [[ 7.70811046e-01 5.86277937e-01 -2.49255918e-01 6.40535740e+01] [-5.59057410e-01 8.10103564e-01 1.76598495e-01 -2.46032840e+01] [ 3.05458909e-01 3.22429725e-03 9.52199800e-01 1.32713396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:64.08, Y:-24.62, Z:13.28 [[ 7.71750399e-01 5.85307815e-01 -2.48628403e-01 6.40797212e+01] [-5.58156330e-01 8.10806431e-01 1.76222708e-01 -2.46220973e+01] [ 3.04734036e-01 2.77357128e-03 9.52433449e-01 1.32785411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.10, Y:-24.64, Z:13.29 [[ 7.72861635e-01 5.83503819e-01 -2.49415690e-01 6.41041096e+01] [-5.56048496e-01 8.12107995e-01 1.76891703e-01 -2.46400519e+01] [ 3.05769460e-01 1.97440862e-03 9.52103534e-01 1.32903391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:64.13, Y:-24.66, Z:13.30 [[ 7.74016391e-01 5.82004760e-01 -2.49337293e-01 6.41276162e+01] [-5.54469168e-01 8.13184302e-01 1.76904586e-01 -2.46571416e+01] [ 3.05716483e-01 1.32279204e-03 9.52121674e-01 1.32987207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:64.15, Y:-24.68, Z:13.31 [[ 7.76717831e-01 5.78601824e-01 -2.48856062e-01 6.41530784e+01] [-5.50993858e-01 8.15610156e-01 1.76595135e-01 -2.46758165e+01] [ 3.05147799e-01 -4.64286511e-05 9.52305003e-01 1.33068798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:-24.69, Z:13.32 [[ 7.77293395e-01 5.77598502e-01 -2.49389151e-01 6.41769139e+01] [-5.49782899e-01 8.16320820e-01 1.77084958e-01 -2.46928581e+01] [ 3.05865563e-01 -5.37077409e-04 9.52074561e-01 1.33198476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:64.20, Y:-24.71, Z:13.33 [[ 7.78613055e-01 5.76082653e-01 -2.48777988e-01 6.41996670e+01] [-5.48298268e-01 8.17390539e-01 1.76753262e-01 -2.47091991e+01] [ 3.05173262e-01 -1.21785700e-03 9.52296066e-01 1.33261746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:64.23, Y:-24.73, Z:13.34 [[ 7.79505449e-01 5.74992280e-01 -2.48505801e-01 6.42254746e+01] [-5.47224293e-01 8.18157228e-01 1.76534197e-01 -2.47271448e+01] [ 3.04822618e-01 -1.62095690e-03 9.52407761e-01 1.33351592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:-24.72, Z:13.30 [[ 7.88661570e-01 5.54213268e-01 -2.66196508e-01 6.42708519e+01] [-5.40346322e-01 8.31347052e-01 1.29953572e-01 -2.47180979e+01] [ 2.93323676e-01 4.13489158e-02 9.55118573e-01 1.33046284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.7 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:64.26, Y:-24.77, Z:13.37 [[ 7.79517891e-01 5.83702422e-01 -2.27251711e-01 6.42612854e+01] [-5.46369169e-01 8.11041137e-01 2.09028721e-01 -2.47704500e+01] [ 3.06321057e-01 -3.87782989e-02 9.51138083e-01 1.33712573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:64.30, Y:-24.78, Z:13.36 [[ 7.78326221e-01 5.75384526e-01 -2.51278611e-01 6.42975743e+01] [-5.46871031e-01 8.17881002e-01 1.78893101e-01 -2.47757996e+01] [ 3.08448324e-01 -1.82019869e-03 9.51239359e-01 1.33642294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:64.32, Y:-24.79, Z:13.37 [[ 7.77585011e-01 5.76145906e-01 -2.51828205e-01 6.43190462e+01] [-5.47552031e-01 8.17345489e-01 1.79257145e-01 -2.47901374e+01] [ 3.09108918e-01 -1.49862431e-03 9.51025463e-01 1.33743599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:-24.80, Z:13.38 [[ 7.76024049e-01 5.78142988e-01 -2.52066185e-01 6.43409529e+01] [-5.49607196e-01 8.15935187e-01 1.79392591e-01 -2.48036076e+01] [ 3.09384238e-01 -6.75575550e-04 9.50936873e-01 1.33843194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:64.38, Y:-24.80, Z:13.36 [[ 7.82861132e-01 5.62258653e-01 -2.66446347e-01 6.43847788e+01] [-5.46285891e-01 8.26117240e-01 1.38210096e-01 -2.48004356e+01] [ 2.97825743e-01 3.73565674e-02 9.53889047e-01 1.33572706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:-24.83, Z:13.39 [[ 7.80847909e-01 5.74460748e-01 -2.45502326e-01 6.43957423e+01] [-5.48568109e-01 8.18530726e-01 1.70529999e-01 -2.48293365e+01] [ 2.98913988e-01 1.51675406e-03 9.54278852e-01 1.33853197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:64.41, Y:-24.86, Z:13.42 [[ 7.73546171e-01 5.89610928e-01 -2.32347318e-01 6.44058438e+01] [-5.53742946e-01 8.07142620e-01 2.04669345e-01 -2.48619827e+01] [ 3.08212705e-01 -2.96604998e-02 9.50854975e-01 1.34242143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:64.44, Y:-24.87, Z:13.42 [[ 7.73439802e-01 5.82051311e-01 -2.51012239e-01 6.44421671e+01] [-5.53933666e-01 8.13151653e-01 1.78722924e-01 -2.48721644e+01] [ 3.08136929e-01 8.12706792e-04 9.51341670e-01 1.34203403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:-24.89, Z:13.43 [[ 7.72288253e-01 5.83405850e-01 -2.51412946e-01 6.44667832e+01] [-5.55254191e-01 8.12179698e-01 1.79044470e-01 -2.48890359e+01] [ 3.08648082e-01 1.32415151e-03 9.51175383e-01 1.34337529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:-24.91, Z:13.44 [[ 7.71671163e-01 5.84172203e-01 -2.51528237e-01 6.44905173e+01] [-5.55997585e-01 8.11628288e-01 1.79237855e-01 -2.49055985e+01] [ 3.08853205e-01 1.53640835e-03 9.51108478e-01 1.34432793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.0 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:64.52, Y:-24.92, Z:13.45 [[ 7.70194059e-01 5.86037016e-01 -2.51717554e-01 6.45155075e+01] [-5.57905312e-01 8.10281135e-01 1.79404974e-01 -2.49233273e+01] [ 3.09099941e-01 2.25791526e-03 9.51026881e-01 1.34506609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:64.54, Y:-24.94, Z:13.46 [[ 7.69330021e-01 5.87042383e-01 -2.52016983e-01 6.45393184e+01] [-5.58890130e-01 8.09551851e-01 1.79631911e-01 -2.49399565e+01] [ 3.09472360e-01 2.65358276e-03 9.50904736e-01 1.34588755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:64.57, Y:-24.96, Z:13.47 [[ 7.67198153e-01 5.89567430e-01 -2.52620743e-01 6.45650808e+01] [-5.61413589e-01 8.07710732e-01 1.80050425e-01 -2.49570206e+01] [ 3.10196352e-01 3.69036448e-03 9.50665348e-01 1.34687394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:64.59, Y:-24.97, Z:13.48 [[ 7.66203702e-01 5.90984492e-01 -2.52327599e-01 6.45911604e+01] [-5.62939987e-01 8.06672119e-01 1.79940724e-01 -2.49748489e+01] [ 3.09887816e-01 4.17404650e-03 9.50763966e-01 1.34776779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:64.62, Y:-24.99, Z:13.49 [[ 7.65235219e-01 5.92393511e-01 -2.51962275e-01 6.46160541e+01] [-5.64469479e-01 8.05635398e-01 1.79793807e-01 -2.49917657e+01] [ 3.09498412e-01 4.64046087e-03 9.50888637e-01 1.34881428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:-25.01, Z:13.50 [[ 7.64262136e-01 5.93686516e-01 -2.51872406e-01 6.46407602e+01] [-5.65818847e-01 8.04680395e-01 1.79829067e-01 -2.50087427e+01] [ 3.09438879e-01 5.07760710e-03 9.50905778e-01 1.35009995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:64.67, Y:-25.03, Z:13.51 [[ 7.63292948e-01 5.95444324e-01 -2.50658998e-01 6.46667684e+01] [-5.67911196e-01 8.03376527e-01 1.79061523e-01 -2.50276082e+01] [ 3.07994723e-01 5.67565377e-03 9.51371136e-01 1.35085462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:64.69, Y:-25.04, Z:13.52 [[ 7.62927365e-01 5.96171821e-01 -2.50041986e-01 6.46909028e+01] [-5.68779257e-01 8.02835497e-01 1.78732542e-01 -2.50448123e+01] [ 3.07297888e-01 5.85874775e-03 9.51595336e-01 1.35173393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:64.72, Y:-25.06, Z:13.53 [[ 7.61790546e-01 5.97725851e-01 -2.49797860e-01 6.47150037e+01] [-5.70464750e-01 8.01674493e-01 1.78572049e-01 -2.50617906e+01] [ 3.06993702e-01 6.46637532e-03 9.51689578e-01 1.35284303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.75, Y:-25.07, Z:13.53 [[ 7.63341690e-01 5.92869385e-01 -2.56545038e-01 6.47466376e+01] [-5.69857626e-01 8.05041035e-01 1.64836944e-01 -2.50726755e+01] [ 3.04256060e-01 2.03672348e-02 9.52372525e-01 1.35287810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.3 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:64.76, Y:-25.10, Z:13.55 [[ 7.60141998e-01 6.02666389e-01 -2.42852560e-01 6.47589278e+01] [-5.72035279e-01 7.97975459e-01 1.89765134e-01 -2.50993005e+01] [ 3.08155452e-01 -5.32821633e-03 9.51321096e-01 1.35523510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:64.79, Y:-25.11, Z:13.56 [[ 7.59198638e-01 6.00472282e-01 -2.51098520e-01 6.47859919e+01] [-5.73036308e-01 7.99609997e-01 1.79591878e-01 -2.51114589e+01] [ 3.08620832e-01 7.54265899e-03 9.51155240e-01 1.35568911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:64.81, Y:-25.13, Z:13.57 [[ 7.57440738e-01 6.02060657e-01 -2.52599473e-01 6.48082755e+01] [-5.74382779e-01 7.98407556e-01 1.80637200e-01 -2.51257232e+01] [ 3.10431879e-01 8.26681273e-03 9.50559682e-01 1.35651990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:64.83, Y:-25.14, Z:13.57 [[ 7.56986566e-01 6.02413011e-01 -2.53120334e-01 6.48306756e+01] [-5.74648734e-01 7.98139709e-01 1.80974688e-01 -2.51412767e+01] [ 3.11046896e-01 8.45987162e-03 9.50356911e-01 1.35725312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:-25.16, Z:13.58 [[ 7.56077773e-01 6.03186215e-01 -2.53993683e-01 6.48505868e+01] [-5.75130562e-01 7.97555518e-01 1.82016571e-01 -2.51558160e+01] [ 3.12363950e-01 8.46084624e-03 9.49924827e-01 1.35838852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:-25.17, Z:13.59 [[ 7.57598123e-01 6.00549362e-01 -2.55705977e-01 6.48736242e+01] [-5.72973542e-01 7.99524943e-01 1.80169878e-01 -2.51714459e+01] [ 3.12644212e-01 1.00163982e-02 9.49817492e-01 1.35918261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:64.90, Y:-25.19, Z:13.60 [[ 7.59107322e-01 5.99138700e-01 -2.54536623e-01 6.48953941e+01] [-5.70938146e-01 8.00611782e-01 1.81797710e-01 -2.51887320e+01] [ 3.12707063e-01 7.32069472e-03 9.49821404e-01 1.35963576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:64.91, Y:-25.21, Z:13.61 [[ 7.62484254e-01 5.94711243e-01 -2.54826019e-01 6.49142926e+01] [-5.66216911e-01 8.03920279e-01 1.81963166e-01 -2.52051256e+01] [ 3.13075345e-01 5.54275290e-03 9.49712117e-01 1.36060148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:-25.21, Z:13.60 [[ 7.69017343e-01 5.81982515e-01 -2.64402492e-01 6.49483307e+01] [-5.61081286e-01 8.12732634e-01 1.57014188e-01 -2.52112792e+01] [ 3.06268045e-01 2.76046566e-02 9.51544990e-01 1.35970219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:-25.25, Z:13.64 [[ 7.68626957e-01 5.91882064e-01 -2.42668959e-01 6.49505122e+01] [-5.57554916e-01 8.05823507e-01 1.99451726e-01 -2.52487173e+01] [ 3.13600251e-01 -1.80027019e-02 9.49384424e-01 1.36409680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.6 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:64.98, Y:-25.26, Z:13.64 [[ 7.71129804e-01 5.83578509e-01 -2.54548521e-01 6.49810403e+01] [-5.54502381e-01 8.12056258e-01 1.81911360e-01 -2.52620372e+01] [ 3.12867280e-01 8.70489438e-04 9.49796456e-01 1.36386331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:65.00, Y:-25.28, Z:13.65 [[ 7.73561386e-01 5.80577411e-01 -2.54032779e-01 6.50021213e+01] [-5.51453455e-01 8.14204969e-01 1.81574654e-01 -2.52789995e+01] [ 3.12252893e-01 -3.71887281e-04 9.49998943e-01 1.36501578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:65.04, Y:-25.28, Z:13.63 [[ 7.84913178e-01 5.60317849e-01 -2.64490476e-01 6.50408650e+01] [-5.41376595e-01 8.27813255e-01 1.47093838e-01 -2.52821183e+01] [ 3.01368025e-01 2.77330608e-02 9.53104502e-01 1.36295402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:65.06, Y:-25.31, Z:13.65 [[ 7.86864117e-01 5.63608001e-01 -2.51377967e-01 6.50575390e+01] [-5.38948744e-01 8.26023003e-01 1.64985607e-01 -2.53071698e+01] [ 3.00631191e-01 5.65858599e-03 9.53723685e-01 1.36487702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:-25.33, Z:13.66 [[ 7.90009800e-01 5.60562801e-01 -2.48301955e-01 6.50790393e+01] [-5.34617733e-01 8.28111808e-01 1.68566642e-01 -2.53283885e+01] [ 3.00113970e-01 -4.22670632e-04 9.53903258e-01 1.36633127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:-25.36, Z:13.71 [[ 7.84348912e-01 5.74570596e-01 -2.33806362e-01 6.50840610e+01] [-5.36545559e-01 8.17544723e-01 2.09139878e-01 -2.53625986e+01] [ 3.11312782e-01 -3.85908709e-02 9.49523616e-01 1.37098873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:65.12, Y:-25.37, Z:13.70 [[ 7.85314244e-01 5.64792581e-01 -2.53556462e-01 6.51219994e+01] [-5.34612218e-01 8.25197723e-01 1.82314273e-01 -2.53740977e+01] [ 3.12203964e-01 -7.61961278e-03 9.49984540e-01 1.37017554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:65.15, Y:-25.39, Z:13.71 [[ 7.85887414e-01 5.63916171e-01 -2.53731204e-01 6.51464843e+01] [-5.33610840e-01 8.25792572e-01 1.82554375e-01 -2.53919758e+01] [ 3.12474708e-01 -8.07346504e-03 9.49891771e-01 1.37124714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:65.17, Y:-25.41, Z:13.72 [[ 7.85869236e-01 5.63333703e-01 -2.55077798e-01 6.51721555e+01] [-5.32631090e-01 8.26186285e-01 1.83631001e-01 -2.54096423e+01] [ 3.14187310e-01 -8.44758865e-03 9.49323429e-01 1.37236951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:65.20, Y:-25.43, Z:13.73 [[ 7.85457325e-01 5.63485756e-01 -2.56008972e-01 6.51988995e+01] [-5.32521408e-01 8.26081826e-01 1.84417371e-01 -2.54278223e+01] [ 3.15400921e-01 -8.52171659e-03 9.48920249e-01 1.37313924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:-25.44, Z:13.74 [[ 7.84618645e-01 5.64472775e-01 -2.56406060e-01 6.52237212e+01] [-5.33422438e-01 8.25410564e-01 1.84818570e-01 -2.54448683e+01] [ 3.15965322e-01 -8.23935017e-03 9.48734962e-01 1.37440396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:-25.44, Z:13.72 [[ 7.90311556e-01 5.49946012e-01 -2.70124098e-01 6.52678856e+01] [-5.31257980e-01 8.34701025e-01 1.45048810e-01 -2.54433404e+01] [ 3.05241876e-01 2.88718323e-02 9.51837073e-01 1.37170366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:65.26, Y:-25.49, Z:13.78 [[ 7.81999318e-01 5.75979117e-01 -2.38170367e-01 6.52627729e+01] [-5.36572967e-01 8.16546998e-01 2.12932974e-01 -2.54865897e+01] [ 3.17122245e-01 -3.87176601e-02 9.47594019e-01 1.37770359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:-25.49, Z:13.77 [[ 7.79537811e-01 5.71090084e-01 -2.57248745e-01 6.52995847e+01] [-5.40052862e-01 8.20866118e-01 1.85800225e-01 -2.54939452e+01] [ 3.17275445e-01 -5.91037996e-03 9.48315011e-01 1.37742226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:-25.49, Z:13.75 [[ 7.85158525e-01 5.57721477e-01 -2.69207810e-01 6.53423284e+01] [-5.38351634e-01 8.29542996e-01 1.48445062e-01 -2.54942509e+01] [ 3.06110452e-01 2.83755587e-02 9.51573023e-01 1.37512878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:-25.52, Z:13.77 [[ 7.83895558e-01 5.67320649e-01 -2.52299493e-01 6.53577917e+01] [-5.40801405e-01 8.23494419e-01 1.71437400e-01 -2.55181790e+01] [ 3.05027202e-01 2.05490397e-03 9.52341422e-01 1.37727634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:65.37, Y:-25.55, Z:13.82 [[ 7.74426486e-01 5.86678072e-01 -2.36796237e-01 6.53656858e+01] [-5.48036088e-01 8.09081277e-01 2.12235561e-01 -2.55498231e+01] [ 3.16101352e-01 -3.45879562e-02 9.48094726e-01 1.38170702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:65.42, Y:-25.54, Z:13.78 [[ 7.79776605e-01 5.64784424e-01 -2.70124046e-01 6.54215377e+01] [-5.46922466e-01 8.24513169e-01 1.45099452e-01 -2.55409719e+01] [ 3.04670744e-01 3.45917518e-02 9.51829370e-01 1.37780472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:65.42, Y:-25.58, Z:13.84 [[ 7.71523219e-01 5.91377659e-01 -2.34572776e-01 6.54156490e+01] [-5.52754256e-01 8.05646849e-01 2.13063108e-01 -2.55828423e+01] [ 3.14983580e-01 -3.47220343e-02 9.48461768e-01 1.38392893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:65.45, Y:-25.59, Z:13.83 [[ 7.68241171e-01 5.87007110e-01 -2.55398035e-01 6.54524364e+01] [-5.56989619e-01 8.09581769e-01 1.85310344e-01 -2.55871514e+01] [ 3.15544082e-01 -1.08981383e-04 9.48910913e-01 1.38319994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.2 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:65.48, Y:-25.60, Z:13.84 [[ 7.66610781e-01 5.89284036e-01 -2.55053396e-01 6.54764530e+01] [-5.59481655e-01 8.07925493e-01 1.85031555e-01 -2.56017261e+01] [ 3.15100282e-01 8.50510873e-04 9.49058001e-01 1.38403392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:-25.61, Z:13.85 [[ 7.62909111e-01 5.94246582e-01 -2.54638350e-01 6.54999684e+01] [-5.64820999e-01 8.04277630e-01 1.84701740e-01 -2.56127258e+01] [ 3.14558306e-01 2.91444660e-03 9.49233679e-01 1.38516097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25999999999999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:65.52, Y:-25.63, Z:13.86 [[ 7.61145714e-01 5.95778111e-01 -2.56331123e-01 6.55237312e+01] [-5.66046286e-01 8.03140993e-01 1.85892838e-01 -2.56266342e+01] [ 3.16620916e-01 3.60374340e-03 9.48545312e-01 1.38557424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:-25.64, Z:13.87 [[ 7.59591196e-01 5.98134542e-01 -2.55453097e-01 6.55459414e+01] [-5.68765288e-01 8.01382326e-01 1.85182115e-01 -2.56400412e+01] [ 3.15479416e-01 4.63014992e-03 9.48921124e-01 1.38680740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:65.57, Y:-25.65, Z:13.87 [[ 7.57334867e-01 6.00358721e-01 -2.56930546e-01 6.55698141e+01] [-5.70778572e-01 7.99711035e-01 1.86209779e-01 -2.56524635e+01] [ 3.17262858e-01 5.62729204e-03 9.48320944e-01 1.38732192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:65.59, Y:-25.67, Z:13.88 [[ 7.56649885e-01 6.00747121e-01 -2.58038462e-01 6.55930718e+01] [-5.70943441e-01 7.99417636e-01 1.86962646e-01 -2.56672753e+01] [ 3.18597768e-01 5.86010307e-03 9.47871891e-01 1.38805754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:65.62, Y:-25.68, Z:13.89 [[ 7.56309389e-01 6.01074661e-01 -2.58273807e-01 6.56155129e+01] [-5.71248433e-01 7.99170043e-01 1.87089469e-01 -2.56817193e+01] [ 3.18859429e-01 6.04098557e-03 9.47782766e-01 1.38893570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:-25.69, Z:13.90 [[ 7.55501887e-01 6.02034528e-01 -2.58401482e-01 6.56364284e+01] [-5.72247582e-01 7.98443702e-01 1.87137273e-01 -2.56945127e+01] [ 3.18982136e-01 6.48706041e-03 9.47738527e-01 1.39006006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:65.66, Y:-25.71, Z:13.90 [[ 7.55486768e-01 6.01191261e-01 -2.60401250e-01 6.56598477e+01] [-5.70907482e-01 7.99080718e-01 1.88506376e-01 -2.57092785e+01] [ 3.21410003e-01 6.25094912e-03 9.46919498e-01 1.39048359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.68, Y:-25.72, Z:13.91 [[ 7.55751830e-01 6.00735126e-01 -2.60684638e-01 6.56811377e+01] [-5.70372228e-01 7.99424844e-01 1.88667538e-01 -2.57228323e+01] [ 3.21736993e-01 6.10144085e-03 9.46809421e-01 1.39142374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.5 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:65.70, Y:-25.74, Z:13.92 [[ 7.56647538e-01 5.99475131e-01 -2.60986723e-01 6.57033355e+01] [-5.68985106e-01 8.00373670e-01 1.88833095e-01 -2.57381316e+01] [ 3.22087646e-01 5.61746172e-03 9.46693188e-01 1.39222718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:65.73, Y:-25.75, Z:13.93 [[ 7.57532752e-01 5.98109064e-01 -2.61552436e-01 6.57250967e+01] [-5.67442288e-01 8.01398209e-01 1.89130010e-01 -2.57534170e+01] [ 3.22728027e-01 5.14373591e-03 9.46477766e-01 1.39300512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:-25.77, Z:13.94 [[ 7.58362889e-01 5.97484289e-01 -2.60572933e-01 6.57444691e+01] [-5.67031862e-01 8.01865682e-01 1.88378066e-01 -2.57681920e+01] [ 3.21497427e-01 4.89422118e-03 9.46897804e-01 1.39425208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.77, Y:-25.78, Z:13.95 [[ 7.61510407e-01 5.93313398e-01 -2.60923576e-01 6.57665485e+01] [-5.62554900e-01 8.04965289e-01 1.88581195e-01 -2.57838556e+01] [ 3.21922172e-01 3.17729401e-03 9.46760804e-01 1.39492910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.79, Y:-25.80, Z:13.96 [[ 7.63066635e-01 5.91705535e-01 -2.60026671e-01 6.57870303e+01] [-5.61087844e-01 8.06150221e-01 1.87888936e-01 -2.57989389e+01] [ 3.20795481e-01 2.52602622e-03 9.47145120e-01 1.39603108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64999999999999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:65.81, Y:-25.81, Z:13.97 [[ 7.64967392e-01 5.88927069e-01 -2.60748530e-01 6.58094426e+01] [-5.57992169e-01 8.08184968e-01 1.88366125e-01 -2.58142562e+01] [ 3.21666953e-01 1.40169408e-03 9.46851840e-01 1.39666093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67999999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.83, Y:-25.83, Z:13.98 [[ 7.68456090e-01 5.84972722e-01 -2.59388036e-01 6.58299224e+01] [-5.54163647e-01 8.11052937e-01 1.87338690e-01 -2.58291677e+01] [ 3.19965452e-01 -2.18136955e-04 9.47429186e-01 1.39772486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.85, Y:-25.85, Z:13.99 [[ 7.70130732e-01 5.83082513e-01 -2.58676318e-01 6.58515449e+01] [-5.52366386e-01 8.12412393e-01 1.86755135e-01 -2.58450512e+01] [ 3.19045500e-01 -9.41765551e-04 9.47738931e-01 1.39864370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:65.87, Y:-25.86, Z:13.99 [[ 7.73279181e-01 5.79259918e-01 -2.57870619e-01 6.58740530e+01] [-5.48546869e-01 8.15139138e-01 1.86130382e-01 -2.58601310e+01] [ 3.18018303e-01 -2.47662881e-03 9.48081339e-01 1.39949578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:65.90, Y:-25.87, Z:14.00 [[ 7.74726382e-01 5.77312586e-01 -2.57893798e-01 6.58953361e+01] [-5.46503264e-01 8.16516800e-01 1.86103462e-01 -2.58741568e+01] [ 3.18014489e-01 -3.23945939e-03 9.48080319e-01 1.40029892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.8 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:65.92, Y:-25.89, Z:14.01 [[ 7.74776132e-01 5.77235222e-01 -2.57917513e-01 6.59173962e+01] [-5.46432667e-01 8.16571537e-01 1.86070590e-01 -2.58899376e+01] [ 3.18014598e-01 -3.22849719e-03 9.48080319e-01 1.40118409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:65.94, Y:-25.90, Z:14.02 [[ 7.75877698e-01 5.75731757e-01 -2.57966550e-01 6.59394082e+01] [-5.44848200e-01 8.17629739e-01 1.86070012e-01 -2.59046738e+01] [ 3.18047538e-01 -3.81496225e-03 9.48067091e-01 1.40203120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:-25.92, Z:14.03 [[ 7.77715459e-01 5.73420453e-01 -2.57580372e-01 6.59608823e+01] [-5.42522852e-01 8.19247671e-01 1.85747700e-01 -2.59186380e+01] [ 3.17533651e-01 -4.71561986e-03 9.48235279e-01 1.40314358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:65.98, Y:-25.93, Z:14.04 [[ 7.79042682e-01 5.71477263e-01 -2.57888034e-01 6.59833959e+01] [-5.40414612e-01 8.20599619e-01 1.85925556e-01 -2.59333237e+01] [ 3.17875050e-01 -5.47748150e-03 9.48116791e-01 1.40368986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:66.01, Y:-25.95, Z:14.05 [[ 7.79894186e-01 5.70184793e-01 -2.58175057e-01 6.60056022e+01] [-5.38998932e-01 8.21494786e-01 1.86081884e-01 -2.59480387e+01] [ 3.18190524e-01 -5.96809994e-03 9.48008002e-01 1.40450598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:66.03, Y:-25.96, Z:14.05 [[ 7.80883651e-01 5.68655219e-01 -2.58557471e-01 6.60284062e+01] [-5.37306885e-01 8.22549778e-01 1.86314718e-01 -2.59617732e+01] [ 3.18625227e-01 -6.56540731e-03 9.47858038e-01 1.40533236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:66.05, Y:-25.98, Z:14.06 [[ 7.81017572e-01 5.68429684e-01 -2.58648887e-01 6.60511397e+01] [-5.37061251e-01 8.22705199e-01 1.86336707e-01 -2.59765982e+01] [ 3.18711100e-01 -6.62194769e-03 9.47828774e-01 1.40621884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00999999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:66.07, Y:-25.99, Z:14.07 [[ 7.80723209e-01 5.68942854e-01 -2.58409174e-01 6.60727413e+01] [-5.37676348e-01 8.22352407e-01 1.86120024e-01 -2.59905281e+01] [ 3.18395064e-01 -6.36772180e-03 9.47936725e-01 1.40718546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03999999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.12, Y:-25.99, Z:14.05 [[ 7.86794303e-01 5.53721476e-01 -2.72666926e-01 6.61191768e+01] [-5.36126395e-01 8.32007708e-01 1.42589141e-01 -2.59877889e+01] [ 3.05815653e-01 3.39956122e-02 9.51483623e-01 1.40456072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:-26.03, Z:14.11 [[ 7.78047774e-01 5.81912082e-01 -2.36685425e-01 6.61104625e+01] [-5.41909762e-01 8.12289407e-01 2.15684326e-01 -2.60308825e+01] [ 3.17766379e-01 -3.95505677e-02 9.47343803e-01 1.41062252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.16, Y:-26.03, Z:14.09 [[ 7.78531343e-01 5.69329240e-01 -2.64108244e-01 6.61558911e+01] [-5.43951346e-01 8.22015426e-01 1.68545462e-01 -2.60287597e+01] [ 3.13058911e-01 1.24441106e-02 9.49652180e-01 1.40853786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:-26.05, Z:14.11 [[ 7.76108655e-01 5.77618051e-01 -2.53007396e-01 6.61716184e+01] [-5.46311277e-01 8.16272912e-01 1.87729917e-01 -2.60505069e+01] [ 3.14959273e-01 -7.47801983e-03 9.49075727e-01 1.41052479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:66.19, Y:-26.07, Z:14.12 [[ 7.71932343e-01 5.82358495e-01 -2.54909869e-01 6.61924662e+01] [-5.49316100e-01 8.12877486e-01 1.93602724e-01 -2.60689086e+01] [ 3.19956684e-01 -9.42210950e-03 9.47385320e-01 1.41193872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.22, Y:-26.08, Z:14.13 [[ 7.70644906e-01 5.82197301e-01 -2.59138440e-01 6.62163566e+01] [-5.51351619e-01 8.13046611e-01 1.86993584e-01 -2.60807128e+01] [ 3.19558791e-01 -1.22925490e-03 9.47565654e-01 1.41251428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:66.24, Y:-26.09, Z:14.13 [[ 7.68203381e-01 5.85387942e-01 -2.59199775e-01 6.62394805e+01] [-5.54720968e-01 8.10753315e-01 1.86985855e-01 -2.60944179e+01] [ 3.19606342e-01 1.40384302e-04 9.47550403e-01 1.41329833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:66.26, Y:-26.11, Z:14.14 [[ 7.67211797e-01 5.86659792e-01 -2.59261155e-01 6.62617575e+01] [-5.56087415e-01 8.09833129e-01 1.86914660e-01 -2.61086615e+01] [ 3.19613588e-01 7.68733254e-04 9.47547658e-01 1.41410540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.28, Y:-26.12, Z:14.15 [[ 7.64731816e-01 5.90372565e-01 -2.58157865e-01 6.62826048e+01] [-5.60310271e-01 8.07127284e-01 1.86005235e-01 -2.61221096e+01] [ 3.18178644e-01 2.40438215e-03 9.48027726e-01 1.41521441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.30, Y:-26.14, Z:14.16 [[ 7.63496463e-01 5.92013378e-01 -2.58056801e-01 6.63047344e+01] [-5.62092766e-01 8.05921967e-01 1.85853452e-01 -2.61368650e+01] [ 3.18001374e-01 3.15340746e-03 9.48085008e-01 1.41611010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:-26.15, Z:14.17 [[ 7.62032187e-01 5.94011014e-01 -2.57794221e-01 6.63269878e+01] [-5.64301159e-01 8.04446579e-01 1.85552965e-01 -2.61516225e+01] [ 3.17602184e-01 4.07624602e-03 9.48215290e-01 1.41707385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36999999999999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.35, Y:-26.17, Z:14.18 [[ 7.59623433e-01 5.96839665e-01 -2.58369222e-01 6.63500528e+01] [-5.67167105e-01 8.02342973e-01 1.85922639e-01 -2.61654807e+01] [ 3.18266736e-01 5.30733089e-03 9.47986349e-01 1.41764185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39999999999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.37, Y:-26.18, Z:14.18 [[ 7.58825678e-01 5.97778297e-01 -2.58543415e-01 6.63719173e+01] [-5.68135159e-01 8.01640850e-01 1.85995667e-01 -2.61807085e+01] [ 3.18443136e-01 5.74931660e-03 9.47924530e-01 1.41841440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42999999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:66.39, Y:-26.20, Z:14.19 [[ 7.58193354e-01 5.98590834e-01 -2.58518569e-01 6.63931958e+01] [-5.69037822e-01 8.01031049e-01 1.85863434e-01 -2.61960782e+01] [ 3.18337549e-01 6.18642352e-03 9.47957242e-01 1.41932484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:66.42, Y:-26.21, Z:14.20 [[ 7.56993322e-01 5.99550229e-01 -2.59808839e-01 6.64152828e+01] [-5.69787645e-01 8.00308886e-01 1.86675456e-01 -2.62122664e+01] [ 3.19848635e-01 6.72379268e-03 9.47444796e-01 1.42003545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:66.44, Y:-26.23, Z:14.21 [[ 7.56818109e-01 5.99484653e-01 -2.60469770e-01 6.64363937e+01] [-5.69602125e-01 8.00357250e-01 1.87033931e-01 -2.62279077e+01] [ 3.20592840e-01 6.81346875e-03 9.47192593e-01 1.42088418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:-26.24, Z:14.22 [[ 7.56435562e-01 5.99893599e-01 -2.60639427e-01 6.64553071e+01] [-5.70033732e-01 8.00048382e-01 1.87040453e-01 -2.62447776e+01] [ 3.20728522e-01 7.08921526e-03 9.47144634e-01 1.42211193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:66.48, Y:-26.26, Z:14.23 [[ 7.57008886e-01 5.98899753e-01 -2.61259703e-01 6.64772600e+01] [-5.68876438e-01 8.00795255e-01 1.87367439e-01 -2.62611478e+01] [ 3.21429843e-01 6.78567284e-03 9.46909083e-01 1.42265461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:66.50, Y:-26.28, Z:14.24 [[ 7.57128715e-01 5.98779072e-01 -2.61189071e-01 6.64970407e+01] [-5.68804554e-01 8.00885120e-01 1.87201508e-01 -2.62769413e+01] [ 3.21274786e-01 6.82989572e-03 9.46961385e-01 1.42362503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:66.52, Y:-26.29, Z:14.24 [[ 7.57390140e-01 5.98412993e-01 -2.61270103e-01 6.65180960e+01] [-5.68416144e-01 8.01159604e-01 1.87206775e-01 -2.62935149e+01] [ 3.21346019e-01 6.72157876e-03 9.46937990e-01 1.42449300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:66.54, Y:-26.31, Z:14.25 [[ 7.57423670e-01 5.98076686e-01 -2.61942097e-01 6.65377721e+01] [-5.67941292e-01 8.01410905e-01 1.87571988e-01 -2.63111260e+01] [ 3.22105686e-01 6.69626916e-03 9.46680034e-01 1.42539768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:66.56, Y:-26.33, Z:14.26 [[ 7.57865132e-01 5.97171619e-01 -2.62728948e-01 6.65586947e+01] [-5.66836783e-01 8.02087714e-01 1.88019575e-01 -2.63288714e+01] [ 3.23011616e-01 6.43095138e-03 9.46373150e-01 1.42618334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.7 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:66.58, Y:-26.35, Z:14.27 [[ 7.58587844e-01 5.96410561e-01 -2.62371732e-01 6.65793473e+01] [-5.66156077e-01 8.02655618e-01 1.87646622e-01 -2.63453367e+01] [ 3.22508572e-01 6.19690426e-03 9.46546258e-01 1.42713324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:66.60, Y:-26.36, Z:14.28 [[ 7.59546070e-01 5.95112928e-01 -2.62545938e-01 6.65992240e+01] [-5.64781193e-01 8.03621530e-01 1.87655642e-01 -2.63613374e+01] [ 3.22663867e-01 5.74790283e-03 9.46496165e-01 1.42791345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75999999999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.62, Y:-26.38, Z:14.29 [[ 7.60584034e-01 5.94068953e-01 -2.61904575e-01 6.66182628e+01] [-5.63855487e-01 8.04396288e-01 1.87119218e-01 -2.63778729e+01] [ 3.21836785e-01 5.35644231e-03 9.46780013e-01 1.42884835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78999999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:66.64, Y:-26.40, Z:14.30 [[ 7.63118691e-01 5.90751402e-01 -2.62035580e-01 6.66359064e+01] [-5.60332882e-01 8.06843720e-01 1.87163757e-01 -2.63963425e+01] [ 3.21989014e-01 3.99899017e-03 9.46734959e-01 1.42974869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:66.66, Y:-26.41, Z:14.30 [[ 7.64745858e-01 5.88238177e-01 -2.62944140e-01 6.66565533e+01] [-5.57475313e-01 8.08682186e-01 1.87761546e-01 -2.64136368e+01] [ 3.23086751e-01 2.99500168e-03 9.46364613e-01 1.43048746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:-26.43, Z:14.32 [[ 7.68124138e-01 5.84387033e-01 -2.61681302e-01 6.66730551e+01] [-5.53746524e-01 8.11473763e-01 1.86748815e-01 -2.64318580e+01] [ 3.21481097e-01 1.45883868e-03 9.46914873e-01 1.43176590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:66.69, Y:-26.45, Z:14.32 [[ 7.70509767e-01 5.81139494e-01 -2.61899958e-01 6.66939584e+01] [-5.50280667e-01 8.13803949e-01 1.86853742e-01 -2.64487047e+01] [ 3.21723309e-01 1.45850430e-04 9.46833719e-01 1.43249781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:66.72, Y:-26.47, Z:14.33 [[ 7.72825042e-01 5.77859035e-01 -2.62336407e-01 6.67154385e+01] [-5.46747910e-01 8.16135812e-01 1.87053626e-01 -2.64658848e+01] [ 3.22192764e-01 -1.12784462e-03 9.46673413e-01 1.43325067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:66.73, Y:-26.48, Z:14.34 [[ 7.77241504e-01 5.71904372e-01 -2.62337633e-01 6.67344968e+01] [-5.40498707e-01 8.20312798e-01 1.86944007e-01 -2.64838654e+01] [ 3.22113012e-01 -3.50748950e-03 9.46694726e-01 1.43420295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:-26.48, Z:14.32 [[ 7.84342995e-01 5.56359692e-01 -2.74353713e-01 6.67694617e+01] [-5.35135417e-01 8.30542780e-01 1.54365723e-01 -2.64845594e+01] [ 3.13745362e-01 2.57407152e-02 9.49158187e-01 1.43219993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.0 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:66.76, Y:-26.53, Z:14.37 [[ 7.83403397e-01 5.70853299e-01 -2.45775566e-01 6.67649008e+01] [-5.32075938e-01 8.20375211e-01 2.09474843e-01 -2.65258354e+01] [ 3.21207587e-01 -3.33320383e-02 9.46422031e-01 1.43702908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:-26.54, Z:14.37 [[ 7.84488972e-01 5.62483449e-01 -2.61131044e-01 6.67942382e+01] [-5.30907432e-01 8.26776853e-01 1.85949818e-01 -2.65350283e+01] [ 3.20490797e-01 -7.23916989e-03 9.47223967e-01 1.43705700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:66.82, Y:-26.55, Z:14.38 [[ 7.86370952e-01 5.59502002e-01 -2.61874466e-01 6.68162810e+01] [-5.27615431e-01 8.28786542e-01 1.86372813e-01 -2.65523677e+01] [ 3.21313995e-01 -8.38915688e-03 9.46935551e-01 1.43766000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:-26.57, Z:14.39 [[ 7.86866949e-01 5.58506982e-01 -2.62507821e-01 6.68385638e+01] [-5.27039612e-01 8.29468671e-01 1.84962080e-01 -2.65691601e+01] [ 3.21044626e-01 -7.18852773e-03 9.47036786e-01 1.43879129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11999999999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:66.86, Y:-26.58, Z:14.40 [[ 7.86690225e-01 5.60015163e-01 -2.59810523e-01 6.68576890e+01] [-5.27758455e-01 8.28416145e-01 1.87610512e-01 -2.65846644e+01] [ 3.20295963e-01 -1.04741551e-02 9.47259620e-01 1.43957041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14999999999999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:66.88, Y:-26.60, Z:14.40 [[ 7.85305490e-01 5.61296492e-01 -2.61230807e-01 6.68787627e+01] [-5.29749546e-01 8.27581507e-01 1.85672472e-01 -2.65996690e+01] [ 3.20407092e-01 -7.42271011e-03 9.47250864e-01 1.44024118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:-26.61, Z:14.41 [[ 7.84542163e-01 5.62822530e-01 -2.60239110e-01 6.68993752e+01] [-5.31618767e-01 8.26550359e-01 1.84921580e-01 -2.66148804e+01] [ 3.19178761e-01 -6.73078134e-03 9.47670626e-01 1.44133902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:66.92, Y:-26.63, Z:14.42 [[ 7.83470196e-01 5.64006270e-01 -2.60904925e-01 6.69220193e+01] [-5.32736391e-01 8.25747400e-01 1.85292119e-01 -2.66307802e+01] [ 3.19947480e-01 -6.17730440e-03 9.47415142e-01 1.44203613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:66.94, Y:-26.65, Z:14.43 [[ 7.81892260e-01 5.65928416e-01 -2.61475662e-01 6.69441853e+01] [-5.34656612e-01 8.24437245e-01 1.85595086e-01 -2.66465960e+01] [ 3.20603807e-01 -5.31566949e-03 9.47198471e-01 1.44290062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:66.97, Y:-26.66, Z:14.44 [[ 7.78166716e-01 5.70991006e-01 -2.61583319e-01 6.69655419e+01] [-5.40003698e-01 8.20950274e-01 1.85571153e-01 -2.66608572e+01] [ 3.20706357e-01 -3.14933486e-03 9.47173434e-01 1.44368213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.3 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:66.99, Y:-26.68, Z:14.45 [[ 7.75846505e-01 5.73933531e-01 -2.62035308e-01 6.69872333e+01] [-5.43013827e-01 8.18899683e-01 1.85847499e-01 -2.66760476e+01] [ 3.21244742e-01 -1.90033704e-03 9.46994300e-01 1.44454165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:67.01, Y:-26.69, Z:14.45 [[ 7.73382295e-01 5.77030407e-01 -2.62518068e-01 6.70094408e+01] [-5.46181047e-01 8.16722458e-01 1.86146961e-01 -2.66917108e+01] [ 3.21816858e-01 -5.80370773e-04 9.46801760e-01 1.44536464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:67.03, Y:-26.71, Z:14.46 [[ 7.68332673e-01 5.83339070e-01 -2.63401657e-01 6.70312290e+01] [-5.52648999e-01 8.12226032e-01 1.86729638e-01 -2.67076231e+01] [ 3.22868376e-01 2.09817955e-03 9.46441551e-01 1.44616053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:67.05, Y:-26.72, Z:14.47 [[ 7.66001807e-01 5.86209589e-01 -2.63817264e-01 6.70531318e+01] [-5.55599995e-01 8.10152514e-01 1.86980078e-01 -2.67232757e+01] [ 3.23341734e-01 3.34979286e-03 9.46276335e-01 1.44696392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:67.07, Y:-26.74, Z:14.48 [[ 7.64142164e-01 5.88897000e-01 -2.63224384e-01 6.70741286e+01] [-5.58595664e-01 8.08195534e-01 1.86523089e-01 -2.67386261e+01] [ 3.22579659e-01 4.50584213e-03 9.46531595e-01 1.44796970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:67.09, Y:-26.76, Z:14.49 [[ 7.61136713e-01 5.92749949e-01 -2.63283883e-01 6.70943541e+01] [-5.62672888e-01 8.05362878e-01 1.86520389e-01 -2.67552599e+01] [ 3.22599017e-01 6.17518714e-03 9.46515579e-01 1.44866339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:67.12, Y:-26.77, Z:14.50 [[ 7.60244525e-01 5.94437568e-01 -2.62053887e-01 6.71150986e+01] [-5.64768835e-01 8.04112045e-01 1.85580127e-01 -2.67713736e+01] [ 3.21036486e-01 6.91359314e-03 9.47041592e-01 1.44967504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:67.14, Y:-26.79, Z:14.51 [[ 7.59278139e-01 5.95674117e-01 -2.62047807e-01 6.71365086e+01] [-5.66092794e-01 8.03191453e-01 1.85532850e-01 -2.67876693e+01] [ 3.20991676e-01 7.47233786e-03 9.47052537e-01 1.45058989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53999999999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:67.16, Y:-26.80, Z:14.51 [[ 7.57364851e-01 5.98114834e-01 -2.62025053e-01 6.71578745e+01] [-5.68694766e-01 8.01364898e-01 1.85473890e-01 -2.68047051e+01] [ 3.20912365e-01 8.54087119e-03 9.47070381e-01 1.45138171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:67.18, Y:-26.82, Z:14.52 [[ 7.56323842e-01 5.99544944e-01 -2.61763455e-01 6.71790601e+01] [-5.70282791e-01 8.00288512e-01 1.85245338e-01 -2.68207377e+01] [ 3.20549192e-01 9.17372819e-03 9.47187446e-01 1.45232464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:-26.83, Z:14.51 [[ 7.59212199e-01 5.91964996e-01 -2.70507451e-01 6.72141192e+01] [-5.71436314e-01 8.05230079e-01 1.58319485e-01 -2.68266794e+01] [ 3.11540329e-01 3.43796963e-02 9.49610794e-01 1.45128912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:67.22, Y:-26.86, Z:14.55 [[ 7.52741430e-01 6.09036617e-01 -2.49909459e-01 6.72198621e+01] [-5.74041897e-01 7.93080502e-01 2.03713569e-01 -2.68634143e+01] [ 3.22267342e-01 -9.88514355e-03 9.46597087e-01 1.45528538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.25, Y:-26.87, Z:14.55 [[ 7.51974296e-01 6.04385338e-01 -2.63159687e-01 6.72481643e+01] [-5.75003305e-01 7.96614982e-01 1.86482628e-01 -2.68749300e+01] [ 3.22344315e-01 1.10875467e-02 9.46557557e-01 1.45539990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:-26.89, Z:14.56 [[ 7.51994891e-01 6.03892045e-01 -2.64231115e-01 6.72694611e+01] [-5.74244964e-01 7.96990886e-01 1.87211778e-01 -2.68913740e+01] [ 3.23645494e-01 1.09510864e-02 9.46115039e-01 1.45624189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:-26.91, Z:14.57 [[ 7.52146747e-01 6.03694435e-01 -2.64250448e-01 6.72916947e+01] [-5.74045104e-01 7.97141259e-01 1.87184485e-01 -2.69069879e+01] [ 3.23647167e-01 1.09014744e-02 9.46115040e-01 1.45713424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:67.31, Y:-26.92, Z:14.58 [[ 7.52692418e-01 6.02166390e-01 -2.66176185e-01 6.73136412e+01] [-5.72015240e-01 7.98302666e-01 1.88444734e-01 -2.69237902e+01] [ 3.25964244e-01 1.04159120e-02 9.45324717e-01 1.45764603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:67.35, Y:-26.93, Z:14.56 [[ 7.58671996e-01 5.89631641e-01 -2.77040303e-01 6.73496298e+01] [-5.68768626e-01 8.06850138e-01 1.59671867e-01 -2.69284045e+01] [ 3.17677592e-01 3.64332586e-02 9.47498583e-01 1.45623961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:67.36, Y:-26.96, Z:14.58 [[ 7.60333640e-01 5.93583768e-01 -2.63725363e-01 6.73627433e+01] [-5.65190255e-01 8.04698511e-01 1.81714834e-01 -2.69569590e+01] [ 3.20082383e-01 1.08911040e-02 9.47327109e-01 1.45832391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:67.37, Y:-26.99, Z:14.62 [[ 7.56237328e-01 6.02931864e-01 -2.54122549e-01 6.73721469e+01] [-5.65853317e-01 7.97670034e-01 2.08644532e-01 -2.69885482e+01] [ 3.28504379e-01 -1.39886960e-02 9.44398851e-01 1.46177010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:-27.00, Z:14.62 [[ 7.58806173e-01 5.94143678e-01 -2.66845428e-01 6.74007558e+01] [-5.63365639e-01 8.04328389e-01 1.88878268e-01 -2.70013558e+01] [ 3.26852182e-01 7.00954912e-03 9.45049479e-01 1.46186804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:67.42, Y:-27.02, Z:14.63 [[ 7.60254351e-01 5.92202295e-01 -2.67038879e-01 6.74244997e+01] [-5.61264668e-01 8.05765585e-01 1.89007393e-01 -2.70184065e+01] [ 3.27101350e-01 6.18579466e-03 9.44969017e-01 1.46258767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:67.45, Y:-27.03, Z:14.63 [[ 7.61491852e-01 5.90905810e-01 -2.66384088e-01 6.74457248e+01] [-5.60052191e-01 8.06720936e-01 1.88528182e-01 -2.70332828e+01] [ 3.26300018e-01 5.62631765e-03 9.45249513e-01 1.46348961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:67.48, Y:-27.04, Z:14.62 [[ 7.68147055e-01 5.78360963e-01 -2.74679265e-01 6.74836089e+01] [-5.56292601e-01 8.15258272e-01 1.60911439e-01 -2.70357926e+01] [ 3.16999438e-01 2.91983949e-02 9.47976165e-01 1.46218981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:-27.07, Z:14.67 [[ 7.63670722e-01 5.94933991e-01 -2.50720113e-01 6.74883557e+01] [-5.59064585e-01 8.03621950e-01 2.04055264e-01 -2.70705089e+01] [ 3.22883599e-01 -1.56622946e-02 9.46309080e-01 1.46682583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:67.52, Y:-27.08, Z:14.67 [[ 7.63909951e-01 5.89219417e-01 -2.63176872e-01 6.75233675e+01] [-5.58947795e-01 8.07959741e-01 1.86489732e-01 -2.70824438e+01] [ 3.22519688e-01 4.64077002e-03 9.46551380e-01 1.46668330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:67.55, Y:-27.10, Z:14.68 [[ 7.64164501e-01 5.89618696e-01 -2.61538543e-01 6.75487111e+01] [-5.59715921e-01 8.07668204e-01 1.85445844e-01 -2.70974995e+01] [ 3.20578702e-01 4.67615555e-03 9.47210341e-01 1.46775236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:67.57, Y:-27.11, Z:14.69 [[ 7.63593844e-01 5.90416221e-01 -2.61406060e-01 6.75716219e+01] [-5.60570510e-01 8.07083697e-01 1.85409304e-01 -2.71130993e+01] [ 3.20445230e-01 4.95912523e-03 9.47254064e-01 1.46875270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.13, Z:14.70 [[ 7.62300065e-01 5.91719911e-01 -2.62233021e-01 6.75953563e+01] [-5.61757573e-01 8.06124640e-01 1.85987889e-01 -2.71282230e+01] [ 3.21445237e-01 5.53280569e-03 9.46912006e-01 1.46956858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:67.62, Y:-27.14, Z:14.70 [[ 7.61182922e-01 5.92833403e-01 -2.62962194e-01 6.76193200e+01] [-5.62774017e-01 8.05302431e-01 1.86476271e-01 -2.71440148e+01] [ 3.22313456e-01 6.04573732e-03 9.46613694e-01 1.47046698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:67.64, Y:-27.16, Z:14.71 [[ 7.60215380e-01 5.93671113e-01 -2.63869636e-01 6.76425531e+01] [-5.63452550e-01 8.04682022e-01 1.87104428e-01 -2.71585166e+01] [ 3.23409647e-01 6.43835538e-03 9.46237152e-01 1.47136986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.2 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:67.67, Y:-27.17, Z:14.72 [[ 7.58747845e-01 5.94833299e-01 -2.65471380e-01 6.76663479e+01] [-5.64316135e-01 8.03818552e-01 1.88210081e-01 -2.71716634e+01] [ 3.25344444e-01 7.00579012e-03 9.45569623e-01 1.47204667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:67.69, Y:-27.19, Z:14.73 [[ 7.58596178e-01 5.94859290e-01 -2.65846319e-01 6.76901056e+01] [-5.64267457e-01 8.03798857e-01 1.88440002e-01 -2.71873221e+01] [ 3.25782252e-01 7.05856121e-03 9.45418479e-01 1.47305344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:-27.20, Z:14.74 [[ 7.58726077e-01 5.94643607e-01 -2.65958120e-01 6.77113498e+01] [-5.64018046e-01 8.03959091e-01 1.88503115e-01 -2.72018920e+01] [ 3.25911620e-01 6.98295020e-03 9.45374452e-01 1.47410805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28999999999999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:67.73, Y:-27.22, Z:14.75 [[ 7.60702174e-01 5.91895006e-01 -2.66444186e-01 6.77344609e+01] [-5.61003490e-01 8.05993858e-01 1.88809392e-01 -2.72187407e+01] [ 3.26507713e-01 5.84840311e-03 9.45176444e-01 1.47484032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:67.76, Y:-27.23, Z:14.76 [[ 7.62181259e-01 5.90179320e-01 -2.66022739e-01 6.77554600e+01] [-5.59292003e-01 8.07255959e-01 1.88494753e-01 -2.72344987e+01] [ 3.25994147e-01 5.11722272e-03 9.45357938e-01 1.47571355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:67.78, Y:-27.25, Z:14.77 [[ 7.64102736e-01 5.88041236e-01 -2.65244254e-01 6.77767292e+01] [-5.57227327e-01 8.08819925e-01 1.87904325e-01 -2.72498994e+01] [ 3.25030329e-01 4.22313794e-03 9.45694163e-01 1.47665573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:-27.25, Z:14.74 [[ 7.76027532e-01 5.64920730e-01 -2.80438654e-01 6.78225938e+01] [-5.50048587e-01 8.23765789e-01 1.37318886e-01 -2.72467016e+01] [ 3.08590054e-01 4.76916494e-02 9.49998782e-01 1.47378958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:67.81, Y:-27.30, Z:14.80 [[ 7.70011292e-01 5.91650605e-01 -2.38814095e-01 6.78102006e+01] [-5.50076215e-01 8.05247157e-01 2.21344016e-01 -2.72959090e+01] [ 3.23262692e-01 -3.90714378e-02 9.45502329e-01 1.48034694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:67.87, Y:-27.28, Z:14.75 [[ 7.81873464e-01 5.56285273e-01 -2.81461511e-01 6.78717146e+01] [-5.42011472e-01 8.29616943e-01 1.34012284e-01 -2.72809048e+01] [ 3.08054298e-01 4.77747192e-02 9.50168472e-01 1.47533255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:67.88, Y:-27.32, Z:14.79 [[ 7.81817325e-01 5.69531779e-01 -2.53762138e-01 6.78764491e+01] [-5.40892592e-01 8.21966439e-01 1.78343423e-01 -2.73156534e+01] [ 3.10156208e-01 -2.17391751e-03 9.50683123e-01 1.47888400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.5 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:67.88, Y:-27.35, Z:14.84 [[ 7.76671579e-01 5.82700835e-01 -2.39250905e-01 6.78803254e+01] [-5.41589294e-01 8.11686322e-01 2.18738090e-01 -2.73493612e+01] [ 3.21655555e-01 -4.03119288e-02 9.45998231e-01 1.48357456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:67.94, Y:-27.34, Z:14.79 [[ 7.85512658e-01 5.51353935e-01 -2.81031497e-01 6.79409554e+01] [-5.35895391e-01 8.33149618e-01 1.36666912e-01 -2.73373387e+01] [ 3.09493124e-01 4.32498940e-02 9.49917603e-01 1.47877712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:-27.37, Z:14.82 [[ 7.86256762e-01 5.62079596e-01 -2.56645342e-01 6.79496907e+01] [-5.34986710e-01 8.27081309e-01 1.72411508e-01 -2.73680907e+01] [ 3.09175557e-01 1.74213260e-03 9.51003386e-01 1.48173030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:67.95, Y:-27.40, Z:14.87 [[ 7.79370435e-01 5.80136609e-01 -2.36692289e-01 6.79498103e+01] [-5.36636837e-01 8.13047244e-01 2.25776625e-01 -2.74039700e+01] [ 3.23423299e-01 -4.89458253e-02 9.44987659e-01 1.48685989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61999999999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:68.01, Y:-27.39, Z:14.82 [[ 7.84595967e-01 5.50928379e-01 -2.84406558e-01 6.80140718e+01] [-5.34268606e-01 8.33518301e-01 1.40727742e-01 -2.73926419e+01] [ 3.14588978e-01 4.15350767e-02 9.48318835e-01 1.48183252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.02, Y:-27.42, Z:14.85 [[ 7.83892053e-01 5.64052318e-01 -2.59534644e-01 6.80217417e+01] [-5.35071169e-01 8.25738398e-01 1.78479526e-01 -2.74232032e+01] [ 3.14979511e-01 -1.03917671e-03 9.49097902e-01 1.48502945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:68.02, Y:-27.46, Z:14.90 [[ 7.77910599e-01 5.80421920e-01 -2.40760244e-01 6.80225134e+01] [-5.36094371e-01 8.12901888e-01 2.27581516e-01 -2.74565673e+01] [ 3.27807757e-01 -4.79678622e-02 9.43525918e-01 1.48979866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:68.06, Y:-27.46, Z:14.89 [[ 7.77585281e-01 5.68638964e-01 -2.68348391e-01 6.80594443e+01] [-5.35449830e-01 8.22570667e-01 1.91496678e-01 -2.74620688e+01] [ 3.29627988e-01 -5.21789753e-03 9.44096480e-01 1.48886553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:68.08, Y:-27.48, Z:14.90 [[ 7.77721483e-01 5.68257939e-01 -2.68760504e-01 6.80824276e+01] [-5.34951729e-01 8.22833003e-01 1.91761564e-01 -2.74790239e+01] [ 3.30115044e-01 -5.36319150e-03 9.43925471e-01 1.48969718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:68.13, Y:-27.48, Z:14.87 [[ 7.82987266e-01 5.52390973e-01 -2.85998523e-01 6.81252243e+01] [-5.33388678e-01 8.32785437e-01 1.48205714e-01 -2.74803397e+01] [ 3.20042903e-01 3.65051874e-02 9.46699483e-01 1.48738547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.8 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:68.11, Y:-27.52, Z:14.94 [[ 7.78557295e-01 5.78250600e-01 -2.43874522e-01 6.81127189e+01] [-5.34873949e-01 8.14669918e-01 2.24104401e-01 -2.75207419e+01] [ 3.28265741e-01 -4.40359873e-02 9.43558390e-01 1.49351416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:68.15, Y:-27.53, Z:14.93 [[ 7.77883479e-01 5.68660880e-01 -2.67436154e-01 6.81491775e+01] [-5.35741275e-01 8.22556266e-01 1.90741909e-01 -2.75267448e+01] [ 3.28448746e-01 -5.09839395e-03 9.44508035e-01 1.49278690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:68.17, Y:-27.54, Z:14.94 [[ 7.77341934e-01 5.69752497e-01 -2.66686350e-01 6.81713987e+01] [-5.37095256e-01 8.21803477e-01 1.90178156e-01 -2.75426297e+01] [ 3.27518249e-01 -4.59748192e-03 9.44833668e-01 1.49387730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:68.19, Y:-27.56, Z:14.95 [[ 7.76982089e-01 5.70274288e-01 -2.66619710e-01 6.81930818e+01] [-5.37669120e-01 8.21442757e-01 1.90115004e-01 -2.75581017e+01] [ 3.27430528e-01 -4.36276783e-03 9.44865184e-01 1.49472739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:68.22, Y:-27.57, Z:14.96 [[ 7.75683835e-01 5.72430185e-01 -2.65778614e-01 6.82157524e+01] [-5.40171998e-01 8.19946376e-01 1.89478635e-01 -2.75729410e+01] [ 3.26387501e-01 -3.40934960e-03 9.45229906e-01 1.49569218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:-27.59, Z:14.97 [[ 7.74406108e-01 5.74459151e-01 -2.65126127e-01 6.82377988e+01] [-5.42489276e-01 8.18529365e-01 1.88984297e-01 -2.75874334e+01] [ 3.25577279e-01 -2.52251314e-03 9.45512069e-01 1.49680849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:68.26, Y:-27.60, Z:14.97 [[ 7.73284343e-01 5.75789802e-01 -2.65513521e-01 6.82612231e+01] [-5.43809983e-01 8.17595462e-01 1.89230980e-01 -2.76030121e+01] [ 3.26039918e-01 -1.94045070e-03 9.45354011e-01 1.49748972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00999999999999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:68.28, Y:-27.62, Z:14.98 [[ 7.71710998e-01 5.77850297e-01 -2.65614701e-01 6.82830544e+01] [-5.45974209e-01 8.16142109e-01 1.89272874e-01 -2.76174063e+01] [ 3.26150729e-01 -1.04518189e-03 9.45317201e-01 1.49831228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:68.31, Y:-27.63, Z:14.99 [[ 7.68400127e-01 5.82194271e-01 -2.65727445e-01 6.83069210e+01] [-5.50563594e-01 8.13049266e-01 1.89289780e-01 -2.76321958e+01] [ 3.26252929e-01 8.49565998e-04 9.45282130e-01 1.49938670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:68.33, Y:-27.65, Z:15.00 [[ 7.66841117e-01 5.84177513e-01 -2.65878421e-01 6.83286334e+01] [-5.52630845e-01 8.11624125e-01 1.89381702e-01 -2.76469650e+01] [ 3.26425873e-01 1.70694104e-03 9.45221263e-01 1.50023697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:-27.66, Z:15.01 [[ 7.63670261e-01 5.88036718e-01 -2.66496812e-01 6.83500853e+01] [-5.56579226e-01 8.08827115e-01 1.89784783e-01 -2.76610297e+01] [ 3.27150268e-01 3.39359450e-03 9.44966235e-01 1.50134831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:68.37, Y:-27.68, Z:15.02 [[ 7.63040389e-01 5.88492802e-01 -2.67293073e-01 6.83728785e+01] [-5.56881806e-01 8.08494294e-01 1.90314559e-01 -2.76760152e+01] [ 3.28103672e-01 3.63295456e-03 9.44634735e-01 1.50191132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:-27.68, Z:15.00 [[ 7.67667085e-01 5.74319156e-01 -2.84332120e-01 6.84182530e+01] [-5.57471166e-01 8.17302806e-01 1.45746433e-01 -2.76779376e+01] [ 3.16090408e-01 4.66222190e-02 9.47582832e-01 1.49963342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:68.41, Y:-27.72, Z:15.06 [[ 7.60329235e-01 6.02356213e-01 -2.43035898e-01 6.84071032e+01] [-5.59821917e-01 7.97456122e-01 2.25084770e-01 -2.77194232e+01] [ 3.29391674e-01 -3.50817089e-02 9.43541413e-01 1.50588609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:68.44, Y:-27.73, Z:15.05 [[ 7.59872496e-01 5.92279453e-01 -2.67953055e-01 6.84447574e+01] [-5.60684010e-01 8.05716138e-01 1.90931785e-01 -2.77256012e+01] [ 3.28979074e-01 5.15318082e-03 9.44323151e-01 1.50489202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:68.47, Y:-27.74, Z:15.06 [[ 7.59557007e-01 5.92972188e-01 -2.67314678e-01 6.84664373e+01] [-5.61583422e-01 8.05204399e-01 1.90446674e-01 -2.77407406e+01] [ 3.28172536e-01 5.46438573e-03 9.44601994e-01 1.50598662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:68.49, Y:-27.76, Z:15.07 [[ 7.59850864e-01 5.92691120e-01 -2.67102791e-01 6.84893363e+01] [-5.61347138e-01 8.05411983e-01 1.90265414e-01 -2.77568341e+01] [ 3.27896409e-01 5.36404831e-03 9.44698455e-01 1.50683521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:68.51, Y:-27.77, Z:15.08 [[ 7.60384306e-01 5.92270168e-01 -2.66517833e-01 6.85123578e+01] [-5.61052423e-01 8.05722692e-01 1.89818658e-01 -2.77726157e+01] [ 3.27163394e-01 5.19534758e-03 9.44953502e-01 1.50773423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:68.56, Y:-27.78, Z:15.06 [[ 7.66443532e-01 5.77436545e-01 -2.81302949e-01 6.85552192e+01] [-5.58560127e-01 8.15423155e-01 1.51972572e-01 -2.77772237e+01] [ 3.17135455e-01 4.06462160e-02 9.47508833e-01 1.50577493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36999999999999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:68.57, Y:-27.80, Z:15.08 [[ 7.66642155e-01 5.86021302e-01 -2.62371569e-01 6.85676542e+01] [-5.57451529e-01 8.10260274e-01 1.80903515e-01 -2.78041671e+01] [ 3.18602573e-01 7.57117189e-03 9.47858153e-01 1.50803659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:68.57, Y:-27.83, Z:15.12 [[ 7.62252973e-01 5.99113415e-01 -2.45017391e-01 6.85717836e+01] [-5.57596186e-01 8.00015754e-01 2.21497827e-01 -2.78339191e+01] [ 3.28720092e-01 -3.22166148e-02 9.43877741e-01 1.51229661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42999999999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:68.61, Y:-27.84, Z:15.12 [[ 7.63512780e-01 5.87250109e-01 -2.68673674e-01 6.86058616e+01] [-5.55117675e-01 8.09400520e-01 1.91612016e-01 -2.78420084e+01] [ 3.29988789e-01 2.84728273e-03 9.43980557e-01 1.51155831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:68.65, Y:-27.85, Z:15.10 [[ 7.68659170e-01 5.74626561e-01 -2.81011379e-01 6.86451047e+01] [-5.52748230e-01 8.17785504e-01 1.60300541e-01 -2.78492627e+01] [ 3.21919981e-01 3.21120618e-02 9.46222142e-01 1.51012947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:68.66, Y:-27.88, Z:15.13 [[ 7.68751806e-01 5.82829293e-01 -2.63307189e-01 6.86572321e+01] [-5.51005806e-01 8.12594069e-01 1.89956524e-01 -2.78775783e+01] [ 3.24674086e-01 -9.45630722e-04 9.45825483e-01 1.51282164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:68.67, Y:-27.90, Z:15.16 [[ 7.65434609e-01 5.90458713e-01 -2.55867872e-01 6.86700846e+01] [-5.51316934e-01 8.06778947e-01 2.12502635e-01 -2.79025318e+01] [ 3.31902845e-01 -2.15925802e-02 9.43066415e-01 1.51596019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:68.70, Y:-27.91, Z:15.16 [[ 7.66046735e-01 5.83202364e-01 -2.70272829e-01 6.87002891e+01] [-5.50279524e-01 8.12326568e-01 1.93178655e-01 -2.79131695e+01] [ 3.32212047e-01 7.41725575e-04 9.43204435e-01 1.51575312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:68.72, Y:-27.93, Z:15.17 [[ 7.67187516e-01 5.81544817e-01 -2.70608463e-01 6.87211780e+01] [-5.48453374e-01 8.13514365e-01 1.93373407e-01 -2.79292905e+01] [ 3.32599174e-01 6.24609254e-05 9.43068282e-01 1.51657756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:68.74, Y:-27.94, Z:15.17 [[ 7.67237478e-01 5.81469080e-01 -2.70629566e-01 6.87432435e+01] [-5.48383482e-01 8.13568500e-01 1.93343869e-01 -2.79449222e+01] [ 3.32599172e-01 6.81212982e-05 9.43068283e-01 1.51748847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:68.76, Y:-27.96, Z:15.18 [[ 7.67747545e-01 5.80768002e-01 -2.70688447e-01 6.87647943e+01] [-5.47638300e-01 8.14069092e-01 1.93348921e-01 -2.79609922e+01] [ 3.32649965e-01 -2.03797916e-04 9.43050348e-01 1.51843667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:68.80, Y:-27.97, Z:15.18 [[ 7.71284602e-01 5.72227189e-01 -2.78704334e-01 6.87989444e+01] [-5.46062856e-01 8.19865360e-01 1.72151530e-01 -2.79717746e+01] [ 3.27009815e-01 1.94122603e-02 9.44821541e-01 1.51771351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.7 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:68.82, Y:-27.99, Z:15.19 [[ 7.73567141e-01 5.72746992e-01 -2.71209810e-01 6.88197794e+01] [-5.44914193e-01 8.19657313e-01 1.76721284e-01 -2.79905891e+01] [ 3.23515688e-01 1.10802966e-02 9.46157929e-01 1.51859519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:-28.02, Z:15.21 [[ 7.72031465e-01 5.79150390e-01 -2.61824833e-01 6.88366172e+01] [-5.46301519e-01 8.15202389e-01 1.92353103e-01 -2.80150233e+01] [ 3.24841604e-01 -5.46734377e-03 9.45752632e-01 1.52113631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:-28.04, Z:15.24 [[ 7.68877336e-01 5.86013873e-01 -2.55764312e-01 6.88513112e+01] [-5.47793063e-01 8.10035434e-01 2.09201709e-01 -2.80397618e+01] [ 3.29773259e-01 -2.07445371e-02 9.43832221e-01 1.52400674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:68.88, Y:-28.05, Z:15.24 [[ 7.69187915e-01 5.80061731e-01 -2.68101359e-01 6.88795425e+01] [-5.47338586e-01 8.14571905e-01 1.92075727e-01 -2.80510178e+01] [ 3.29803614e-01 -1.00010923e-03 9.44049033e-01 1.52385005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:68.90, Y:-28.07, Z:15.25 [[ 7.69304619e-01 5.80048938e-01 -2.67794014e-01 6.89006032e+01] [-5.47415221e-01 8.14581049e-01 1.91818381e-01 -2.80670005e+01] [ 3.29403977e-01 -9.72247675e-04 9.44188580e-01 1.52487231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:68.94, Y:-28.07, Z:15.23 [[ 7.73229927e-01 5.68853987e-01 -2.80215313e-01 6.89396819e+01] [-5.45878878e-01 8.21981412e-01 1.62366279e-01 -2.80749122e+01] [ 3.22694484e-01 2.74171544e-02 9.46106003e-01 1.52345328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:-28.11, Z:15.28 [[ 7.68865528e-01 5.88068219e-01 -2.51040971e-01 6.89398680e+01] [-5.48581603e-01 8.08379234e-01 2.13497633e-01 -2.81085309e+01] [ 3.28487480e-01 -2.64345124e-02 9.44138333e-01 1.52825548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:68.97, Y:-28.12, Z:15.28 [[ 7.68157335e-01 5.81464472e-01 -2.68017493e-01 6.89724914e+01] [-5.48828425e-01 8.13571678e-01 1.92063753e-01 -2.81188939e+01] [ 3.29729690e-01 -4.39561956e-04 9.44075282e-01 1.52769314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:68.99, Y:-28.13, Z:15.29 [[ 7.67654666e-01 5.81797224e-01 -2.68734636e-01 6.89948219e+01] [-5.49011454e-01 8.13333829e-01 1.92547414e-01 -2.81347816e+01] [ 3.30594521e-01 -2.71527139e-04 9.43772848e-01 1.52863383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:69.02, Y:-28.15, Z:15.30 [[ 7.67715503e-01 5.81717285e-01 -2.68733897e-01 6.90165714e+01] [-5.48937511e-01 8.13391002e-01 1.92516716e-01 -2.81502064e+01] [ 3.30576036e-01 -2.79950881e-04 9.43779321e-01 1.52957246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.0 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:69.04, Y:-28.17, Z:15.31 [[ 7.67814933e-01 5.81528969e-01 -2.68857374e-01 6.90402012e+01] [-5.48719629e-01 8.13525629e-01 1.92568998e-01 -2.81668552e+01] [ 3.30706815e-01 -3.30033225e-04 9.43733486e-01 1.53058569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:69.06, Y:-28.18, Z:15.32 [[ 7.68670109e-01 5.80594023e-01 -2.68434060e-01 6.90626564e+01] [-5.47835739e-01 8.14192880e-01 1.92265329e-01 -2.81824958e+01] [ 3.30185201e-01 -7.30840060e-04 9.43915885e-01 1.53157846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:69.08, Y:-28.20, Z:15.32 [[ 7.69577949e-01 5.79327466e-01 -2.68569297e-01 6.90842745e+01] [-5.46466392e-01 8.15093921e-01 1.92344438e-01 -2.81970781e+01] [ 3.30339617e-01 -1.25994377e-03 9.43861298e-01 1.53245694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:69.11, Y:-28.21, Z:15.33 [[ 7.69976955e-01 5.78699023e-01 -2.68780449e-01 6.91066322e+01] [-5.45760664e-01 8.15539818e-01 1.92458054e-01 -2.82122510e+01] [ 3.30576446e-01 -1.49846983e-03 9.43778029e-01 1.53323267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:69.13, Y:-28.23, Z:15.34 [[ 7.70385734e-01 5.78182304e-01 -2.68721126e-01 6.91291903e+01] [-5.45243765e-01 8.15905874e-01 1.92371626e-01 -2.82274988e+01] [ 3.30477015e-01 -1.68183787e-03 9.43812542e-01 1.53423023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14999999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:69.15, Y:-28.24, Z:15.35 [[ 7.70644048e-01 5.77582670e-01 -2.69269402e-01 6.91528152e+01] [-5.44480343e-01 8.16329946e-01 1.92734469e-01 -2.82438541e+01] [ 3.31132766e-01 -1.91777557e-03 9.43582224e-01 1.53509774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:-28.26, Z:15.36 [[ 7.71589757e-01 5.76761504e-01 -2.68319611e-01 6.91765587e+01] [-5.43856035e-01 8.16909486e-01 1.92040374e-01 -2.82597002e+01] [ 3.29954331e-01 -2.24914615e-03 9.43994217e-01 1.53629571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:69.20, Y:-28.28, Z:15.37 [[ 7.72026468e-01 5.75917958e-01 -2.68874764e-01 6.92011657e+01] [-5.42816951e-01 8.17503268e-01 1.92453017e-01 -2.82775749e+01] [ 3.30643147e-01 -2.62904281e-03 9.43752191e-01 1.53711604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:69.22, Y:-28.29, Z:15.38 [[ 7.72377238e-01 5.75789926e-01 -2.68140567e-01 6.92238721e+01] [-5.42862378e-01 8.17593257e-01 1.91941929e-01 -2.82933541e+01] [ 3.29748148e-01 -2.68815096e-03 9.44065110e-01 1.53809306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:69.25, Y:-28.31, Z:15.39 [[ 7.72035184e-01 5.76502487e-01 -2.67594016e-01 6.92456721e+01] [-5.43760087e-01 8.17091971e-01 1.91535057e-01 -2.83082231e+01] [ 3.29069359e-01 -2.36485809e-03 9.44302793e-01 1.53908214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.3 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:69.27, Y:-28.32, Z:15.40 [[ 7.71227344e-01 5.77551682e-01 -2.67661051e-01 6.92687903e+01] [-5.44866723e-01 8.16351945e-01 1.91545702e-01 -2.83235185e+01] [ 3.29133162e-01 -1.88568315e-03 9.44281635e-01 1.53995296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:69.29, Y:-28.34, Z:15.41 [[ 7.68428032e-01 5.80971861e-01 -2.68309628e-01 6.92920535e+01] [-5.48335986e-01 8.13923546e-01 1.91979448e-01 -2.83371288e+01] [ 3.29918181e-01 -3.98565020e-04 9.44009447e-01 1.54064715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:69.31, Y:-28.35, Z:15.42 [[ 7.66340211e-01 5.83330672e-01 -2.69161678e-01 6.93146893e+01] [-5.50635063e-01 8.12234514e-01 1.92551608e-01 -2.83518032e+01] [ 3.30943663e-01 6.49817582e-04 9.43650290e-01 1.54159138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:69.34, Y:-28.37, Z:15.42 [[ 7.62432574e-01 5.87807355e-01 -2.70516326e-01 6.93363904e+01] [-5.55055247e-01 8.08996663e-01 1.93489203e-01 -2.83651005e+01] [ 3.32581182e-01 2.62903499e-03 9.43070965e-01 1.54241295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:69.36, Y:-28.38, Z:15.43 [[ 7.60976397e-01 5.89409381e-01 -2.71130051e-01 6.93573936e+01] [-5.56621425e-01 8.07827419e-01 1.93874832e-01 -2.83795667e+01] [ 3.33297934e-01 3.38262429e-03 9.42815488e-01 1.54318485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:69.38, Y:-28.39, Z:15.44 [[ 7.59803897e-01 5.90599267e-01 -2.71828151e-01 6.93794500e+01] [-5.57729348e-01 8.06955282e-01 1.94322279e-01 -2.83945582e+01] [ 3.34119758e-01 3.95971263e-03 9.42522312e-01 1.54406192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:69.40, Y:-28.41, Z:15.45 [[ 7.57807742e-01 5.92994576e-01 -2.72185339e-01 6.94018095e+01] [-5.60200904e-01 8.05190556e-01 1.94533070e-01 -2.84100216e+01] [ 3.34518120e-01 5.05980627e-03 9.42375735e-01 1.54507630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50999999999999 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:69.42, Y:-28.43, Z:15.46 [[ 7.57279549e-01 5.93571456e-01 -2.72397890e-01 6.94233031e+01] [-5.60772284e-01 8.04763536e-01 1.94653790e-01 -2.84251421e+01] [ 3.34756822e-01 5.34585263e-03 9.42289389e-01 1.54597904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:69.44, Y:-28.44, Z:15.47 [[ 7.57101601e-01 5.94137836e-01 -2.71656766e-01 6.94445599e+01] [-5.61571004e-01 8.04343669e-01 1.94085727e-01 -2.84403209e+01] [ 3.33819074e-01 5.61194766e-03 9.42620460e-01 1.54692756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:69.47, Y:-28.46, Z:15.48 [[ 7.57590606e-01 5.93858542e-01 -2.70903130e-01 6.94661253e+01] [-5.61475965e-01 8.04550601e-01 1.93502122e-01 -2.84563569e+01] [ 3.32868164e-01 5.51020666e-03 9.42957275e-01 1.54793895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:-28.46, Z:15.46 [[ 7.64672222e-01 5.79717925e-01 -2.81431198e-01 6.95054380e+01] [-5.59557946e-01 8.13930562e-01 1.56243226e-01 -2.84610591e+01] [ 3.19642452e-01 3.80022081e-02 9.46775863e-01 1.54638652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:69.50, Y:-28.50, Z:15.52 [[ 7.59624778e-01 6.00490434e-01 -2.49762757e-01 6.95023612e+01] [-5.60293327e-01 7.99232727e-01 2.17482037e-01 -2.85000242e+01] [ 3.30214453e-01 -2.52643382e-02 9.43567766e-01 1.55160427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:69.54, Y:-28.51, Z:15.51 [[ 7.60765631e-01 5.91230867e-01 -2.67734414e-01 6.95357097e+01] [-5.59404146e-01 8.06491671e-01 1.91411040e-01 -2.85089755e+01] [ 3.29093690e-01 4.15280018e-03 9.44288143e-01 1.55113684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:69.56, Y:-28.52, Z:15.52 [[ 7.62101467e-01 5.88794985e-01 -2.69298754e-01 6.95566740e+01] [-5.57662484e-01 8.08259222e-01 1.89022707e-01 -2.85238136e+01] [ 3.28958823e-01 6.12332990e-03 9.44324413e-01 1.55187456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:69.58, Y:-28.54, Z:15.53 [[ 7.63041542e-01 5.87879574e-01 -2.68635834e-01 6.95782711e+01] [-5.56275009e-01 8.08937034e-01 1.90207754e-01 -2.85405475e+01] [ 3.29128728e-01 4.29898257e-03 9.44275277e-01 1.55293838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:69.60, Y:-28.56, Z:15.54 [[ 7.63834581e-01 5.88356214e-01 -2.65318109e-01 6.95983999e+01] [-5.55097824e-01 8.08600104e-01 1.95018660e-01 -2.85579789e+01] [ 3.29276690e-01 -1.68449121e-03 9.44231976e-01 1.55396086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:-28.57, Z:15.55 [[ 7.64084903e-01 5.86705904e-01 -2.68235798e-01 6.96224163e+01] [-5.54568471e-01 8.09796500e-01 1.91529213e-01 -2.85731529e+01] [ 3.29587730e-01 2.41053599e-03 9.44121876e-01 1.55499027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:69.64, Y:-28.59, Z:15.56 [[ 7.65811825e-01 5.83388707e-01 -2.70536255e-01 6.96447371e+01] [-5.50480068e-01 8.12192485e-01 1.93171071e-01 -2.85901756e+01] [ 3.32421334e-01 9.92125780e-04 9.43130464e-01 1.55554318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:69.67, Y:-28.61, Z:15.57 [[ 7.66894282e-01 5.81657716e-01 -2.71196351e-01 6.96669129e+01] [-5.48486460e-01 8.13433607e-01 1.93619140e-01 -2.86067969e+01] [ 3.33220293e-01 2.62115564e-04 9.42848963e-01 1.55650376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:69.69, Y:-28.62, Z:15.57 [[ 7.69670716e-01 5.77684339e-01 -2.71823094e-01 6.96872869e+01] [-5.44124333e-01 8.16258989e-01 1.94036013e-01 -2.86232031e+01] [ 3.33969610e-01 -1.43827752e-03 9.42582745e-01 1.55743498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:-28.63, Z:15.56 [[ 7.77574853e-01 5.60773853e-01 -2.84446889e-01 6.97280042e+01] [-5.39925710e-01 8.27310189e-01 1.55042188e-01 -2.86252456e+01] [ 3.22269414e-01 3.30232822e-02 9.46071819e-01 1.55553069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92999999999999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:69.72, Y:-28.67, Z:15.61 [[ 7.73357568e-01 5.81676556e-01 -2.52131823e-01 6.97233321e+01] [-5.39425413e-01 8.12692555e-01 2.20342994e-01 -2.86670954e+01] [ 3.33074009e-01 -3.43976092e-02 9.42273054e-01 1.56102095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:-28.68, Z:15.61 [[ 7.76734238e-01 5.69440175e-01 -2.69113007e-01 6.97580480e+01] [-5.35996992e-01 8.22016608e-01 1.92343236e-01 -2.86771042e+01] [ 3.30743328e-01 -5.15581489e-03 9.43706665e-01 1.56102813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:69.78, Y:-28.69, Z:15.62 [[ 7.78660607e-01 5.66838394e-01 -2.69038835e-01 6.97816371e+01] [-5.33226396e-01 8.23804523e-01 1.92394693e-01 -2.86946609e+01] [ 3.30692108e-01 -6.35156027e-03 9.43717324e-01 1.56189251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:-28.71, Z:15.63 [[ 7.80002691e-01 5.65346840e-01 -2.68288562e-01 6.98058232e+01] [-5.31838630e-01 8.24823831e-01 1.91867975e-01 -2.87119111e+01] [ 3.29762753e-01 -6.97131601e-03 9.44038097e-01 1.56306131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:69.83, Y:-28.73, Z:15.64 [[ 7.82389802e-01 5.62285713e-01 -2.67770378e-01 6.98291543e+01] [-5.28700017e-01 8.26901009e-01 1.91601184e-01 -2.87290434e+01] [ 3.29154204e-01 -8.33660904e-03 9.44239382e-01 1.56399357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:-28.74, Z:15.65 [[ 7.83043215e-01 5.61477547e-01 -2.67556139e-01 6.98516178e+01] [-5.27899053e-01 8.27446503e-01 1.91454628e-01 -2.87447102e+01] [ 3.28885867e-01 -8.67461524e-03 9.44329835e-01 1.56500452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:69.88, Y:-28.76, Z:15.66 [[ 7.83296882e-01 5.60648492e-01 -2.68550299e-01 6.98756457e+01] [-5.26775019e-01 8.28004619e-01 1.92136488e-01 -2.87610312e+01] [ 3.30081920e-01 -9.03432247e-03 9.43909056e-01 1.56581314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:-28.76, Z:15.64 [[ 7.87280996e-01 5.49726555e-01 -2.79265730e-01 6.99140744e+01] [-5.25642059e-01 8.35124090e-01 1.62074613e-01 -2.87648385e+01] [ 3.22318257e-01 1.91955508e-02 9.46436724e-01 1.56444631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:-28.80, Z:15.69 [[ 7.81583505e-01 5.69711464e-01 -2.54078870e-01 6.99157146e+01] [-5.29079420e-01 8.21194718e-01 2.13808799e-01 -2.87992747e+01] [ 3.30457550e-01 -3.26815291e-02 9.43254857e-01 1.56912955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.2 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.96, Y:-28.80, Z:15.66 [[ 7.83355419e-01 5.54231730e-01 -2.81392033e-01 6.99646099e+01] [-5.29867250e-01 8.32103640e-01 1.63842088e-01 -2.87973066e+01] [ 3.24953819e-01 2.07538353e-02 9.45502138e-01 1.56644327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:69.98, Y:-28.82, Z:15.69 [[ 7.80975848e-01 5.64201980e-01 -2.67867226e-01 6.99801025e+01] [-5.32326886e-01 8.25629639e-01 1.86986057e-01 -2.88208538e+01] [ 3.26657025e-01 -3.43866780e-03 9.45136690e-01 1.56870483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:70.00, Y:-28.84, Z:15.71 [[ 7.78106285e-01 5.69480901e-01 -2.65032286e-01 7.00002072e+01] [-5.34063967e-01 8.21908033e-01 1.98098119e-01 -2.88407655e+01] [ 3.30645260e-01 -1.25971975e-02 9.43671035e-01 1.57050699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:70.03, Y:-28.85, Z:15.70 [[ 7.76798094e-01 5.66382623e-01 -2.75309727e-01 7.00333288e+01] [-5.36950414e-01 8.24106285e-01 1.80369296e-01 -2.88498888e+01] [ 3.29042511e-01 7.71714730e-03 9.44283576e-01 1.57020596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:70.04, Y:-28.88, Z:15.74 [[ 7.71419055e-01 5.81154182e-01 -2.59176501e-01 7.00397470e+01] [-5.40016612e-01 8.13344890e-01 2.16453572e-01 -2.88782502e+01] [ 3.36592781e-01 -2.70167937e-02 9.41262659e-01 1.57401081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:70.07, Y:-28.89, Z:15.74 [[ 7.69820195e-01 5.77374485e-01 -2.72058029e-01 7.00703112e+01] [-5.43231394e-01 8.16474639e-01 1.95624169e-01 -2.88857195e+01] [ 3.35076885e-01 -2.80497368e-03 9.42186613e-01 1.57394150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:70.09, Y:-28.90, Z:15.75 [[ 7.69249426e-01 5.78513558e-01 -2.71251515e-01 7.00914538e+01] [-5.44665997e-01 8.15669647e-01 1.94992252e-01 -2.88997699e+01] [ 3.34057289e-01 -2.25620106e-03 9.42550072e-01 1.57487609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:70.11, Y:-28.91, Z:15.76 [[ 7.68383129e-01 5.79811438e-01 -2.70935534e-01 7.01136755e+01] [-5.46141420e-01 8.14749034e-01 1.94714050e-01 -2.89142936e+01] [ 3.33641898e-01 -1.64587428e-03 9.42698454e-01 1.57587965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.15, Y:-28.92, Z:15.75 [[ 7.71936934e-01 5.69987824e-01 -2.81473357e-01 7.01512255e+01] [-5.46010705e-01 8.21246488e-01 1.65609526e-01 -2.89189960e+01] [ 3.25554419e-01 2.58473561e-02 9.45169950e-01 1.57458410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:70.17, Y:-28.94, Z:15.77 [[ 7.68975062e-01 5.79670928e-01 -2.69553278e-01 7.01681263e+01] [-5.48373687e-01 8.14843961e-01 1.87924500e-01 -2.89417443e+01] [ 3.28578230e-01 3.30667092e-03 9.44470970e-01 1.57655732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.5 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:70.18, Y:-28.97, Z:15.80 [[ 7.62329429e-01 5.93893109e-01 -2.57186347e-01 7.01783784e+01] [-5.53480598e-01 8.04223145e-01 2.16527965e-01 -2.89657915e+01] [ 3.35429679e-01 -2.27179866e-02 9.41791284e-01 1.57999402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:70.21, Y:-28.98, Z:15.80 [[ 7.62307046e-01 5.87217822e-01 -2.72145543e-01 7.02090471e+01] [-5.53568025e-01 8.09427922e-01 1.95930808e-01 -2.89755759e+01] [ 3.35336263e-01 1.29163493e-03 9.42097618e-01 1.57988020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:70.23, Y:-28.99, Z:15.81 [[ 7.60954911e-01 5.88525099e-01 -2.73104066e-01 7.02315116e+01] [-5.54738587e-01 8.08476624e-01 1.96546810e-01 -2.89898842e+01] [ 3.36470984e-01 1.93810303e-03 9.41691839e-01 1.58065309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:70.25, Y:-29.00, Z:15.82 [[ 7.61032513e-01 5.89536071e-01 -2.70696761e-01 7.02524657e+01] [-5.56437894e-01 8.07738487e-01 1.94770138e-01 -2.90034127e+01] [ 3.33476214e-01 2.39952775e-03 9.42755460e-01 1.58158380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61999999999999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:70.29, Y:-29.01, Z:15.80 [[ 7.60476786e-01 5.83691933e-01 -2.84567716e-01 7.02876383e+01] [-5.58447115e-01 8.11491028e-01 1.72102094e-01 -2.90080111e+01] [ 3.31378752e-01 2.80363727e-02 9.43081165e-01 1.58040801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64999999999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.30, Y:-29.03, Z:15.82 [[ 7.58790277e-01 5.91363930e-01 -2.72994539e-01 7.03029033e+01] [-5.60259793e-01 8.06352672e-01 1.89484386e-01 -2.90284609e+01] [ 3.32184107e-01 9.16895424e-03 9.43170000e-01 1.58226381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:70.31, Y:-29.05, Z:15.85 [[ 7.52227401e-01 6.04113658e-01 -2.63060117e-01 7.03133566e+01] [-5.63454111e-01 7.96735048e-01 2.18478209e-01 -2.90529758e+01] [ 3.41574885e-01 -1.61229908e-02 9.39716259e-01 1.58527223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:70.34, Y:-29.06, Z:15.85 [[ 7.51057063e-01 5.98812616e-01 -2.78094839e-01 7.03424097e+01] [-5.64406817e-01 8.00861765e-01 2.00163379e-01 -2.90617643e+01] [ 3.42575880e-01 6.62450351e-03 9.39466808e-01 1.58510332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:70.38, Y:-29.07, Z:15.84 [[ 7.55040261e-01 5.88410389e-01 -2.89287779e-01 7.03789625e+01] [-5.63476168e-01 8.07901398e-01 1.72597624e-01 -2.90673958e+01] [ 3.35274236e-01 3.26886138e-02 9.41553313e-01 1.58390829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.38, Y:-29.10, Z:15.88 [[ 7.49778306e-01 6.06881574e-01 -2.63680199e-01 7.03797101e+01] [-5.66059396e-01 7.94646854e-01 2.19347071e-01 -2.91002493e+01] [ 3.42650337e-01 -1.52030215e-02 9.39339989e-01 1.58827846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.8 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:70.41, Y:-29.11, Z:15.88 [[ 7.49707478e-01 6.00303734e-01 -2.78521317e-01 7.04090420e+01] [-5.65882132e-01 7.99738764e-01 2.00487710e-01 -2.91119045e+01] [ 3.43097815e-01 7.30310139e-03 9.39271289e-01 1.58813461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:70.43, Y:-29.13, Z:15.89 [[ 7.49824007e-01 6.00290971e-01 -2.78234988e-01 7.04302073e+01] [-5.65958814e-01 7.99748104e-01 2.00233840e-01 -2.91280457e+01] [ 3.42716470e-01 7.32940330e-03 9.39410294e-01 1.58913537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:70.45, Y:-29.14, Z:15.90 [[ 7.50405683e-01 5.99975614e-01 -2.77345584e-01 7.04497649e+01] [-5.65865599e-01 7.99985891e-01 1.99546229e-01 -2.91434495e+01] [ 3.41595426e-01 7.19970141e-03 9.39819520e-01 1.59010986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.47, Y:-29.16, Z:15.91 [[ 7.50783056e-01 5.99938895e-01 -2.76402106e-01 7.04704067e+01] [-5.66084657e-01 8.00013414e-01 1.98813227e-01 -2.91587675e+01] [ 3.40401180e-01 7.20138970e-03 9.40252719e-01 1.59111512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:70.49, Y:-29.17, Z:15.92 [[ 7.51407853e-01 5.99479672e-01 -2.75699767e-01 7.04910039e+01] [-5.65789378e-01 8.00359256e-01 1.98261043e-01 -2.91747539e+01] [ 3.39512325e-01 7.01309485e-03 9.40575461e-01 1.59195724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:70.51, Y:-29.19, Z:15.93 [[ 7.51393548e-01 5.99412002e-01 -2.75885826e-01 7.05117009e+01] [-5.65690060e-01 8.00409754e-01 1.98340570e-01 -2.91903617e+01] [ 3.39709424e-01 7.03404510e-03 9.40504136e-01 1.59281507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.55, Y:-29.19, Z:15.90 [[ 7.58148606e-01 5.82909299e-01 -2.92279732e-01 7.05535806e+01] [-5.64401349e-01 8.11087158e-01 1.53586261e-01 -2.91894044e+01] [ 3.26591196e-01 4.85218654e-02 9.43919392e-01 1.59045879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00999999999999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:70.54, Y:-29.23, Z:15.96 [[ 7.50685352e-01 6.10494556e-01 -2.52523067e-01 7.05421580e+01] [-5.66782417e-01 7.91507252e-01 2.28634997e-01 -2.92316570e+01] [ 3.39454260e-01 -2.85073085e-02 9.40190480e-01 1.59634863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03999999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:70.58, Y:-29.24, Z:15.96 [[ 7.50290542e-01 6.00978370e-01 -2.75479766e-01 7.05757316e+01] [-5.67504248e-01 7.99226905e-01 1.97927470e-01 -2.92375239e+01] [ 3.39120969e-01 7.83282887e-03 9.40710165e-01 1.59563012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:70.60, Y:-29.25, Z:15.97 [[ 7.50208090e-01 6.01194691e-01 -2.75232203e-01 7.05969062e+01] [-5.67815715e-01 7.99062863e-01 1.97696370e-01 -2.92526293e+01] [ 3.38781840e-01 7.96775405e-03 9.40831217e-01 1.59656657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.1 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:70.62, Y:-29.27, Z:15.97 [[ 7.49622219e-01 6.01721052e-01 -2.75677900e-01 7.06171799e+01] [-5.68282512e-01 7.98663586e-01 1.97968337e-01 -2.92686497e+01] [ 3.39295616e-01 8.26146521e-03 9.40643521e-01 1.59741942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:70.64, Y:-29.28, Z:15.98 [[ 7.49843905e-01 6.01268746e-01 -2.76061611e-01 7.06387975e+01] [-5.67725506e-01 7.99005622e-01 1.98186189e-01 -2.92846691e+01] [ 3.39737941e-01 8.11851138e-03 9.40485099e-01 1.59833350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:70.66, Y:-29.30, Z:15.99 [[ 7.50434619e-01 6.00723387e-01 -2.75643418e-01 7.06594199e+01] [-5.67290651e-01 7.99417359e-01 1.97770584e-01 -2.93009826e+01] [ 3.39159548e-01 7.95604118e-03 9.40695223e-01 1.59919592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:70.68, Y:-29.32, Z:16.00 [[ 7.51048735e-01 5.99886964e-01 -2.75792363e-01 7.06808020e+01] [-5.66379273e-01 8.00048452e-01 1.97830718e-01 -2.93172246e+01] [ 3.39323322e-01 7.62256782e-03 9.40638921e-01 1.60008876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:70.70, Y:-29.33, Z:16.01 [[ 7.51786305e-01 5.98732341e-01 -2.76291396e-01 7.07021726e+01] [-5.65041131e-01 8.00917211e-01 1.98141722e-01 -2.93335834e+01] [ 3.39920392e-01 7.15577022e-03 9.40426989e-01 1.60099944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:70.72, Y:-29.35, Z:16.02 [[ 7.54086652e-01 5.96122235e-01 -2.75665745e-01 7.07213624e+01] [-5.62435734e-01 8.02871256e-01 1.97645622e-01 -2.93502934e+01] [ 3.39145052e-01 6.00234015e-03 9.40714944e-01 1.60188149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:-29.37, Z:16.03 [[ 7.55303424e-01 5.95099881e-01 -2.74541196e-01 7.07422193e+01] [-5.61649662e-01 8.03632491e-01 1.96785355e-01 -2.93664237e+01] [ 3.37737167e-01 5.56331764e-03 9.41224020e-01 1.60297570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:-29.38, Z:16.04 [[ 7.58428807e-01 5.91497885e-01 -2.73707867e-01 7.07618144e+01] [-5.58044779e-01 8.06296719e-01 1.96141849e-01 -2.93832130e+01] [ 3.36707244e-01 3.98161796e-03 9.41600966e-01 1.60383977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:70.78, Y:-29.40, Z:16.05 [[ 7.60241512e-01 5.89105609e-01 -2.73838319e-01 7.07830850e+01] [-5.55487738e-01 8.08050601e-01 1.96182566e-01 -2.94003158e+01] [ 3.36847468e-01 2.96769799e-03 9.41554553e-01 1.60464185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:-29.42, Z:16.06 [[ 7.61856107e-01 5.87439352e-01 -2.72929074e-01 7.08035429e+01] [-5.53958348e-01 8.09265069e-01 1.95499866e-01 -2.94161992e+01] [ 3.35716280e-01 2.24857181e-03 9.41960468e-01 1.60567081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:70.82, Y:-29.43, Z:16.06 [[ 7.63643077e-01 5.84837937e-01 -2.73521185e-01 7.08247040e+01] [-5.51058854e-01 8.11149362e-01 1.95884792e-01 -2.94330649e+01] [ 3.36427393e-01 1.14020553e-03 9.41708718e-01 1.60649017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:-29.43, Z:16.04 [[ 7.75111779e-01 5.61257048e-01 -2.90159019e-01 7.08703640e+01] [-5.43714573e-01 8.26445685e-01 1.46157425e-01 -2.94322824e+01] [ 3.21832554e-01 4.44753456e-02 9.45751421e-01 1.60350601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:70.86, Y:-29.48, Z:16.10 [[ 7.68615614e-01 5.89676782e-01 -2.48014778e-01 7.08560342e+01] [-5.44772402e-01 8.06585789e-01 2.29439306e-01 -2.94817304e+01] [ 3.35340227e-01 -4.12390264e-02 9.41194069e-01 1.61038454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:70.89, Y:-29.49, Z:16.10 [[ 7.71720913e-01 5.74477879e-01 -2.72803958e-01 7.08909728e+01] [-5.40161961e-01 8.18512203e-01 1.95608866e-01 -2.94909780e+01] [ 3.35666335e-01 -3.59713142e-03 9.41974083e-01 1.60953227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:-29.49, Z:16.06 [[ 7.81500970e-01 5.52233918e-01 -2.90334174e-01 7.09379833e+01] [-5.34652193e-01 8.32617418e-01 1.44551952e-01 -2.94878536e+01] [ 3.21563781e-01 4.22603127e-02 9.45944396e-01 1.60637240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:-29.54, Z:16.14 [[ 7.73246578e-01 5.83725874e-01 -2.47697062e-01 7.09224275e+01] [-5.38156166e-01 8.10705145e-01 2.30532228e-01 -2.95377153e+01] [ 3.35376908e-01 -4.49585552e-02 9.41010658e-01 1.61369733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:-29.54, Z:16.13 [[ 7.72050222e-01 5.74105240e-01 -2.72656613e-01 7.09601100e+01] [-5.39689241e-01 8.18771554e-01 1.95828155e-01 -2.95433044e+01] [ 3.35669448e-01 -4.03933019e-03 9.41971181e-01 1.61276570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:70.98, Y:-29.56, Z:16.14 [[ 7.71078869e-01 5.75062555e-01 -2.73386969e-01 7.09829697e+01] [-5.40525321e-01 8.18101489e-01 1.96322010e-01 -2.95591104e+01] [ 3.36555723e-01 -3.60717398e-03 9.41656643e-01 1.61363002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:-29.57, Z:16.15 [[ 7.68849265e-01 5.77408159e-01 -2.74719175e-01 7.10048195e+01] [-5.42678766e-01 8.16451601e-01 1.97247410e-01 -2.95734921e+01] [ 3.38187174e-01 -2.56926332e-03 9.41075360e-01 1.61453584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:-29.59, Z:16.15 [[ 7.68355846e-01 5.77711940e-01 -2.75459994e-01 7.10255346e+01] [-5.42822138e-01 8.16237167e-01 1.97739761e-01 -2.95882680e+01] [ 3.39077306e-01 -2.40871851e-03 9.40755430e-01 1.61536793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.7 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:71.05, Y:-29.60, Z:16.16 [[ 7.68216591e-01 5.77260666e-01 -2.76791244e-01 7.10482456e+01] [-5.42019796e-01 8.16555923e-01 1.98622669e-01 -2.96049138e+01] [ 3.40672584e-01 -2.55889580e-03 9.40178516e-01 1.61610431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:-29.62, Z:16.17 [[ 7.68166670e-01 5.77368619e-01 -2.76704616e-01 7.10693805e+01] [-5.42168614e-01 8.16479830e-01 1.98529296e-01 -2.96205070e+01] [ 3.40548324e-01 -2.48303033e-03 9.40223736e-01 1.61722518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:71.09, Y:-29.64, Z:16.18 [[ 7.68760234e-01 5.76688933e-01 -2.76473465e-01 7.10909215e+01] [-5.41518389e-01 8.16959172e-01 1.98331907e-01 -2.96366472e+01] [ 3.40243349e-01 -2.75421751e-03 9.40333387e-01 1.61810579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:-29.65, Z:16.19 [[ 7.69161407e-01 5.76675733e-01 -2.75383059e-01 7.11115950e+01] [-5.41806763e-01 8.16968645e-01 1.97503581e-01 -2.96505503e+01] [ 3.38874847e-01 -2.70772862e-03 9.40827565e-01 1.61924629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:71.13, Y:-29.67, Z:16.20 [[ 7.69647266e-01 5.76353333e-01 -2.74699694e-01 7.11338746e+01] [-5.41661640e-01 8.17195825e-01 1.96961038e-01 -2.96663167e+01] [ 3.38002593e-01 -2.79623751e-03 9.41141024e-01 1.62003948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:-29.68, Z:16.21 [[ 7.69339648e-01 5.77039175e-01 -2.74120953e-01 7.11555930e+01] [-5.42551297e-01 8.16712756e-01 1.96515556e-01 -2.96809093e+01] [ 3.37275254e-01 -2.46253026e-03 9.41402857e-01 1.62120021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.20, Y:-29.68, Z:16.18 [[ 7.77293686e-01 5.57591389e-01 -2.91386973e-01 7.12030497e+01] [-5.39900340e-01 8.28959805e-01 1.46059117e-01 -2.96757044e+01] [ 3.22989394e-01 4.37890966e-02 9.45389003e-01 1.61794146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:-29.72, Z:16.25 [[ 7.68066197e-01 5.89798257e-01 -2.49424003e-01 7.11894327e+01] [-5.44516263e-01 8.06504332e-01 2.30331938e-01 -2.97239204e+01] [ 3.37010914e-01 -4.10947492e-02 9.40603458e-01 1.62519663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:-29.71, Z:16.21 [[ 7.74394892e-01 5.63165920e-01 -2.88369030e-01 7.12486503e+01] [-5.42511155e-01 8.25554055e-01 1.55377440e-01 -2.97139731e+01] [ 3.25567501e-01 3.61199198e-02 9.44828637e-01 1.62082603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:71.24, Y:-29.76, Z:16.27 [[ 7.66837625e-01 5.89145868e-01 -2.54690406e-01 7.12413618e+01] [-5.45296968e-01 8.07305109e-01 2.25631730e-01 -2.97566724e+01] [ 3.38542868e-01 -3.41409941e-02 9.40331388e-01 1.62678641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.0 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:71.28, Y:-29.76, Z:16.26 [[ 7.66447145e-01 5.80450265e-01 -2.75020478e-01 7.12754629e+01] [-5.45774136e-01 8.14294552e-01 1.97623317e-01 -2.97639954e+01] [ 3.38658184e-01 -1.36876317e-03 9.40908477e-01 1.62633077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.30, Y:-29.78, Z:16.27 [[ 7.65540135e-01 5.81275374e-01 -2.75802901e-01 7.12983905e+01] [-5.46458382e-01 8.13706322e-01 1.98154634e-01 -2.97792432e+01] [ 3.39604973e-01 -9.80518123e-04 9.40567648e-01 1.62740837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:71.32, Y:-29.80, Z:16.28 [[ 7.65445736e-01 5.81074472e-01 -2.76487404e-01 7.13219286e+01] [-5.46071938e-01 8.13849702e-01 1.98630566e-01 -2.97955890e+01] [ 3.40438342e-01 -1.05890729e-03 9.40266246e-01 1.62816943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:71.34, Y:-29.81, Z:16.29 [[ 7.64686090e-01 5.81877317e-01 -2.76900652e-01 7.13440303e+01] [-5.46823780e-01 8.13276284e-01 1.98910633e-01 -2.98098629e+01] [ 3.40938318e-01 -6.88332912e-04 9.40085416e-01 1.62911246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:71.37, Y:-29.82, Z:16.30 [[ 7.64418154e-01 5.82047310e-01 -2.77282916e-01 7.13664102e+01] [-5.46920077e-01 8.13154719e-01 1.99142746e-01 -2.98249989e+01] [ 3.41384411e-01 -5.76736668e-04 9.39923588e-01 1.63001647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:71.39, Y:-29.84, Z:16.31 [[ 7.64194242e-01 5.82324872e-01 -2.77317334e-01 7.13881120e+01] [-5.47217994e-01 8.12956064e-01 1.99135394e-01 -2.98399184e+01] [ 3.41408301e-01 -4.25086705e-04 9.39914992e-01 1.63091122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:71.41, Y:-29.86, Z:16.32 [[ 7.63887759e-01 5.82587139e-01 -2.77610728e-01 7.14091380e+01] [-5.47434741e-01 8.12768202e-01 1.99306434e-01 -2.98550127e+01] [ 3.41746537e-01 -2.73988404e-04 9.39792120e-01 1.63192900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:71.43, Y:-29.87, Z:16.33 [[ 7.64177526e-01 5.82177023e-01 -2.77673590e-01 7.14296608e+01] [-5.46996329e-01 8.13061950e-01 1.99312022e-01 -2.98696199e+01] [ 3.41800710e-01 -4.23333378e-04 9.39772363e-01 1.63277249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:71.45, Y:-29.89, Z:16.34 [[ 7.64818682e-01 5.81353331e-01 -2.77634090e-01 7.14508746e+01] [-5.46149965e-01 8.13650877e-01 1.99229683e-01 -2.98851947e+01] [ 3.41720061e-01 -7.44735263e-04 9.39801492e-01 1.63368511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:-29.90, Z:16.35 [[ 7.64649161e-01 5.81637201e-01 -2.77506445e-01 7.14710448e+01] [-5.46502371e-01 8.13448114e-01 1.99091248e-01 -2.99003899e+01] [ 3.41535971e-01 -5.77025836e-04 9.39868527e-01 1.63486816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:-29.92, Z:16.36 [[ 7.65480963e-01 5.80530980e-01 -2.77529595e-01 7.14920943e+01] [-5.45336533e-01 8.14237508e-01 1.99061164e-01 -2.99158174e+01] [ 3.41536179e-01 -1.03050396e-03 9.39868063e-01 1.63576949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:-29.92, Z:16.33 [[ 7.73463876e-01 5.61606036e-01 -2.93857605e-01 7.15374758e+01] [-5.41237925e-01 8.26474724e-01 1.54922687e-01 -2.99150331e+01] [ 3.29871400e-01 3.92197785e-02 9.43210829e-01 1.63297373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-29.95, Z:16.36 [[ 7.72136457e-01 5.74421113e-01 -2.71745609e-01 7.15459473e+01] [-5.41444305e-01 8.18559355e-01 1.91829735e-01 -2.99452910e+01] [ 3.32630961e-01 -9.83619911e-04 9.43056561e-01 1.63611387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:71.55, Y:-29.98, Z:16.40 [[ 7.66157721e-01 5.87543580e-01 -2.60374514e-01 7.15530092e+01] [-5.42850547e-01 8.08532616e-01 2.27130563e-01 -2.99782162e+01] [ 3.43970391e-01 -3.26733871e-02 9.38411861e-01 1.64031039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:71.59, Y:-29.99, Z:16.40 [[ 7.65965180e-01 5.79005585e-01 -2.79374077e-01 7.15861843e+01] [-5.42993980e-01 8.15320393e-01 2.01022873e-01 -2.99865774e+01] [ 3.44172748e-01 -2.27807942e-03 9.38903579e-01 1.63987863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:71.62, Y:-29.99, Z:16.38 [[ 7.72040599e-01 5.65411622e-01 -2.90280919e-01 7.16243280e+01] [-5.39718345e-01 8.24425768e-01 1.70370952e-01 -2.99915754e+01] [ 3.35644786e-01 2.51366453e-02 9.41653188e-01 1.63824375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.64, Y:-30.02, Z:16.41 [[ 7.72233283e-01 5.72848948e-01 -2.74772341e-01 7.16380689e+01] [-5.39818977e-01 8.19660906e-01 1.91706733e-01 -3.00159410e+01] [ 3.35039146e-01 2.85004324e-04 9.42204165e-01 1.64050994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.66, Y:-30.03, Z:16.42 [[ 7.71702715e-01 5.73423287e-01 -2.75064816e-01 7.16618226e+01] [-5.40334519e-01 8.19259118e-01 1.91971627e-01 -3.00339773e+01] [ 3.35430360e-01 4.81988807e-04 9.42064882e-01 1.64167251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.68, Y:-30.05, Z:16.43 [[ 7.69960442e-01 5.76427479e-01 -2.73664536e-01 7.16836054e+01] [-5.41975475e-01 8.17143393e-01 1.96314185e-01 -3.00541005e+01] [ 3.36784058e-01 -2.83468933e-03 9.41577646e-01 1.64319331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:71.70, Y:-30.08, Z:16.46 [[ 7.65294506e-01 5.85602001e-01 -2.67197709e-01 7.16976286e+01] [-5.44641683e-01 8.10356033e-01 2.16075303e-01 -3.00804131e+01] [ 3.43059405e-01 -1.98342324e-02 9.39104280e-01 1.64616438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.6 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:71.74, Y:-30.08, Z:16.44 [[ 7.68407535e-01 5.71920792e-01 -2.87152342e-01 7.17404596e+01] [-5.44642798e-01 8.20032337e-01 1.75815784e-01 -3.00831102e+01] [ 3.36026908e-01 2.12972813e-02 9.41611567e-01 1.64409155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:71.75, Y:-30.12, Z:16.48 [[ 7.62682835e-01 5.89359490e-01 -2.66402487e-01 7.17451530e+01] [-5.48149569e-01 8.07628509e-01 2.17412606e-01 -3.01164938e+01] [ 3.43288426e-01 -1.97884540e-02 9.39021551e-01 1.64833236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:71.77, Y:-30.13, Z:16.48 [[ 7.61874176e-01 5.84822197e-01 -2.78443420e-01 7.17735753e+01] [-5.49160249e-01 8.11161456e-01 2.01097272e-01 -3.01276087e+01] [ 3.43468718e-01 -3.00760702e-04 9.39164069e-01 1.64838323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:-30.14, Z:16.50 [[ 7.59689960e-01 5.87448260e-01 -2.78882960e-01 7.17941972e+01] [-5.51855415e-01 8.09261203e-01 2.01375040e-01 -3.01433195e+01] [ 3.43986577e-01 9.20475422e-04 9.38974115e-01 1.64956564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:71.83, Y:-30.15, Z:16.49 [[ 7.62930417e-01 5.80281914e-01 -2.84973821e-01 7.18266206e+01] [-5.50290917e-01 8.14262085e-01 1.84816565e-01 -3.01532301e+01] [ 3.39289088e-01 1.58163258e-02 9.40549179e-01 1.64899667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:71.84, Y:-30.18, Z:16.52 [[ 7.58822665e-01 5.91916472e-01 -2.71703982e-01 7.18381210e+01] [-5.52770939e-01 8.05929051e-01 2.11949647e-01 -3.01823088e+01] [ 3.44430620e-01 -1.06421303e-02 9.38751455e-01 1.65203255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:-30.20, Z:16.53 [[ 7.57692471e-01 5.89897611e-01 -2.79146788e-01 7.18633054e+01] [-5.54340981e-01 8.07475809e-01 2.01714886e-01 -3.01960052e+01] [ 3.44395407e-01 1.90465421e-03 9.38822761e-01 1.65265180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:71.89, Y:-30.21, Z:16.53 [[ 7.57831272e-01 5.89436676e-01 -2.79743040e-01 7.18852671e+01] [-5.53704639e-01 8.07812739e-01 2.02113213e-01 -3.02125839e+01] [ 3.45112932e-01 1.72730525e-03 9.38559578e-01 1.65339003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:-30.22, Z:16.53 [[ 7.60960630e-01 5.82028773e-01 -2.86673031e-01 7.19157804e+01] [-5.52522185e-01 8.12958714e-01 1.83894983e-01 -3.02199138e+01] [ 3.40085510e-01 1.84563675e-02 9.40213384e-01 1.65282153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:-30.24, Z:16.54 [[ 7.60475712e-01 5.84816369e-01 -2.82252557e-01 7.19363147e+01] [-5.52605689e-01 8.11101503e-01 1.91680214e-01 -3.02409386e+01] [ 3.41033200e-01 1.02062217e-02 9.39995846e-01 1.65415183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:-30.27, Z:16.57 [[ 7.56129471e-01 5.95959492e-01 -2.70371056e-01 7.19477424e+01] [-5.54641072e-01 8.02868482e-01 2.18576031e-01 -3.02705593e+01] [ 3.47334859e-01 -1.53128864e-02 9.37616132e-01 1.65748697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:-30.27, Z:16.55 [[ 7.61505630e-01 5.79406503e-01 -2.90512100e-01 7.19901529e+01] [-5.52517870e-01 8.14618307e-01 1.76411501e-01 -3.02737932e+01] [ 3.38870446e-01 2.61747759e-02 9.40468873e-01 1.65540642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:71.99, Y:-30.31, Z:16.60 [[ 7.57043462e-01 5.96187030e-01 -2.67294262e-01 7.19931489e+01] [-5.54008219e-01 8.02613538e-01 2.21102696e-01 -3.03097902e+01] [ 3.46352552e-01 -1.93011323e-02 9.37905846e-01 1.65969145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:72.04, Y:-30.31, Z:16.57 [[ 7.62170631e-01 5.78392758e-01 -2.90788148e-01 7.20367399e+01] [-5.51759950e-01 8.15322575e-01 1.75527936e-01 -3.03101954e+01] [ 3.38610228e-01 2.66630164e-02 9.40548881e-01 1.65748335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:-30.33, Z:16.59 [[ 7.62485587e-01 5.82734067e-01 -2.81134728e-01 7.20553282e+01] [-5.52379239e-01 8.12552595e-01 1.86106037e-01 -3.03327299e+01] [ 3.36887081e-01 1.33898166e-02 9.41449843e-01 1.65898904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:-30.35, Z:16.61 [[ 7.62170758e-01 5.86109594e-01 -2.74902308e-01 7.20748053e+01] [-5.52862252e-01 8.10223601e-01 1.94630539e-01 -3.03544807e+01] [ 3.36807164e-01 3.64140388e-03 9.41566606e-01 1.66059142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:72.10, Y:-30.37, Z:16.61 [[ 7.60978771e-01 5.86467442e-01 -2.77429719e-01 7.20990556e+01] [-5.53785213e-01 8.09945527e-01 1.93158434e-01 -3.03733958e+01] [ 3.37984093e-01 6.64700813e-03 9.41128350e-01 1.66145512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:72.12, Y:-30.39, Z:16.63 [[ 7.60038829e-01 5.88743480e-01 -2.75176477e-01 7.21201310e+01] [-5.54719975e-01 8.08315358e-01 1.97261325e-01 -3.03922039e+01] [ 3.38565692e-01 2.71962173e-03 9.40938827e-01 1.66273254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:72.13, Y:-30.42, Z:16.67 [[ 7.53667000e-01 6.01859026e-01 -2.64105595e-01 7.21284515e+01] [-5.58417997e-01 7.98283183e-01 2.25639757e-01 -3.04213641e+01] [ 3.46634379e-01 -2.25759217e-02 9.37728604e-01 1.66664610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:72.16, Y:-30.43, Z:16.66 [[ 7.53201141e-01 5.94763611e-01 -2.80970264e-01 7.21612966e+01] [-5.58462495e-01 8.03895811e-01 2.04624455e-01 -3.04324372e+01] [ 3.47573998e-01 2.78798119e-03 9.37648411e-01 1.66629863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:-30.45, Z:16.67 [[ 7.52728758e-01 5.95313272e-01 -2.81072098e-01 7.21833795e+01] [-5.59028144e-01 8.03487873e-01 2.04682126e-01 -3.04473229e+01] [ 3.47688008e-01 3.05709098e-03 9.37605302e-01 1.66744958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:72.21, Y:-30.46, Z:16.68 [[ 7.52791267e-01 5.95058794e-01 -2.81443316e-01 7.22066370e+01] [-5.58666511e-01 8.03676702e-01 2.04928007e-01 -3.04631928e+01] [ 3.48133648e-01 2.96494160e-03 9.37440223e-01 1.66824299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:72.24, Y:-30.47, Z:16.67 [[ 7.57721678e-01 5.82989373e-01 -2.93225594e-01 7.22448273e+01] [-5.56588264e-01 8.11931439e-01 1.76002398e-01 -3.04664578e+01] [ 3.40686606e-01 2.98450918e-02 9.39703095e-01 1.66679139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:72.26, Y:-30.49, Z:16.69 [[ 7.58088768e-01 5.88130111e-01 -2.81787851e-01 7.22629682e+01] [-5.56400141e-01 8.08676820e-01 1.90946808e-01 -3.04884034e+01] [ 3.40176871e-01 1.20321700e-02 9.40284491e-01 1.66856185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:72.28, Y:-30.51, Z:16.71 [[ 7.56970777e-01 5.92651264e-01 -2.75244839e-01 7.22800671e+01] [-5.55723896e-01 8.05453816e-01 2.05949269e-01 -3.05105078e+01] [ 3.43753100e-01 -2.93744405e-03 9.39055471e-01 1.67072734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:-30.54, Z:16.74 [[ 7.52672001e-01 6.00243808e-01 -2.70540624e-01 7.22958921e+01] [-5.58640430e-01 7.99685762e-01 2.20053522e-01 -3.05357867e+01] [ 3.48433249e-01 -1.44931941e-02 9.37221542e-01 1.67373784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:72.34, Y:-30.54, Z:16.72 [[ 7.58160429e-01 5.84297968e-01 -2.89462690e-01 7.23373663e+01] [-5.55288861e-01 8.11243892e-01 1.83132814e-01 -3.05385065e+01] [ 3.41828970e-01 2.18913547e-02 9.39507171e-01 1.67185698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.34, Y:-30.57, Z:16.76 [[ 7.54884906e-01 5.97472821e-01 -2.70508793e-01 7.23443575e+01] [-5.56350801e-01 8.01761859e-01 2.18292708e-01 -3.05706000e+01] [ 3.47307593e-01 -1.42880867e-02 9.37642409e-01 1.67587189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:-30.57, Z:16.74 [[ 7.61446338e-01 5.79164280e-01 -2.91149807e-01 7.23885913e+01] [-5.52867347e-01 8.14733801e-01 1.74775657e-01 -3.05712542e+01] [ 3.38433407e-01 2.78849370e-02 9.40577088e-01 1.67363384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.39, Y:-30.61, Z:16.78 [[ 7.56170363e-01 5.97944944e-01 -2.65834960e-01 7.23904682e+01] [-5.54875901e-01 8.01240884e-01 2.23887873e-01 -3.06079357e+01] [ 3.46870460e-01 -2.17919615e-02 9.37659850e-01 1.67842388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.5 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:72.44, Y:-30.61, Z:16.76 [[ 7.62279668e-01 5.78588506e-01 -2.90112131e-01 7.24351606e+01] [-5.50300456e-01 8.15312890e-01 1.80095254e-01 -3.06091212e+01] [ 3.40733203e-01 2.23658874e-02 9.39893957e-01 1.67613681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:72.45, Y:-30.63, Z:16.78 [[ 7.62697572e-01 5.82758930e-01 -2.80507473e-01 7.24544228e+01] [-5.50535568e-01 8.12600272e-01 1.91288749e-01 -3.06308404e+01] [ 3.39415676e-01 8.53387672e-03 9.40597774e-01 1.67781255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:72.46, Y:-30.66, Z:16.82 [[ 7.57404732e-01 5.96279754e-01 -2.66061135e-01 7.24630084e+01] [-5.52688296e-01 8.02436227e-01 2.25014999e-01 -3.06622288e+01] [ 3.47668981e-01 -2.33785497e-02 9.37325836e-01 1.68165873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:72.49, Y:-30.67, Z:16.81 [[ 7.57422885e-01 5.89378675e-01 -2.80968596e-01 7.24942490e+01] [-5.52167101e-01 8.07856325e-01 2.06105924e-01 -3.06737324e+01] [ 3.48456693e-01 -9.67728435e-04 9.37324382e-01 1.68141537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:-30.68, Z:16.80 [[ 7.63594925e-01 5.74636599e-01 -2.94475075e-01 7.25339390e+01] [-5.49555527e-01 8.17806516e-01 1.70825133e-01 -3.06754762e+01] [ 3.38986008e-01 3.13892005e-02 9.40267624e-01 1.67968857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:-30.71, Z:16.85 [[ 7.56952618e-01 5.97831312e-01 -2.63856887e-01 7.25302938e+01] [-5.52486820e-01 8.01117437e-01 2.30150309e-01 -3.07143194e+01] [ 3.48971414e-01 -2.84354269e-02 9.36701862e-01 1.68516275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:-30.71, Z:16.81 [[ 7.63088250e-01 5.73705324e-01 -2.97587842e-01 7.25838739e+01] [-5.50009729e-01 8.18264096e-01 1.67132188e-01 -3.07086496e+01] [ 3.39390073e-01 3.61395991e-02 9.39951226e-01 1.68149275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:-30.75, Z:16.88 [[ 7.55735864e-01 6.00377694e-01 -2.61552917e-01 7.25768814e+01] [-5.53698494e-01 7.99065086e-01 2.34335159e-01 -3.07496724e+01] [ 3.49687406e-01 -3.22740277e-02 9.36310368e-01 1.68753941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:-30.76, Z:16.87 [[ 7.55464673e-01 5.91548211e-01 -2.81680390e-01 7.26107308e+01] [-5.54058282e-01 8.06269476e-01 2.07241289e-01 -3.07577863e+01] [ 3.49703515e-01 -4.96119831e-04 9.36860292e-01 1.68701525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:72.63, Y:-30.77, Z:16.88 [[ 7.55885909e-01 5.90726285e-01 -2.82274600e-01 7.26328186e+01] [-5.53029423e-01 8.06871572e-01 2.07645669e-01 -3.07737277e+01] [ 3.50421104e-01 -8.50275918e-04 9.36591868e-01 1.68774576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:-30.77, Z:16.86 [[ 7.63793638e-01 5.72891545e-01 -2.97345853e-01 7.26763509e+01] [-5.49269519e-01 8.18841537e-01 1.66737916e-01 -3.07743367e+01] [ 3.39001878e-01 3.59696541e-02 9.40097820e-01 1.68562318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:-30.80, Z:16.89 [[ 7.62267572e-01 5.86192619e-01 -2.74456484e-01 7.26838337e+01] [-5.49418967e-01 8.10156116e-01 2.04415914e-01 -3.08044881e+01] [ 3.42179699e-01 -5.02802425e-03 9.39621079e-01 1.68897275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:72.71, Y:-30.82, Z:16.90 [[ 7.63244050e-01 5.82663240e-01 -2.79216886e-01 7.27097781e+01] [-5.47191350e-01 8.12713694e-01 2.00195100e-01 -3.08215273e+01] [ 3.43569713e-01 -1.26542385e-05 9.39127176e-01 1.68978386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:-30.84, Z:16.90 [[ 7.64982541e-01 5.78960557e-01 -2.82146036e-01 7.27371213e+01] [-5.46373915e-01 8.15320575e-01 1.91645257e-01 -3.08357949e+01] [ 3.40994513e-01 7.55195858e-03 9.40034951e-01 1.69025956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:-30.87, Z:16.95 [[ 7.59129133e-01 5.95378316e-01 -2.63149425e-01 7.27394348e+01] [-5.48520731e-01 8.02758947e-01 2.33886898e-01 -3.08690582e+01] [ 3.50496743e-01 -3.32074430e-02 9.35975053e-01 1.69493293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:72.77, Y:-30.88, Z:16.94 [[ 7.60014324e-01 5.85048190e-01 -2.83013856e-01 7.27723771e+01] [-5.46544750e-01 8.10988711e-01 2.08772953e-01 -3.08784714e+01] [ 3.51663281e-01 -3.99069769e-03 9.36118054e-01 1.69439469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:-30.88, Z:16.93 [[ 7.65586178e-01 5.71812979e-01 -2.94801155e-01 7.28113209e+01] [-5.44712288e-01 8.19973929e-01 1.75872907e-01 -3.08820183e+01] [ 3.42295672e-01 2.59359449e-02 9.39234262e-01 1.69282507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:-30.90, Z:16.94 [[ 7.65993292e-01 5.77131069e-01 -2.83150149e-01 7.28312848e+01] [-5.45688125e-01 8.16585742e-01 1.88181286e-01 -3.09038903e+01] [ 3.39821641e-01 1.03660714e-02 9.40432771e-01 1.69438477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:-30.92, Z:16.96 [[ 7.65484496e-01 5.79354088e-01 -2.79968439e-01 7.28547394e+01] [-5.47027147e-01 8.15046064e-01 1.90948198e-01 -3.09228607e+01] [ 3.38813793e-01 6.98245185e-03 9.40827539e-01 1.69551341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:-30.94, Z:16.96 [[ 7.64740260e-01 5.80233331e-01 -2.80181398e-01 7.28793993e+01] [-5.48048018e-01 8.14413866e-01 1.90718181e-01 -3.09400276e+01] [ 3.38844661e-01 7.70298831e-03 9.40810799e-01 1.69645189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:-30.98, Z:17.02 [[ 7.54534699e-01 6.04382211e-01 -2.55733321e-01 7.28757900e+01] [-5.53348226e-01 7.95421796e-01 2.47204182e-01 -3.09765378e+01] [ 3.52821668e-01 -4.50145533e-02 9.34607169e-01 1.70227573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:-30.96, Z:16.96 [[ 7.64251944e-01 5.65899300e-01 -3.09316905e-01 7.29495552e+01] [-5.50486451e-01 8.22286318e-01 1.44256298e-01 -3.09589580e+01] [ 3.35981597e-01 6.00266096e-02 9.39953814e-01 1.69579257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:-31.01, Z:17.05 [[ 7.52691665e-01 6.09412814e-01 -2.49141083e-01 7.29189623e+01] [-5.55608358e-01 7.90982897e-01 2.56213600e-01 -3.10135058e+01] [ 3.53206187e-01 -5.44249726e-02 9.33961087e-01 1.70500756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:-31.02, Z:17.04 [[ 7.51870747e-01 5.95378896e-01 -2.83221382e-01 7.29612724e+01] [-5.56997514e-01 8.03444978e-01 2.10309147e-01 -3.10179305e+01] [ 3.52766424e-01 -3.71689543e-04 9.35711340e-01 1.70350894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:-31.01, Z:17.00 [[ 7.59384895e-01 5.72953441e-01 -3.08316291e-01 7.30150945e+01] [-5.56520531e-01 8.17470225e-01 1.48416073e-01 -3.10130987e+01] [ 3.37074888e-01 5.88794219e-02 9.39634894e-01 1.69957180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:73.02, Y:-31.04, Z:17.03 [[ 7.57868728e-01 5.90923587e-01 -2.76485631e-01 7.30158775e+01] [-5.57639568e-01 8.06705729e-01 1.95611805e-01 -3.10443911e+01] [ 3.38634173e-01 5.93125791e-03 9.40899419e-01 1.70292088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:-31.08, Z:17.10 [[ 7.46032654e-01 6.17350382e-01 -2.49627291e-01 7.30067973e+01] [-5.63359732e-01 7.84992417e-01 2.57706650e-01 -3.10798268e+01] [ 3.55050829e-01 -5.16276124e-02 9.33420322e-01 1.70959911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:73.05, Y:-31.08, Z:17.08 [[ 7.45063497e-01 6.03046037e-01 -2.84983967e-01 7.30495069e+01] [-5.64542884e-01 7.97701126e-01 2.12047743e-01 -3.10840233e+01] [ 3.55206583e-01 2.89663789e-03 9.34783340e-01 1.70781623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:73.07, Y:-31.10, Z:17.09 [[ 7.45116388e-01 6.02971279e-01 -2.85003869e-01 7.30710376e+01] [-5.64473076e-01 7.97757636e-01 2.12020991e-01 -3.10999095e+01] [ 3.55206581e-01 2.89669583e-03 9.34783341e-01 1.70880801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:-31.11, Z:17.10 [[ 7.43881352e-01 6.04551478e-01 -2.84882509e-01 7.30920701e+01] [-5.66214687e-01 7.96557554e-01 2.11889104e-01 -3.11149838e+01] [ 3.55023185e-01 3.68430764e-03 9.34850236e-01 1.70996903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39999999999999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:73.11, Y:-31.13, Z:17.11 [[ 7.41900512e-01 6.03896799e-01 -2.91362808e-01 7.31149579e+01] [-5.67342088e-01 7.96978798e-01 2.07238390e-01 -3.11287915e+01] [ 3.57360581e-01 1.15521162e-02 9.33895050e-01 1.71052872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42999999999999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:73.13, Y:-31.15, Z:17.12 [[ 7.43791466e-01 6.06087864e-01 -2.81836398e-01 7.31321704e+01] [-5.65666332e-01 7.95393900e-01 2.17646835e-01 -3.11485468e+01] [ 3.56084058e-01 -2.45849743e-03 9.34450694e-01 1.71185875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:-31.16, Z:17.13 [[ 7.44159961e-01 6.04026955e-01 -2.85267228e-01 7.31537300e+01] [-5.65664562e-01 7.96955272e-01 2.11862920e-01 -3.11615870e+01] [ 3.55316135e-01 3.70565943e-03 9.34738847e-01 1.71279088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:-31.18, Z:17.14 [[ 7.45197787e-01 6.02969111e-01 -2.84795558e-01 7.31746862e+01] [-5.64690469e-01 7.97757887e-01 2.11440364e-01 -3.11779211e+01] [ 3.54689911e-01 3.25644645e-03 9.34978322e-01 1.71382894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:-31.19, Z:17.15 [[ 7.46595569e-01 6.01310012e-01 -2.84642453e-01 7.31957092e+01] [-5.62975565e-01 7.99011879e-01 2.11278325e-01 -3.11946788e+01] [ 3.54476474e-01 2.50728471e-03 9.35061572e-01 1.71483039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:73.23, Y:-31.21, Z:17.14 [[ 7.49343719e-01 5.91236271e-01 -2.98200709e-01 7.32312187e+01] [-5.61626791e-01 8.06029272e-01 1.86794435e-01 -3.12065009e+01] [ 3.50798146e-01 2.75042708e-02 9.36047101e-01 1.71380429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:73.23, Y:-31.23, Z:17.18 [[ 7.47924447e-01 6.07037574e-01 -2.68541254e-01 7.32300759e+01] [-5.60874628e-01 7.94311578e-01 2.33428295e-01 -3.12338934e+01] [ 3.55005173e-01 -2.39687529e-02 9.34557021e-01 1.71791841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:-31.24, Z:17.18 [[ 7.47461554e-01 5.99917141e-01 -2.85307990e-01 7.32607305e+01] [-5.61365357e-01 8.00059635e-01 2.11597533e-01 -3.12439916e+01] [ 3.55204393e-01 2.00100091e-03 9.34786518e-01 1.71785143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:73.28, Y:-31.26, Z:17.19 [[ 7.48015430e-01 5.98991097e-01 -2.85801647e-01 7.32832575e+01] [-5.60248651e-01 8.00754100e-01 2.11929992e-01 -3.12605075e+01] [ 3.55801019e-01 1.59308343e-03 9.34560376e-01 1.71864598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:73.33, Y:-31.26, Z:17.16 [[ 7.54603269e-01 5.81949687e-01 -3.03164094e-01 7.33291281e+01] [-5.58159357e-01 8.12184469e-01 1.69748406e-01 -3.12633643e+01] [ 3.45010200e-01 4.11211740e-02 9.37697718e-01 1.71612531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:-31.30, Z:17.23 [[ 7.47726556e-01 6.09700489e-01 -2.63002492e-01 7.33149264e+01] [-5.60312509e-01 7.91894301e-01 2.42803022e-01 -3.13018234e+01] [ 3.56307296e-01 -3.41866811e-02 9.33743210e-01 1.72272456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:73.35, Y:-31.31, Z:17.22 [[ 7.49258013e-01 5.97537905e-01 -2.85588659e-01 7.33504394e+01] [-5.58712596e-01 8.01840255e-01 2.11878362e-01 -3.13095615e+01] [ 3.55601836e-01 8.10420354e-04 9.34637190e-01 1.72176778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:-31.32, Z:17.23 [[ 7.49453524e-01 5.97588975e-01 -2.84968127e-01 7.33710751e+01] [-5.58957351e-01 8.01802135e-01 2.11376481e-01 -3.13249503e+01] [ 3.54804307e-01 8.68180632e-04 9.34940185e-01 1.72303266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:73.39, Y:-31.34, Z:17.24 [[ 7.51294880e-01 5.95715660e-01 -2.84040236e-01 7.33926661e+01] [-5.57232740e-01 8.03195401e-01 2.10639079e-01 -3.13405981e+01] [ 3.53620809e-01 2.44575140e-05 9.35388862e-01 1.72376654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:73.42, Y:-31.35, Z:17.25 [[ 7.50886011e-01 5.93843633e-01 -2.88998164e-01 7.34160085e+01] [-5.56921368e-01 8.04557330e-01 2.06218555e-01 -3.13549337e+01] [ 3.54977167e-01 6.10262426e-03 9.34855052e-01 1.72453603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:73.43, Y:-31.37, Z:17.26 [[ 7.52315485e-01 5.95960754e-01 -2.80806322e-01 7.34339656e+01] [-5.55907069e-01 8.02994419e-01 2.14865758e-01 -3.13737492e+01] [ 3.53537468e-01 -5.54461769e-03 9.35403932e-01 1.72603856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:-31.39, Z:17.27 [[ 7.51803380e-01 5.94832568e-01 -2.84545065e-01 7.34562531e+01] [-5.56220262e-01 8.03849592e-01 2.10819484e-01 -3.13877693e+01] [ 3.54133729e-01 -2.25070161e-04 9.35194767e-01 1.72706080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:73.48, Y:-31.40, Z:17.28 [[ 7.52736088e-01 5.93734262e-01 -2.84373010e-01 7.34775601e+01] [-5.55110086e-01 8.04660878e-01 2.10650573e-01 -3.14027948e+01] [ 3.53894298e-01 -7.05962598e-04 9.35285158e-01 1.72769686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:73.50, Y:-31.42, Z:17.29 [[ 7.52111452e-01 5.94495296e-01 -2.84435769e-01 7.34984092e+01] [-5.55926894e-01 8.04099032e-01 2.10641960e-01 -3.14172992e+01] [ 3.53940181e-01 -3.00736733e-04 9.35268014e-01 1.72879668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:-31.43, Z:17.30 [[ 7.51208010e-01 5.95525792e-01 -2.84667448e-01 7.35190419e+01] [-5.56981828e-01 8.03336156e-01 2.10765896e-01 -3.14320889e+01] [ 3.54200181e-01 2.25566291e-04 9.35169600e-01 1.73000619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.54, Y:-31.44, Z:17.31 [[ 7.50267587e-01 5.93506999e-01 -2.91286782e-01 7.35430101e+01] [-5.56969627e-01 8.04786149e-01 2.05192810e-01 -3.14446766e+01] [ 3.56206937e-01 8.28837594e-03 9.34370334e-01 1.73052852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:73.56, Y:-31.46, Z:17.32 [[ 7.51186071e-01 5.97704844e-01 -2.80122128e-01 7.35606064e+01] [-5.56968680e-01 8.01685826e-01 2.16992455e-01 -3.14633783e+01] [ 3.54267381e-01 -6.98245783e-03 9.35118104e-01 1.73193959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:73.59, Y:-31.48, Z:17.33 [[ 7.51078533e-01 5.95610894e-01 -2.84831003e-01 7.35853480e+01] [-5.57107443e-01 8.03272969e-01 2.10674713e-01 -3.14771191e+01] [ 3.54277199e-01 4.48217099e-04 9.35140345e-01 1.73255373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:73.61, Y:-31.49, Z:17.34 [[ 7.50951561e-01 5.95874816e-01 -2.84613696e-01 7.36065755e+01] [-5.57469239e-01 8.03077098e-01 2.10464301e-01 -3.14927891e+01] [ 3.53977118e-01 6.14884890e-04 9.35253881e-01 1.73359941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:73.63, Y:-31.51, Z:17.35 [[ 7.50892852e-01 5.95882063e-01 -2.84753387e-01 7.36274983e+01] [-5.57450822e-01 8.03071695e-01 2.10533688e-01 -3.15083374e+01] [ 3.54130634e-01 6.47768057e-04 9.35195741e-01 1.73458175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:73.65, Y:-31.52, Z:17.36 [[ 7.50860013e-01 5.95857590e-01 -2.84891160e-01 7.36474199e+01] [-5.57403302e-01 8.03089831e-01 2.10590320e-01 -3.15237666e+01] [ 3.54275034e-01 6.75423278e-04 9.35141029e-01 1.73554082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:73.69, Y:-31.53, Z:17.34 [[ 7.56381316e-01 5.81002269e-01 -3.00538964e-01 7.36897610e+01] [-5.55384898e-01 8.13142544e-01 1.74203379e-01 -3.15287480e+01] [ 3.45593576e-01 3.51506213e-02 9.37725714e-01 1.73357768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:73.68, Y:-31.57, Z:17.39 [[ 7.50111240e-01 6.05656369e-01 -2.65543764e-01 7.36830449e+01] [-5.57900488e-01 7.95156420e-01 2.37641142e-01 -3.15662790e+01] [ 3.55077700e-01 -3.01102964e-02 9.34351752e-01 1.73932859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:-31.56, Z:17.35 [[ 7.56471763e-01 5.79385747e-01 -3.03418240e-01 7.37404503e+01] [-5.56757604e-01 8.13902803e-01 1.66081898e-01 -3.15607820e+01] [ 3.43178441e-01 4.32941460e-02 9.38271909e-01 1.73547467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:73.75, Y:-31.59, Z:17.38 [[ 7.55399087e-01 5.92938987e-01 -2.78918585e-01 7.37484832e+01] [-5.57362439e-01 8.05243090e-01 2.02313316e-01 -3.15898372e+01] [ 3.44556716e-01 2.63144800e-03 9.38761815e-01 1.73830355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.3 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:73.78, Y:-31.61, Z:17.39 [[ 7.55212207e-01 5.92113425e-01 -2.81169371e-01 7.37754007e+01] [-5.58940882e-01 8.05799656e-01 1.95632322e-01 -3.16053853e+01] [ 3.42402707e-01 9.41313871e-03 9.39506136e-01 1.73893866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.80, Y:-31.62, Z:17.40 [[ 7.52824541e-01 5.94533078e-01 -2.82463501e-01 7.37988271e+01] [-5.60854812e-01 8.04012182e-01 1.97500103e-01 -3.16234730e+01] [ 3.44524440e-01 9.73808944e-03 9.38726840e-01 1.74036928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:73.82, Y:-31.64, Z:17.42 [[ 7.51665660e-01 5.98021719e-01 -2.78152402e-01 7.38209778e+01] [-5.63033894e-01 8.01463907e-01 2.01614581e-01 -3.16420071e+01] [ 3.43499009e-01 5.06247344e-03 9.39139394e-01 1.74156034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:73.82, Y:-31.67, Z:17.47 [[ 7.43709279e-01 6.16734485e-01 -2.57943954e-01 7.38200918e+01] [-5.65829764e-01 7.86215187e-01 2.48399592e-01 -3.16729133e+01] [ 3.55996048e-01 -3.87847149e-02 9.33682258e-01 1.74660986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:73.89, Y:-31.66, Z:17.42 [[ 7.50237028e-01 5.85802642e-01 -3.06561031e-01 7.38853629e+01] [-5.65378595e-01 8.08791582e-01 1.61874092e-01 -3.16624869e+01] [ 3.42770252e-01 5.18791073e-02 9.37985668e-01 1.74161510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:-31.70, Z:17.49 [[ 7.38968521e-01 6.21845312e-01 -2.59295068e-01 7.38657232e+01] [-5.70955524e-01 7.82314698e-01 2.48984947e-01 -3.17044699e+01] [ 3.57680464e-01 -3.59460866e-02 9.33151951e-01 1.74901956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:73.90, Y:-31.71, Z:17.48 [[ 7.38254625e-01 6.10131388e-01 -2.87610495e-01 7.39043718e+01] [-5.71628771e-01 7.92270651e-01 2.13419220e-01 -3.17105153e+01] [ 3.58079120e-01 6.84870755e-03 9.33666128e-01 1.74765549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:73.93, Y:-31.73, Z:17.49 [[ 7.37188380e-01 6.11290517e-01 -2.87883998e-01 7.39256695e+01] [-5.72816551e-01 7.91371103e-01 2.13571946e-01 -3.17256113e+01] [ 3.58377582e-01 7.46196228e-03 9.33546907e-01 1.74860437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:73.97, Y:-31.72, Z:17.46 [[ 7.43007336e-01 5.94752622e-01 -3.06935526e-01 7.39699249e+01] [-5.72108725e-01 8.02391004e-01 1.69883147e-01 -3.17242134e+01] [ 3.47320752e-01 4.93760679e-02 9.36445567e-01 1.74574601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:73.96, Y:-31.77, Z:17.52 [[ 7.34168550e-01 6.24450371e-01 -2.66567577e-01 7.39559098e+01] [-5.74254370e-01 7.80555355e-01 2.46911436e-01 -3.17659254e+01] [ 3.62254688e-01 -2.81970149e-02 9.31652548e-01 1.75230878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:-31.76, Z:17.48 [[ 7.41550108e-01 5.94284269e-01 -3.11335261e-01 7.40192025e+01] [-5.73714299e-01 8.02280484e-01 1.64917943e-01 -3.17578045e+01] [ 3.47786343e-01 5.63225723e-02 9.35880563e-01 1.74778584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:74.00, Y:-31.80, Z:17.55 [[ 7.33028849e-01 6.26984236e-01 -2.63741304e-01 7.39998702e+01] [-5.74604500e-01 7.78288006e-01 2.53174737e-01 -3.18040277e+01] [ 3.64003263e-01 -3.40374461e-02 9.30775525e-01 1.75494302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:74.04, Y:-31.81, Z:17.54 [[ 7.33576394e-01 6.13766402e-01 -2.91815828e-01 7.40370535e+01] [-5.74295581e-01 7.89440762e-01 2.16720714e-01 -3.18103561e+01] [ 3.63387203e-01 8.60734030e-03 9.31598441e-01 1.75378574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:74.06, Y:-31.83, Z:17.55 [[ 7.34950023e-01 6.12460134e-01 -2.91103156e-01 7.40551079e+01] [-5.73113171e-01 7.90461099e-01 2.16130849e-01 -3.18271534e+01] [ 3.62477250e-01 7.98968025e-03 9.31958373e-01 1.75489426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:74.08, Y:-31.84, Z:17.56 [[ 7.36023295e-01 6.11227842e-01 -2.90981501e-01 7.40757906e+01] [-5.71845129e-01 7.91419820e-01 2.15981058e-01 -3.18440498e+01] [ 3.62302164e-01 7.42926398e-03 9.32031088e-01 1.75585820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:74.10, Y:-31.86, Z:17.57 [[ 7.37203993e-01 6.10287206e-01 -2.89965169e-01 7.40954617e+01] [-5.71137971e-01 7.92149470e-01 2.15175823e-01 -3.18608532e+01] [ 3.61014807e-01 6.98164209e-03 9.32533949e-01 1.75709082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:74.12, Y:-31.88, Z:17.58 [[ 7.38843660e-01 6.08473444e-01 -2.89603374e-01 7.41159357e+01] [-5.69304016e-01 7.93550676e-01 2.14872667e-01 -3.18774473e+01] [ 3.60559265e-01 6.11505569e-03 9.32716261e-01 1.75801527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:74.14, Y:-31.89, Z:17.59 [[ 7.41667354e-01 6.05644772e-01 -2.88312237e-01 7.41358407e+01] [-5.66645138e-01 7.95720970e-01 2.13872453e-01 -3.18948846e+01] [ 3.58946826e-01 4.74851113e-03 9.33345932e-01 1.75910440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:74.16, Y:-31.91, Z:17.60 [[ 7.42852030e-01 6.04588164e-01 -2.87478720e-01 7.41560938e+01] [-5.65758030e-01 7.96526879e-01 2.13220033e-01 -3.19110640e+01] [ 3.57894835e-01 4.25246013e-03 9.33752217e-01 1.76022296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86999999999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:74.18, Y:-31.93, Z:17.61 [[ 7.43769526e-01 6.03324226e-01 -2.87761655e-01 7.41776725e+01] [-5.64339862e-01 7.97487495e-01 2.13387478e-01 -3.19274862e+01] [ 3.58228157e-01 3.68426964e-03 9.33626807e-01 1.76110119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89999999999999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:74.20, Y:-31.94, Z:17.62 [[ 7.44410977e-01 6.02428450e-01 -2.87979616e-01 7.41979586e+01] [-5.63337413e-01 7.98166074e-01 2.13499127e-01 -3.19433020e+01] [ 3.58473507e-01 3.29859810e-03 9.33534072e-01 1.76213987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:74.22, Y:-31.96, Z:17.63 [[ 7.44490645e-01 6.02300810e-01 -2.88040647e-01 7.42186844e+01] [-5.63202760e-01 7.98262469e-01 2.13493986e-01 -3.19580493e+01] [ 3.58519638e-01 3.28101213e-03 9.33516419e-01 1.76312003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:74.24, Y:-31.97, Z:17.64 [[ 7.44087744e-01 6.02508902e-01 -2.88645895e-01 7.42396109e+01] [-5.63278155e-01 7.98104752e-01 2.13884372e-01 -3.19729596e+01] [ 3.59236898e-01 3.43918752e-03 9.33240067e-01 1.76413401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:-31.99, Z:17.65 [[ 7.42835613e-01 6.03532231e-01 -2.89731079e-01 7.42616421e+01] [-5.64090049e-01 7.97328601e-01 2.14638112e-01 -3.19878796e+01] [ 3.60551894e-01 3.99358484e-03 9.32730606e-01 1.76526477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:74.28, Y:-32.00, Z:17.66 [[ 7.42670532e-01 6.03125317e-01 -2.90998854e-01 7.42838731e+01] [-5.63308392e-01 7.97637178e-01 2.15542542e-01 -3.20033287e+01] [ 3.62110669e-01 3.84500195e-03 9.32127180e-01 1.76586537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:74.30, Y:-32.02, Z:17.67 [[ 7.42365211e-01 6.03257200e-01 -2.91504106e-01 7.43045844e+01] [-5.63323549e-01 7.97536906e-01 2.15873720e-01 -3.20184798e+01] [ 3.62712659e-01 3.95398804e-03 9.31892640e-01 1.76687156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:-32.02, Z:17.64 [[ 7.50578061e-01 5.82037043e-01 -3.12834549e-01 7.43541013e+01] [-5.61428156e-01 8.11394305e-01 1.62596766e-01 -3.20165814e+01] [ 3.48469512e-01 5.35925587e-02 9.35786748e-01 1.76366736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:74.33, Y:-32.06, Z:17.71 [[ 7.42209870e-01 6.15563012e-01 -2.64965444e-01 7.43338800e+01] [-5.62402759e-01 7.87124505e-01 2.53255108e-01 -3.20626860e+01] [ 3.64455271e-01 -3.89511443e-02 9.30405913e-01 1.77094504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:-32.07, Z:17.70 [[ 7.42475619e-01 6.03509605e-01 -2.90699351e-01 7.43699783e+01] [-5.63845239e-01 7.97345113e-01 2.15219231e-01 -3.20681415e+01] [ 3.61674580e-01 4.11441294e-03 9.32295323e-01 1.77026983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:-32.07, Z:17.67 [[ 7.50483306e-01 5.84547386e-01 -3.08349089e-01 7.44155235e+01] [-5.61379483e-01 8.10052694e-01 1.69315414e-01 -3.20676776e+01] [ 3.48751893e-01 4.60324603e-02 9.36083933e-01 1.76739014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.2 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:74.40, Y:-32.11, Z:17.74 [[ 7.43921985e-01 6.12811417e-01 -2.66537515e-01 7.44006689e+01] [-5.62289667e-01 7.89537776e-01 2.45887029e-01 -3.21092301e+01] [ 3.61123815e-01 -3.30494756e-02 9.31932037e-01 1.77388507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:74.44, Y:-32.12, Z:17.73 [[ 7.43858274e-01 6.02128078e-01 -2.90028699e-01 7.44369341e+01] [-5.62601952e-01 7.98391642e-01 2.14592239e-01 -3.21173509e+01] [ 3.60768502e-01 3.54449998e-03 9.32648661e-01 1.77319269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:-32.12, Z:17.70 [[ 7.53280130e-01 5.80916160e-01 -3.08391734e-01 7.44856792e+01] [-5.60101082e-01 8.12391920e-01 1.62191697e-01 -3.21154281e+01] [ 3.44754730e-01 5.05547613e-02 9.37330460e-01 1.77008158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:-32.15, Z:17.74 [[ 7.51407727e-01 5.97009642e-01 -2.81008746e-01 7.44904922e+01] [-5.61138030e-01 8.02221485e-01 2.03874475e-01 -3.21467993e+01] [ 3.47146280e-01 4.49183795e-03 9.37800236e-01 1.77358548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:-32.18, Z:17.78 [[ 7.43281086e-01 6.12460086e-01 -2.69120547e-01 7.44931728e+01] [-5.63168655e-01 7.89983011e-01 2.42420930e-01 -3.21775904e+01] [ 3.61073804e-01 -2.86266354e-02 9.32097754e-01 1.77839638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:74.52, Y:-32.19, Z:17.78 [[ 7.43969717e-01 6.04154638e-01 -2.85492967e-01 7.45249674e+01] [-5.63069643e-01 7.96864130e-01 2.18998029e-01 -3.21874546e+01] [ 3.59807779e-01 -2.17547883e-03 9.33023917e-01 1.77795921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:-32.20, Z:17.79 [[ 7.43653980e-01 6.03243858e-01 -2.88228391e-01 7.45476963e+01] [-5.64070726e-01 7.97548957e-01 2.13868833e-01 -3.22021058e+01] [ 3.58891312e-01 3.53678862e-03 9.33372657e-01 1.77898659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:74.59, Y:-32.21, Z:17.77 [[ 7.49947358e-01 5.88579225e-01 -3.01916306e-01 7.45906073e+01] [-5.61635192e-01 8.07683095e-01 1.79482394e-01 -3.22057658e+01] [ 3.49492304e-01 3.49644749e-02 9.36286609e-01 1.77672642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:74.59, Y:-32.24, Z:17.82 [[ 7.42246908e-01 6.12321538e-01 -2.72271670e-01 7.45858646e+01] [-5.64644106e-01 7.90276789e-01 2.37990817e-01 -3.22433824e+01] [ 3.60896885e-01 -2.29113546e-02 9.32324251e-01 1.78242298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:74.62, Y:-32.25, Z:17.82 [[ 7.41981531e-01 6.04042590e-01 -2.90853841e-01 7.46184003e+01] [-5.64090866e-01 7.96943197e-01 2.16062573e-01 -3.22531799e+01] [ 3.62304986e-01 3.75355591e-03 9.32052041e-01 1.78181451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.5 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:74.64, Y:-32.27, Z:17.83 [[ 7.42026266e-01 6.03868224e-01 -2.91101680e-01 7.46390776e+01] [-5.63852438e-01 7.97075510e-01 2.16196807e-01 -3.22685499e+01] [ 3.62584402e-01 3.71468243e-03 9.31943535e-01 1.78280112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:74.66, Y:-32.28, Z:17.84 [[ 7.42325326e-01 6.03494700e-01 -2.91113824e-01 7.46588960e+01] [-5.63467697e-01 7.97358990e-01 2.16154567e-01 -3.22836013e+01] [ 3.62570360e-01 3.57622647e-03 9.31949540e-01 1.78378199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:74.68, Y:-32.30, Z:17.85 [[ 7.42615653e-01 6.03123978e-01 -2.91141647e-01 7.46798205e+01] [-5.63084623e-01 7.97640013e-01 2.16115981e-01 -3.22994533e+01] [ 3.62570957e-01 3.44627348e-03 9.31949797e-01 1.78484402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:74.70, Y:-32.32, Z:17.86 [[ 7.44130840e-01 6.01307539e-01 -2.91030130e-01 7.47012855e+01] [-5.61184688e-01 7.99013441e-01 2.15984415e-01 -3.23151362e+01] [ 3.62410043e-01 2.60098906e-03 9.32015126e-01 1.78573918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:74.72, Y:-32.33, Z:17.87 [[ 7.45761780e-01 5.99465759e-01 -2.90654727e-01 7.47221928e+01] [-5.59334509e-01 8.00398498e-01 2.15655168e-01 -3.23303384e+01] [ 3.61917496e-01 1.74583692e-03 9.32208495e-01 1.78673207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:74.74, Y:-32.35, Z:17.88 [[ 7.47393247e-01 5.97603186e-01 -2.90299444e-01 7.47427802e+01] [-5.57457262e-01 8.01791525e-01 2.15341013e-01 -3.23456005e+01] [ 3.61448109e-01 8.85114616e-04 9.32391807e-01 1.78771646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:74.76, Y:-32.36, Z:17.89 [[ 7.49784242e-01 5.95490522e-01 -2.88469458e-01 7.47623855e+01] [-5.55737891e-01 8.03362328e-01 2.13926076e-01 -3.23615194e+01] [ 3.59136446e-01 -8.49922223e-05 9.33285061e-01 1.78884415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:-32.38, Z:17.90 [[ 7.50009304e-01 5.95433883e-01 -2.88000927e-01 7.47832002e+01] [-5.55830080e-01 8.03404310e-01 2.13528538e-01 -3.23775035e+01] [ 3.58523313e-01 -6.88121166e-05 9.33520771e-01 1.79015317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:74.81, Y:-32.39, Z:17.91 [[ 7.50317859e-01 5.94883851e-01 -2.88333686e-01 7.48054066e+01] [-5.55159032e-01 8.03811615e-01 2.13741285e-01 -3.23933056e+01] [ 3.58917204e-01 -3.02853104e-04 9.33369353e-01 1.79100153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:-32.41, Z:17.92 [[ 7.49908917e-01 5.95129004e-01 -2.88891130e-01 7.48272112e+01] [-5.55275699e-01 8.03630166e-01 2.14120185e-01 -3.24079751e+01] [ 3.59590759e-01 -1.56412071e-04 9.33110102e-01 1.79194432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.8 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:74.85, Y:-32.42, Z:17.93 [[ 7.49707105e-01 5.95006537e-01 -2.89666149e-01 7.48504268e+01] [-5.54938851e-01 8.03720840e-01 2.14652469e-01 -3.24238372e+01] [ 3.60530343e-01 -1.79481024e-04 9.32747468e-01 1.79270124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:-32.42, Z:17.90 [[ 7.56546509e-01 5.76845622e-01 -3.08036537e-01 7.48967977e+01] [-5.53198379e-01 8.15741507e-01 1.68930008e-01 -3.24211908e+01] [ 3.48724724e-01 4.26019053e-02 9.36256452e-01 1.78977776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:-32.45, Z:17.93 [[ 7.54656755e-01 5.89322951e-01 -2.88429613e-01 7.49077146e+01] [-5.54807392e-01 8.07837246e-01 1.98966685e-01 -3.24479844e+01] [ 3.50259818e-01 9.87132828e-03 9.36600564e-01 1.79250731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:-32.48, Z:17.98 [[ 7.44093409e-01 6.11560023e-01 -2.68922549e-01 7.49061124e+01] [-5.59364936e-01 7.90405531e-01 2.49739796e-01 -3.24845344e+01] [ 3.65288746e-01 -3.54038917e-02 9.30220778e-01 1.79823902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:74.97, Y:-32.47, Z:17.93 [[ 7.50282408e-01 5.81920164e-01 -3.13759832e-01 7.49672541e+01] [-5.57778699e-01 8.11950531e-01 1.72102464e-01 -3.24721141e+01] [ 3.54907356e-01 4.58830998e-02 9.33774871e-01 1.79298342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:-32.50, Z:17.96 [[ 7.48460534e-01 5.94997567e-01 -2.92890294e-01 7.49773254e+01] [-5.60196762e-01 8.03611422e-01 2.00968332e-01 -3.24980750e+01] [ 3.54945654e-01 1.36593290e-02 9.34787144e-01 1.79583918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-32.53, Z:18.02 [[ 7.38531854e-01 6.17704908e-01 -2.70206118e-01 7.49735769e+01] [-5.63855326e-01 7.85594724e-01 2.54770683e-01 -3.25339252e+01] [ 3.69645602e-01 -3.57991063e-02 9.28482931e-01 1.80165162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.04, Y:-32.52, Z:17.97 [[ 7.47369091e-01 5.85507434e-01 -3.14038989e-01 7.50351177e+01] [-5.60837536e-01 8.09369197e-01 1.74306516e-01 -3.25220378e+01] [ 3.56231245e-01 4.58535501e-02 9.33272067e-01 1.79659540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:75.04, Y:-32.55, Z:17.99 [[ 7.46797249e-01 5.96267696e-01 -2.94548304e-01 7.50439167e+01] [-5.60510737e-01 8.02681872e-01 2.03787945e-01 -3.25478744e+01] [ 3.57940753e-01 1.29092102e-02 9.33655059e-01 1.79909714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:-32.58, Z:18.05 [[ 7.40037648e-01 6.15989387e-01 -2.70002508e-01 7.50372688e+01] [-5.61830285e-01 7.86874059e-01 2.55295802e-01 -3.25834513e+01] [ 3.69717474e-01 -3.72329185e-02 9.28397921e-01 1.80511023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.1 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:75.10, Y:-32.58, Z:18.00 [[ 7.50404724e-01 5.81264902e-01 -3.14680576e-01 7.51017202e+01] [-5.56631179e-01 8.12466053e-01 1.73380053e-01 -3.25751184e+01] [ 3.56447025e-01 4.50558092e-02 9.33228532e-01 1.80018065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:-32.60, Z:18.03 [[ 7.51233345e-01 5.93906639e-01 -2.87964172e-01 7.51072858e+01] [-5.56017271e-01 8.04527258e-01 2.08759877e-01 -3.26031180e+01] [ 3.55658903e-01 3.28567208e-03 9.34610052e-01 1.80338857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:75.13, Y:-32.62, Z:18.05 [[ 7.51463263e-01 5.92834321e-01 -2.89569392e-01 7.51305449e+01] [-5.54404076e-01 8.05319794e-01 2.09990832e-01 -3.26215100e+01] [ 3.57685735e-01 2.73805535e-03 9.33838004e-01 1.80457426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:75.13, Y:-32.65, Z:18.09 [[ 7.45793879e-01 6.07583434e-01 -2.73191987e-01 7.51319390e+01] [-5.54407932e-01 7.93446682e-01 2.51145789e-01 -3.26534958e+01] [ 3.69355296e-01 -3.58431874e-02 9.28596754e-01 1.80939448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.19, Y:-32.65, Z:18.05 [[ 7.54319099e-01 5.77972404e-01 -3.11368909e-01 7.51904467e+01] [-5.49998664e-01 8.15317197e-01 1.80995410e-01 -3.26480603e+01] [ 3.58474778e-01 3.47241893e-02 9.32893383e-01 1.80537813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:75.18, Y:-32.69, Z:18.12 [[ 7.47319337e-01 6.04936615e-01 -2.74891799e-01 7.51774663e+01] [-5.51750085e-01 7.95478050e-01 2.50572375e-01 -3.26879627e+01] [ 3.70250797e-01 -3.55860074e-02 9.28249958e-01 1.81172826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:75.21, Y:-32.70, Z:18.11 [[ 7.49024328e-01 5.92007753e-01 -2.97471638e-01 7.52112378e+01] [-5.47865555e-01 8.05916226e-01 2.24371053e-01 -3.26967269e+01] [ 3.72566623e-01 -5.08491276e-03 9.27991517e-01 1.81117766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.23, Y:-32.71, Z:18.12 [[ 7.49838832e-01 5.90600845e-01 -2.98215305e-01 7.52319560e+01] [-5.46142673e-01 8.06943320e-01 2.24879211e-01 -3.27123680e+01] [ 3.73456700e-01 -5.75506151e-03 9.27629760e-01 1.81227534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.27, Y:-32.71, Z:18.10 [[ 7.58129308e-01 5.71178653e-01 -3.14634548e-01 7.52735566e+01] [-5.40980925e-01 8.20295911e-01 1.85618583e-01 -3.27113136e+01] [ 3.64114805e-01 2.94884009e-02 9.30887127e-01 1.80958286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:-32.75, Z:18.16 [[ 7.52143511e-01 5.96861131e-01 -2.79350907e-01 7.52615621e+01] [-5.42667941e-01 8.01471281e-01 2.51307164e-01 -3.27508300e+01] [ 3.73887207e-01 -3.74242713e-02 9.26718825e-01 1.81583181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:-32.76, Z:18.15 [[ 7.54297229e-01 5.84533290e-01 -2.98925616e-01 7.52942339e+01] [-5.39386059e-01 8.11321937e-01 2.25431571e-01 -3.27590228e+01] [ 3.74297168e-01 -8.80609956e-03 9.27266996e-01 1.81548564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:-32.76, Z:18.13 [[ 7.62426535e-01 5.65952738e-01 -3.13692965e-01 7.53356673e+01] [-5.34739426e-01 8.24054544e-01 1.87050409e-01 -3.27591620e+01] [ 3.64361804e-01 2.51318006e-02 9.30918293e-01 1.81306699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.33, Y:-32.80, Z:18.19 [[ 7.58712638e-01 5.89351804e-01 -2.77524023e-01 7.53257477e+01] [-5.35888042e-01 8.06895254e-01 2.48483510e-01 -3.27964562e+01] [ 3.70377022e-01 -3.98057743e-02 9.28028212e-01 1.81901093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:75.38, Y:-32.79, Z:18.15 [[ 7.65864503e-01 5.63247999e-01 -3.10166495e-01 7.53770923e+01] [-5.31247022e-01 8.26031573e-01 1.88277568e-01 -3.27905851e+01] [ 3.62254281e-01 2.05799208e-02 9.31852082e-01 1.81541120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:75.37, Y:-32.83, Z:18.21 [[ 7.59943438e-01 5.87343109e-01 -2.78413438e-01 7.53693069e+01] [-5.34934495e-01 8.08465639e-01 2.45414744e-01 -3.28270805e+01] [ 3.69230357e-01 -3.75683724e-02 9.28578247e-01 1.82115686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:-32.82, Z:18.18 [[ 7.66213044e-01 5.63226733e-01 -3.09343204e-01 7.54234396e+01] [-5.32264967e-01 8.25996243e-01 1.85537629e-01 -3.28233315e+01] [ 3.60016077e-01 2.24911987e-02 9.32674954e-01 1.81789679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:75.42, Y:-32.86, Z:18.23 [[ 7.58592705e-01 5.89596784e-01 -2.77331464e-01 7.54161185e+01] [-5.36596747e-01 8.06763041e-01 2.47380933e-01 -3.28600186e+01] [ 3.69595778e-01 -3.88462091e-02 9.28380274e-01 1.82349465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:-32.87, Z:18.23 [[ 7.57155603e-01 5.82412521e-01 -2.95822665e-01 7.54489830e+01] [-5.38008851e-01 8.12833177e-01 2.23268232e-01 -3.28683378e+01] [ 3.70488691e-01 -9.89358089e-03 9.28784285e-01 1.82336852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.47, Y:-32.88, Z:18.24 [[ 7.53809142e-01 5.86027036e-01 -2.97227338e-01 7.54720639e+01] [-5.41507243e-01 8.10251533e-01 2.24192682e-01 -3.28809047e+01] [ 3.72211879e-01 -8.04773770e-03 9.28112898e-01 1.82411995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:75.49, Y:-32.90, Z:18.25 [[ 7.52132398e-01 5.87820650e-01 -2.97932439e-01 7.54943565e+01] [-5.43239724e-01 8.08959860e-01 2.24665413e-01 -3.28951503e+01] [ 3.73078353e-01 -7.12939969e-03 9.27772447e-01 1.82503660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.7 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:75.54, Y:-32.89, Z:18.23 [[ 7.55553988e-01 5.73989661e-01 -3.15711957e-01 7.55390701e+01] [-5.44170631e-01 8.18246183e-01 1.85341598e-01 -3.28949639e+01] [ 3.64714265e-01 3.17655918e-02 9.30577483e-01 1.82276226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:-32.92, Z:18.25 [[ 7.54711495e-01 5.85584538e-01 -2.95806199e-01 7.55487494e+01] [-5.46206495e-01 8.10608262e-01 2.11122500e-01 -3.29177483e+01] [ 3.63413021e-01 2.23468933e-03 9.31625452e-01 1.82512279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.55, Y:-32.95, Z:18.30 [[ 7.46432263e-01 6.05052000e-01 -2.77039626e-01 7.55480956e+01] [-5.49873104e-01 7.95266862e-01 2.55323691e-01 -3.29480649e+01] [ 3.74804544e-01 -3.82452014e-02 9.26314665e-01 1.83005004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:75.58, Y:-32.95, Z:18.29 [[ 7.45093621e-01 5.96187980e-01 -2.98990615e-01 7.55832297e+01] [-5.51975169e-01 8.02839804e-01 2.25325679e-01 -3.29547899e+01] [ 3.74378028e-01 -2.85333063e-03 9.27271778e-01 1.82936530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:75.63, Y:-32.96, Z:18.27 [[ 7.51430804e-01 5.80634865e-01 -3.13392567e-01 7.56258611e+01] [-5.50809654e-01 8.13517328e-01 1.86542977e-01 -3.29574888e+01] [ 3.63263640e-01 3.24455117e-02 9.31121269e-01 1.82735634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:-32.98, Z:18.30 [[ 7.49413468e-01 5.93813955e-01 -2.92855664e-01 7.56348744e+01] [-5.54759971e-01 8.04593781e-01 2.11825923e-01 -3.29815356e+01] [ 3.61415035e-01 3.71940043e-03 9.32397629e-01 1.82990997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.66, Y:-33.00, Z:18.31 [[ 7.48005059e-01 5.96317213e-01 -2.91366115e-01 7.56556610e+01] [-5.56200721e-01 8.02747968e-01 2.15026643e-01 -3.29982527e+01] [ 3.62117645e-01 1.21702680e-03 9.32131606e-01 1.83103396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:-33.01, Z:18.32 [[ 7.46907962e-01 5.97052049e-01 -2.92672765e-01 7.56778583e+01] [-5.58027945e-01 8.02188709e-01 2.12363106e-01 -3.30124640e+01] [ 3.61570615e-01 4.70388706e-03 9.32332861e-01 1.83204595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:-33.03, Z:18.33 [[ 7.44063085e-01 6.01140580e-01 -2.91547815e-01 7.56992781e+01] [-5.62053497e-01 7.99126605e-01 2.13289792e-01 -3.30289179e+01] [ 3.61200765e-01 5.16440835e-03 9.32473772e-01 1.83325389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:-33.04, Z:18.34 [[ 7.42750380e-01 6.01371000e-01 -2.94405831e-01 7.57225257e+01] [-5.63706949e-01 7.98905004e-01 2.09726654e-01 -3.30436473e+01] [ 3.61325820e-01 1.01840611e-02 9.32384007e-01 1.83410555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.0 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:75.72, Y:-33.07, Z:18.39 [[ 7.34394702e-01 6.21433191e-01 -2.72919788e-01 7.57232133e+01] [-5.68069610e-01 7.82836756e-01 2.53896693e-01 -3.30739393e+01] [ 3.71431473e-01 -3.14229488e-02 9.27928477e-01 1.83856386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:75.76, Y:-33.08, Z:18.38 [[ 7.33002971e-01 6.11824741e-01 -2.97282912e-01 7.57585976e+01] [-5.69287312e-01 7.90978174e-01 2.24199652e-01 -3.30816027e+01] [ 3.72315190e-01 4.90037859e-03 9.28093414e-01 1.83787657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.78, Y:-33.10, Z:18.39 [[ 7.31454533e-01 6.13584499e-01 -2.97469879e-01 7.57775074e+01] [-5.71152761e-01 7.89607433e-01 2.24286928e-01 -3.30957515e+01] [ 3.72503410e-01 5.84505250e-03 9.28012416e-01 1.83915406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:75.80, Y:-33.11, Z:18.40 [[ 7.29486096e-01 6.15060921e-01 -2.99249226e-01 7.57998549e+01] [-5.72245919e-01 7.88451141e-01 2.25564640e-01 -3.31116504e+01] [ 3.74679389e-01 6.69787967e-03 9.27130246e-01 1.83983366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.82, Y:-33.13, Z:18.41 [[ 7.29574661e-01 6.15038605e-01 -2.99079135e-01 7.58206066e+01] [-5.72330029e-01 7.88467644e-01 2.25293392e-01 -3.31269740e+01] [ 3.74378354e-01 6.80362014e-03 9.27251076e-01 1.84100378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:75.84, Y:-33.14, Z:18.42 [[ 7.29738151e-01 6.14811225e-01 -2.99147771e-01 7.58419289e+01] [-5.72121648e-01 7.88644900e-01 2.25202223e-01 -3.31428743e+01] [ 3.74378219e-01 6.81026208e-03 9.27251082e-01 1.84205521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:75.86, Y:-33.16, Z:18.43 [[ 7.30054333e-01 6.14315142e-01 -2.99395353e-01 7.58626267e+01] [-5.71565892e-01 7.89032538e-01 2.25255600e-01 -3.31580844e+01] [ 3.74610601e-01 6.67534567e-03 9.27158205e-01 1.84295513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:75.88, Y:-33.17, Z:18.44 [[ 7.30377701e-01 6.13930187e-01 -2.99396292e-01 7.58832390e+01] [-5.71174525e-01 7.89333313e-01 2.25194545e-01 -3.31741531e+01] [ 3.74577196e-01 6.53046059e-03 9.27172733e-01 1.84391135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:75.90, Y:-33.19, Z:18.45 [[ 7.31590681e-01 6.12504118e-01 -2.99355610e-01 7.59025913e+01] [-5.69667720e-01 7.90445784e-01 2.25109201e-01 -3.31906594e+01] [ 3.74504692e-01 5.84543371e-03 9.27206593e-01 1.84489691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:-33.21, Z:18.46 [[ 7.32102702e-01 6.12075336e-01 -2.98980629e-01 7.59216343e+01] [-5.69355587e-01 7.90778902e-01 2.24728601e-01 -3.32059926e+01] [ 3.73978408e-01 5.70187570e-03 9.27419883e-01 1.84632020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:-33.22, Z:18.46 [[ 7.36877919e-01 6.03082069e-01 -3.05455316e-01 7.59508091e+01] [-5.66096560e-01 7.97451800e-01 2.08818846e-01 -3.32179754e+01] [ 3.69520794e-01 1.90432074e-02 9.29027308e-01 1.84594834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.96, Y:-33.24, Z:18.48 [[ 7.37935550e-01 6.06296626e-01 -2.96404326e-01 7.59649311e+01] [-5.64462007e-01 7.95228672e-01 2.21345888e-01 -3.32375899e+01] [ 3.69910484e-01 3.96998082e-03 9.29058918e-01 1.84761776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:-33.26, Z:18.50 [[ 7.37639170e-01 6.09750840e-01 -2.89986842e-01 7.59766811e+01] [-5.63044777e-01 7.92536139e-01 2.34237161e-01 -3.32593621e+01] [ 3.72651358e-01 -9.50692820e-03 9.27922725e-01 1.85004445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:76.00, Y:-33.27, Z:18.50 [[ 7.39130941e-01 6.04254453e-01 -2.97593697e-01 7.60023448e+01] [-5.61395422e-01 7.96789252e-01 2.23521963e-01 -3.32739057e+01] [ 3.72183601e-01 1.85574042e-03 9.28157273e-01 1.85029572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:-33.29, Z:18.52 [[ 7.39977692e-01 6.03405401e-01 -2.97211941e-01 7.60204953e+01] [-5.60616004e-01 7.97433228e-01 2.23181411e-01 -3.32890814e+01] [ 3.71675546e-01 1.47250499e-03 9.28361524e-01 1.85166424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:-33.31, Z:18.53 [[ 7.41917940e-01 6.01349235e-01 -2.96541512e-01 7.60397048e+01] [-5.58626269e-01 7.98986142e-01 2.22615896e-01 -3.33058452e+01] [ 3.70802457e-01 4.93151948e-04 9.28711631e-01 1.85276943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:-33.32, Z:18.53 [[ 7.42004740e-01 5.97560639e-01 -3.03891837e-01 7.60631369e+01] [-5.57145065e-01 8.01774521e-01 2.16210533e-01 -3.33191950e+01] [ 3.72851636e-01 8.88259741e-03 9.27848456e-01 1.85332611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:76.08, Y:-33.34, Z:18.55 [[ 7.44836415e-01 6.00214676e-01 -2.91480801e-01 7.60787338e+01] [-5.54734236e-01 7.99786610e-01 2.29371544e-01 -3.33401790e+01] [ 3.70794609e-01 -9.14989937e-03 9.28669821e-01 1.85488761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-33.35, Z:18.55 [[ 7.47946723e-01 5.90276731e-01 -3.03560669e-01 7.61106275e+01] [-5.52568928e-01 8.07108711e-01 2.07949773e-01 -3.33494999e+01] [ 3.67754372e-01 1.22028419e-02 9.29842897e-01 1.85454047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:-33.37, Z:18.57 [[ 7.46189345e-01 5.99288206e-01 -2.89922590e-01 7.61176894e+01] [-5.51621072e-01 8.00388732e-01 2.34717002e-01 -3.33727304e+01] [ 3.72713905e-01 -1.52159161e-02 9.27821546e-01 1.85740313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:-33.38, Z:18.56 [[ 7.49506558e-01 5.86937801e-01 -3.06176317e-01 7.61534971e+01] [-5.49624139e-01 8.09517859e-01 2.06383483e-01 -3.33810595e+01] [ 3.68989464e-01 1.35961207e-02 9.29334128e-01 1.85640301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:-33.41, Z:18.60 [[ 7.46754340e-01 5.98895779e-01 -2.89278069e-01 7.61587253e+01] [-5.50236368e-01 8.00626528e-01 2.37143633e-01 -3.34059465e+01] [ 3.73628017e-01 -1.79167234e-02 9.27405573e-01 1.85970484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:76.19, Y:-33.42, Z:18.60 [[ 7.47120718e-01 5.93552933e-01 -2.99174778e-01 7.61855915e+01] [-5.49593763e-01 8.04789087e-01 2.24190144e-01 -3.34184281e+01] [ 3.73841314e-01 -3.07250948e-03 9.27487591e-01 1.85988557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:76.21, Y:-33.43, Z:18.60 [[ 7.46064266e-01 5.90497017e-01 -3.07735900e-01 7.62102305e+01] [-5.49086035e-01 8.07010988e-01 2.17342569e-01 -3.34315646e+01] [ 3.76686391e-01 6.82196025e-03 9.26315726e-01 1.86048690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.22, Y:-33.45, Z:18.63 [[ 7.46505545e-01 5.97309073e-01 -2.93174593e-01 7.62228875e+01] [-5.50152601e-01 8.01911946e-01 2.32957820e-01 -3.34508649e+01] [ 3.74248028e-01 -1.26135395e-02 9.27242855e-01 1.86263482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:-33.46, Z:18.63 [[ 7.45834988e-01 5.95024537e-01 -2.99459464e-01 7.62470328e+01] [-5.51196595e-01 8.03704753e-01 2.24145004e-01 -3.34629758e+01] [ 3.74048772e-01 -2.11415009e-03 9.27406624e-01 1.86319753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:76.27, Y:-33.48, Z:18.64 [[ 7.45554925e-01 5.95442899e-01 -2.99325253e-01 7.62683041e+01] [-5.51713072e-01 8.03395501e-01 2.23982934e-01 -3.34787018e+01] [ 3.73845610e-01 -1.84992485e-03 9.27489104e-01 1.86407324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:-33.49, Z:18.65 [[ 7.44878106e-01 5.96419787e-01 -2.99065286e-01 7.62881495e+01] [-5.52866356e-01 8.02671612e-01 2.23734386e-01 -3.34931948e+01] [ 3.73490830e-01 -1.31171095e-03 9.27632944e-01 1.86523964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:76.31, Y:-33.51, Z:18.66 [[ 7.42847168e-01 5.98504914e-01 -2.99949917e-01 7.63108689e+01] [-5.54871738e-01 8.01119106e-01 2.24333527e-01 -3.35091379e+01] [ 3.74560328e-01 -2.11793117e-04 9.27202522e-01 1.86597924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:-33.52, Z:18.66 [[ 7.44683051e-01 5.92630320e-01 -3.06979571e-01 7.63420473e+01] [-5.55822628e-01 8.05295247e-01 2.06302621e-01 -3.35189150e+01] [ 3.69470378e-01 1.69961268e-02 9.29087063e-01 1.86586134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:76.35, Y:-33.54, Z:18.69 [[ 7.38802195e-01 6.08379071e-01 -2.89907265e-01 7.63490477e+01] [-5.60397603e-01 7.93544220e-01 2.37154165e-01 -3.35430412e+01] [ 3.74333865e-01 -1.27466813e-02 9.27206384e-01 1.86895217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:76.38, Y:-33.56, Z:18.69 [[ 7.37423033e-01 6.05135448e-01 -3.00030598e-01 7.63763922e+01] [-5.62029698e-01 7.96116089e-01 2.24325192e-01 -3.35550672e+01] [ 3.74606311e-01 3.20354286e-03 9.27178434e-01 1.86917514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:-33.57, Z:18.70 [[ 7.35744735e-01 6.07181371e-01 -3.00017445e-01 7.63969704e+01] [-5.64299971e-01 7.94551274e-01 2.24173628e-01 -3.35699073e+01] [ 3.74493294e-01 4.36526846e-03 9.27219347e-01 1.87047202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:76.42, Y:-33.59, Z:18.71 [[ 7.34637339e-01 6.08115898e-01 -3.00837223e-01 7.64196458e+01] [-5.65123409e-01 7.93832651e-01 2.24644731e-01 -3.35863028e+01] [ 3.75424442e-01 4.97774924e-03 9.26839636e-01 1.87115704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:-33.60, Z:18.73 [[ 7.32499552e-01 6.11063058e-01 -3.00077233e-01 7.64395999e+01] [-5.68588391e-01 7.91554530e-01 2.23938984e-01 -3.36011425e+01] [ 3.74368333e-01 6.58522532e-03 9.27256699e-01 1.87258141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:76.46, Y:-33.62, Z:18.73 [[ 7.31912491e-01 6.11723370e-01 -3.00164328e-01 7.64607823e+01] [-5.69298031e-01 7.91041040e-01 2.23950498e-01 -3.36172673e+01] [ 3.74438056e-01 6.97079412e-03 9.27225728e-01 1.87335877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:76.48, Y:-33.63, Z:18.74 [[ 7.30324973e-01 6.13330176e-01 -3.00751608e-01 7.64815361e+01] [-5.70884776e-01 7.89787543e-01 2.24335039e-01 -3.36333676e+01] [ 3.75121322e-01 7.85703322e-03 9.26942426e-01 1.87438616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:76.50, Y:-33.65, Z:18.75 [[ 7.29757242e-01 6.13666971e-01 -3.01441897e-01 7.65028175e+01] [-5.71068710e-01 7.89523451e-01 2.24796015e-01 -3.36496005e+01] [ 3.75945336e-01 8.09751509e-03 9.26606461e-01 1.87528438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:76.52, Y:-33.67, Z:18.76 [[ 7.29286353e-01 6.14021951e-01 -3.01858342e-01 7.65225335e+01] [-5.71352764e-01 7.89244884e-01 2.25052289e-01 -3.36654264e+01] [ 3.76427198e-01 8.34003483e-03 9.26408662e-01 1.87636273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:76.54, Y:-33.68, Z:18.77 [[ 7.29428352e-01 6.13346656e-01 -3.02886378e-01 7.65439203e+01] [-5.70345275e-01 7.89772523e-01 2.25755686e-01 -3.36823574e+01] [ 3.77677834e-01 8.07721628e-03 9.25901837e-01 1.87720782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:-33.70, Z:18.79 [[ 7.29941891e-01 6.12683084e-01 -3.02992201e-01 7.65618655e+01] [-5.69617635e-01 7.90290367e-01 2.25780616e-01 -3.36985268e+01] [ 3.77783782e-01 7.78297128e-03 9.25861134e-01 1.87856614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:76.58, Y:-33.72, Z:18.79 [[ 7.30606417e-01 6.11257750e-01 -3.04266703e-01 7.65829810e+01] [-5.67723181e-01 7.91399420e-01 2.26665717e-01 -3.37155266e+01] [ 3.79347669e-01 7.13583295e-03 9.25226689e-01 1.87928303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25999999999999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:76.60, Y:-33.73, Z:18.80 [[ 7.30121929e-01 6.07999786e-01 -3.11862518e-01 7.66048307e+01] [-5.66792915e-01 7.93781746e-01 2.20581800e-01 -3.37289215e+01] [ 3.81664461e-01 1.57098562e-02 9.24167431e-01 1.88011235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:-33.74, Z:18.80 [[ 7.34024813e-01 6.02763691e-01 -3.12863398e-01 7.66297015e+01] [-5.64545737e-01 7.97647677e-01 2.12241123e-01 -3.37433572e+01] [ 3.77486006e-01 2.08354467e-02 9.25780859e-01 1.88033456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:-33.77, Z:18.84 [[ 7.29204601e-01 6.17813392e-01 -2.94223150e-01 7.66322506e+01] [-5.64959909e-01 7.86151761e-01 2.50570768e-01 -3.37714791e+01] [ 3.86110023e-01 -1.64930729e-02 9.22305279e-01 1.88437681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:-33.78, Z:18.84 [[ 7.29399320e-01 6.10162587e-01 -3.09319009e-01 7.66626120e+01] [-5.64779100e-01 7.92251927e-01 2.31000978e-01 -3.37822204e+01] [ 3.86006735e-01 6.20495501e-03 9.22475094e-01 1.88436517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:-33.80, Z:18.85 [[ 7.29901246e-01 6.09560877e-01 -3.09321367e-01 7.66826952e+01] [-5.64148022e-01 7.92717050e-01 2.30947370e-01 -3.37973607e+01] [ 3.85980803e-01 5.93426484e-03 9.22487726e-01 1.88538766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:76.70, Y:-33.81, Z:18.86 [[ 7.31084850e-01 6.08099231e-01 -3.09403083e-01 7.67038374e+01] [-5.62562342e-01 7.93843873e-01 2.30944834e-01 -3.38140123e+01] [ 3.86055118e-01 5.21825351e-03 9.22460956e-01 1.88634294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:76.72, Y:-33.83, Z:18.87 [[ 7.31709198e-01 6.07248381e-01 -3.09598212e-01 7.67241783e+01] [-5.61602238e-01 7.94497426e-01 2.31034124e-01 -3.38294945e+01] [ 3.86270081e-01 4.82125508e-03 9.22373124e-01 1.88736723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:-33.84, Z:18.89 [[ 7.32397741e-01 6.06913240e-01 -3.08625775e-01 7.67429786e+01] [-5.61577303e-01 7.94754125e-01 2.30210368e-01 -3.38438752e+01] [ 3.84999328e-01 4.71167632e-03 9.22904826e-01 1.88867212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.5 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:76.76, Y:-33.86, Z:18.90 [[ 7.34199667e-01 6.04656108e-01 -3.08774740e-01 7.67648770e+01] [-5.59108690e-01 7.96478598e-01 2.30259235e-01 -3.38590562e+01] [ 3.85160126e-01 3.58238668e-03 9.22842806e-01 1.88955962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:-33.87, Z:18.91 [[ 7.34952343e-01 6.04182724e-01 -3.07909546e-01 7.67844879e+01] [-5.58883504e-01 7.96838676e-01 2.29559042e-01 -3.38730722e+01] [ 3.84049842e-01 3.37061032e-03 9.23306210e-01 1.89081865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:-33.89, Z:18.92 [[ 7.36679096e-01 6.02245974e-01 -3.07577139e-01 7.68055011e+01] [-5.56912541e-01 7.98306940e-01 2.29247576e-01 -3.38873247e+01] [ 3.83604394e-01 2.41166884e-03 9.23494371e-01 1.89193443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:-33.90, Z:18.93 [[ 7.37938786e-01 6.00943062e-01 -3.07105494e-01 7.68262949e+01] [-5.55668413e-01 7.99289857e-01 2.28841297e-01 -3.39025352e+01] [ 3.82986896e-01 1.77795408e-03 9.23752064e-01 1.89301197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:-33.92, Z:18.94 [[ 7.39212444e-01 5.99265907e-01 -3.07319598e-01 7.68463258e+01] [-5.53809382e-01 8.00549471e-01 2.28944780e-01 -3.39174301e+01] [ 3.83223343e-01 9.57646187e-04 9.23655213e-01 1.89406860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:-33.93, Z:18.95 [[ 7.42506421e-01 5.95183049e-01 -3.07313119e-01 7.68673758e+01] [-5.49432193e-01 8.03589446e-01 2.28841142e-01 -3.39325822e+01] [ 3.83155948e-01 -1.06829684e-03 9.23683051e-01 1.89510881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:76.89, Y:-33.95, Z:18.96 [[ 7.44017661e-01 5.90220306e-01 -3.13173611e-01 7.68925650e+01] [-5.46024250e-01 8.07231069e-01 2.24132817e-01 -3.39474451e+01] [ 3.85091209e-01 4.24161208e-03 9.22868772e-01 1.89571314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:-33.96, Z:18.98 [[ 7.46584901e-01 5.92362039e-01 -3.02850128e-01 7.69066677e+01] [-5.44017747e-01 8.05604689e-01 2.34618362e-01 -3.39648199e+01] [ 3.82956494e-01 -1.04066823e-02 9.23707759e-01 1.89751821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:76.93, Y:-33.98, Z:18.98 [[ 7.50397437e-01 5.85214458e-01 -3.07290944e-01 7.69310425e+01] [-5.38760741e-01 8.10856590e-01 2.28579208e-01 -3.39791227e+01] [ 3.82936744e-01 -5.96895522e-03 9.23755282e-01 1.89817455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:-33.99, Z:18.99 [[ 7.52076818e-01 5.83112888e-01 -3.07180434e-01 7.69513767e+01] [-5.36547811e-01 8.12361071e-01 2.28442413e-01 -3.39943816e+01] [ 3.82749142e-01 -6.98925346e-03 9.23825874e-01 1.89934430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:-34.01, Z:19.00 [[ 7.54514199e-01 5.79453167e-01 -3.08127167e-01 7.69722670e+01] [-5.32316551e-01 8.14957683e-01 2.29091825e-01 -3.40093681e+01] [ 3.83858586e-01 -8.83184441e-03 9.23349655e-01 1.90037965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:-34.01, Z:18.98 [[ 7.61610102e-01 5.62763741e-01 -3.21320750e-01 7.70139963e+01] [-5.28556974e-01 8.26331469e-01 1.94432069e-01 -3.40136144e+01] [ 3.74936766e-01 2.17548956e-02 9.26795094e-01 1.89843854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-34.04, Z:19.01 [[ 7.62891539e-01 5.70694261e-01 -3.03816656e-01 7.70248393e+01] [-5.27454536e-01 8.21140307e-01 2.17991533e-01 -3.40357334e+01] [ 3.73882619e-01 -6.05442294e-03 9.27456269e-01 1.90069790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:77.03, Y:-34.06, Z:19.05 [[ 7.56699989e-01 5.85501164e-01 -2.90849641e-01 7.70290584e+01] [-5.29184847e-01 8.09788604e-01 2.53388665e-01 -3.40636607e+01] [ 3.83886083e-01 -3.78259779e-02 9.22605371e-01 1.90481531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:-34.07, Z:19.05 [[ 7.55715650e-01 5.77687237e-01 -3.08498481e-01 7.70611398e+01] [-5.30460123e-01 8.16204279e-01 2.28959892e-01 -3.40715206e+01] [ 3.84064987e-01 -9.38243131e-03 9.23258390e-01 1.90475416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-34.08, Z:19.06 [[ 7.53721148e-01 5.80535569e-01 -3.08030654e-01 7.70825063e+01] [-5.33744173e-01 8.14197579e-01 2.28472012e-01 -3.40843752e+01] [ 3.83433943e-01 -7.79462047e-03 9.23535411e-01 1.90572093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:-34.08, Z:19.03 [[ 7.60680184e-01 5.61226749e-01 -3.26175097e-01 7.71304709e+01] [-5.33290371e-01 8.26796123e-01 1.78912135e-01 -3.40827438e+01] [ 3.70090581e-01 3.78511229e-02 9.28224248e-01 1.90280983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:-34.12, Z:19.10 [[ 7.51062001e-01 5.96818021e-01 -2.82336894e-01 7.71124531e+01] [-5.38288624e-01 8.01143316e-01 2.61562123e-01 -3.41237767e+01] [ 3.82297304e-01 -4.44706333e-02 9.22968653e-01 1.90982269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:-34.13, Z:19.09 [[ 7.50755232e-01 5.84627159e-01 -3.07534821e-01 7.71490288e+01] [-5.38303613e-01 8.11281819e-01 2.28146948e-01 -3.41309697e+01] [ 3.82878311e-01 -5.73540963e-03 9.23780983e-01 1.90911698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:77.17, Y:-34.14, Z:19.10 [[ 7.47286679e-01 5.89085642e-01 -3.07474757e-01 7.71712110e+01] [-5.43179612e-01 8.08063556e-01 2.28011401e-01 -3.41436394e+01] [ 3.82777387e-01 -3.37586338e-03 9.23834441e-01 1.90994043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.1 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:77.19, Y:-34.16, Z:19.11 [[ 7.45386006e-01 5.91510054e-01 -3.07433826e-01 7.71920191e+01] [-5.45855037e-01 8.06295026e-01 2.27882888e-01 -3.41573177e+01] [ 3.82677384e-01 -2.04641322e-03 9.23879771e-01 1.91092266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:77.21, Y:-34.17, Z:19.12 [[ 7.41894661e-01 5.95856638e-01 -3.07485248e-01 7.72146526e+01] [-5.50569263e-01 8.03090783e-01 2.27856712e-01 -3.41709838e+01] [ 3.82708503e-01 2.46248092e-04 9.23869115e-01 1.91187399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:77.24, Y:-34.19, Z:19.13 [[ 7.40587754e-01 5.97826549e-01 -3.06811336e-01 7.72364333e+01] [-5.52965461e-01 8.01624293e-01 2.27217278e-01 -3.41857293e+01] [ 3.81783942e-01 1.38173833e-03 9.24250568e-01 1.91291088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:77.26, Y:-34.20, Z:19.14 [[ 7.38787885e-01 6.00100048e-01 -3.06712233e-01 7.72571513e+01] [-5.55513876e-01 7.99920485e-01 2.27005619e-01 -3.41997168e+01] [ 3.81571481e-01 2.67389979e-03 9.24335467e-01 1.91402318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.28, Y:-34.21, Z:19.15 [[ 7.35899667e-01 6.03836613e-01 -3.06321767e-01 7.72793148e+01] [-5.59703362e-01 7.97094527e-01 2.26654939e-01 -3.42140388e+01] [ 3.81029954e-01 4.65402880e-03 9.24550980e-01 1.91512913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:77.30, Y:-34.23, Z:19.16 [[ 7.34902352e-01 6.04830016e-01 -3.06755905e-01 7.73011331e+01] [-5.60706140e-01 7.96336997e-01 2.26839177e-01 -3.42291318e+01] [ 3.81480219e-01 5.29527498e-03 9.24361835e-01 1.91599800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:-34.24, Z:19.17 [[ 7.32619388e-01 6.07843799e-01 -3.06259284e-01 7.73216689e+01] [-5.64178990e-01 7.94026011e-01 2.26328879e-01 -3.42440195e+01] [ 3.80750443e-01 6.97212865e-03 9.24651550e-01 1.91729741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:-34.26, Z:19.18 [[ 7.32062381e-01 6.08460115e-01 -3.06367359e-01 7.73425308e+01] [-5.64873731e-01 7.93549786e-01 2.26266226e-01 -3.42592218e+01] [ 3.80791726e-01 7.41788077e-03 9.24631081e-01 1.91828006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:77.36, Y:-34.28, Z:19.19 [[ 7.31606803e-01 6.08465442e-01 -3.07443152e-01 7.73643261e+01] [-5.64621134e-01 7.93544207e-01 2.26915328e-01 -3.42753230e+01] [ 3.82039868e-01 7.57610366e-03 9.24114788e-01 1.91913070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:77.38, Y:-34.29, Z:19.20 [[ 7.30464727e-01 6.09239004e-01 -3.08624559e-01 7.73839814e+01] [-5.65170450e-01 7.92944864e-01 2.27641833e-01 -3.42910862e+01] [ 3.83410543e-01 8.14115116e-03 9.23542136e-01 1.92003801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:77.40, Y:-34.31, Z:19.21 [[ 7.29779465e-01 6.09553446e-01 -3.09623206e-01 7.74041475e+01] [-5.65242820e-01 7.92700526e-01 2.28312133e-01 -3.43072030e+01] [ 3.84606926e-01 8.39478828e-03 9.23042274e-01 1.92104331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.42, Y:-34.32, Z:19.22 [[ 7.29435010e-01 6.10199175e-01 -3.09162631e-01 7.74241037e+01] [-5.66142186e-01 7.92198655e-01 2.27825188e-01 -3.43229912e+01] [ 3.83936962e-01 8.84633984e-03 9.23316929e-01 1.92220747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:77.44, Y:-34.34, Z:19.23 [[ 7.28539269e-01 6.10590627e-01 -3.10498985e-01 7.74447145e+01] [-5.66232758e-01 7.91892658e-01 2.28662375e-01 -3.43392319e+01] [ 3.85500969e-01 9.22517703e-03 9.22661313e-01 1.92306373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.46, Y:-34.36, Z:19.24 [[ 7.27749621e-01 6.11480386e-01 -3.10599785e-01 7.74638581e+01] [-5.67212810e-01 7.91199052e-01 2.28634398e-01 -3.43556681e+01] [ 3.85551706e-01 9.78758061e-03 9.22634318e-01 1.92421855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:-34.37, Z:19.25 [[ 7.27605848e-01 6.11855484e-01 -3.10197675e-01 7.74828786e+01] [-5.67799495e-01 7.90905159e-01 2.28194572e-01 -3.43711897e+01] [ 3.84959042e-01 1.00943783e-02 9.22878453e-01 1.92529948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:77.50, Y:-34.39, Z:19.26 [[ 7.28236254e-01 6.10780411e-01 -3.10836369e-01 7.75020037e+01] [-5.66469014e-01 7.91741777e-01 2.28599683e-01 -3.43890227e+01] [ 3.85726347e-01 9.60459440e-03 9.22563243e-01 1.92607792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:77.52, Y:-34.41, Z:19.27 [[ 7.29112966e-01 6.10019527e-01 -3.10274814e-01 7.75214696e+01] [-5.65849668e-01 7.92332185e-01 2.28087398e-01 -3.44052881e+01] [ 3.84978488e-01 9.26742080e-03 9.22879016e-01 1.92719152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:-34.42, Z:19.28 [[ 7.29861342e-01 6.09416964e-01 -3.09698862e-01 7.75411837e+01] [-5.65425409e-01 7.92798203e-01 2.27519485e-01 -3.44216095e+01] [ 3.84182935e-01 9.05392958e-03 9.23212597e-01 1.92843002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:-34.43, Z:19.26 [[ 7.38081362e-01 5.90769307e-01 -3.25925650e-01 7.75795961e+01] [-5.60521840e-01 8.05768554e-01 1.91186569e-01 -3.44261699e+01] [ 3.75567797e-01 4.15772018e-02 9.25861851e-01 1.92637516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.57, Y:-34.46, Z:19.32 [[ 7.32678357e-01 6.15751535e-01 -2.89883549e-01 7.75699775e+01] [-5.61058374e-01 7.87572544e-01 2.54839142e-01 -3.44627415e+01] [ 3.85221917e-01 -2.40735311e-02 9.22509913e-01 1.93204960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:-34.47, Z:19.32 [[ 7.33302564e-01 6.05070368e-01 -3.10092243e-01 7.76031232e+01] [-5.60632941e-01 7.96142326e-01 2.27701782e-01 -3.44703841e+01] [ 3.84653161e-01 6.87362532e-03 9.23035589e-01 1.93166753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:77.63, Y:-34.49, Z:19.33 [[ 7.33622361e-01 6.04271731e-01 -3.10892113e-01 7.76252054e+01] [-5.59554794e-01 7.96751533e-01 2.28222318e-01 -3.44858475e+01] [ 3.85612063e-01 6.53217637e-03 9.22637885e-01 1.93252564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:-34.50, Z:19.34 [[ 7.33370152e-01 6.04860061e-01 -3.10342597e-01 7.76450156e+01] [-5.60417623e-01 7.96301444e-01 2.27675423e-01 -3.44997602e+01] [ 3.84838028e-01 6.95110051e-03 9.22957948e-01 1.93363292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:-34.51, Z:19.35 [[ 7.32627813e-01 6.05495640e-01 -3.10856105e-01 7.76666057e+01] [-5.60982351e-01 7.95814631e-01 2.27986569e-01 -3.45149146e+01] [ 3.85428710e-01 7.35548673e-03 9.22708300e-01 1.93461826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.69, Y:-34.53, Z:19.36 [[ 7.32312405e-01 6.05614309e-01 -3.11367710e-01 7.76877823e+01] [-5.61020167e-01 7.95722423e-01 2.28215244e-01 -3.45305027e+01] [ 3.85972686e-01 7.55871083e-03 9.22479242e-01 1.93562269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:77.73, Y:-34.53, Z:19.33 [[ 7.38398524e-01 5.89245248e-01 -3.27959842e-01 7.77289272e+01] [-5.60172311e-01 8.06714145e-01 1.88200080e-01 -3.45326660e+01] [ 3.75465846e-01 4.47473614e-02 9.25755406e-01 1.93335889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:-34.57, Z:19.39 [[ 7.31273978e-01 6.17237171e-01 -2.90269950e-01 7.77160817e+01] [-5.61937247e-01 7.86396212e-01 2.56529781e-01 -3.45690934e+01] [ 3.86606906e-01 -2.44800569e-02 9.21919643e-01 1.93937713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:77.75, Y:-34.58, Z:19.39 [[ 7.31540316e-01 6.06426235e-01 -3.11602290e-01 7.77500836e+01] [-5.61918438e-01 7.95097771e-01 2.28182391e-01 -3.45766981e+01] [ 3.86130074e-01 8.17045327e-03 9.22408158e-01 1.93870377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:-34.59, Z:19.40 [[ 7.31384609e-01 6.07386664e-01 -3.10093525e-01 7.77712610e+01] [-5.63435093e-01 7.94358881e-01 2.27012916e-01 -3.45909791e+01] [ 3.84210164e-01 8.68382164e-03 9.23204821e-01 1.94000177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.81, Y:-34.59, Z:19.38 [[ 7.38241101e-01 5.89816072e-01 -3.27287456e-01 7.78139933e+01] [-5.61357031e-01 8.06233379e-01 1.86724456e-01 -3.45923251e+01] [ 3.74003156e-01 4.58774466e-02 9.26292016e-01 1.93763627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.0 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:77.80, Y:-34.63, Z:19.44 [[ 7.31490325e-01 6.17250275e-01 -2.89696397e-01 7.78026463e+01] [-5.62105786e-01 7.86383184e-01 2.56200262e-01 -3.46294498e+01] [ 3.85952057e-01 -2.45679916e-02 9.22191641e-01 1.94350316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:77.84, Y:-34.64, Z:19.43 [[ 7.31793820e-01 6.06987666e-01 -3.09909305e-01 7.78367149e+01] [-5.63160404e-01 7.94663799e-01 2.26627019e-01 -3.46369311e+01] [ 3.83833511e-01 8.68439734e-03 9.23361477e-01 1.94317158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:-34.65, Z:19.44 [[ 7.31956830e-01 6.07177830e-01 -3.09150904e-01 7.78573632e+01] [-5.63612510e-01 7.94517160e-01 2.26016417e-01 -3.46517394e+01] [ 3.82857856e-01 8.80705647e-03 9.23765283e-01 1.94438480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:77.88, Y:-34.67, Z:19.45 [[ 7.32595991e-01 6.06490578e-01 -3.08985910e-01 7.78781198e+01] [-5.62974540e-01 7.95044525e-01 2.25751790e-01 -3.46667803e+01] [ 3.82573890e-01 8.56634420e-03 9.23885186e-01 1.94536182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:-34.68, Z:19.47 [[ 7.33376837e-01 6.06275290e-01 -3.07552739e-01 7.78989114e+01] [-5.63199096e-01 7.95209513e-01 2.24607679e-01 -3.46816153e+01] [ 3.80742949e-01 8.49135541e-03 9.24641933e-01 1.94651042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:77.92, Y:-34.70, Z:19.47 [[ 7.34169785e-01 6.05161776e-01 -3.07853783e-01 7.79200272e+01] [-5.61926421e-01 7.96062631e-01 2.24773185e-01 -3.46963871e+01] [ 3.81095032e-01 7.96949322e-03 9.24501522e-01 1.94733000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17999999999999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:77.94, Y:-34.71, Z:19.48 [[ 7.34712344e-01 6.04310849e-01 -3.08230707e-01 7.79415454e+01] [-5.60920131e-01 7.96712449e-01 2.24984178e-01 -3.47114790e+01] [ 3.81531621e-01 7.59415642e-03 9.24324592e-01 1.94822530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:77.96, Y:-34.73, Z:19.49 [[ 7.35229284e-01 6.03760465e-01 -3.08076615e-01 7.79629270e+01] [-5.60428015e-01 7.97131178e-01 2.24727225e-01 -3.47265849e+01] [ 3.81258889e-01 7.42872956e-03 9.24438464e-01 1.94933525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:77.98, Y:-34.74, Z:19.50 [[ 7.36120403e-01 6.02698953e-01 -3.08027149e-01 7.79825412e+01] [-5.59350724e-01 7.97937943e-01 2.24548007e-01 -3.47412337e+01] [ 3.81121398e-01 7.00083907e-03 9.24498496e-01 1.95037330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:78.00, Y:-34.76, Z:19.51 [[ 7.36893911e-01 6.01418772e-01 -3.08679162e-01 7.80026525e+01] [-5.57797995e-01 7.98908246e-01 2.24960021e-01 -3.47562665e+01] [ 3.81901508e-01 6.40894759e-03 9.24180807e-01 1.95125880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.3 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.02, Y:-34.77, Z:19.52 [[ 7.37578439e-01 6.00828384e-01 -3.08193607e-01 7.80231863e+01] [-5.57340115e-01 7.99354193e-01 2.24510289e-01 -3.47714818e+01] [ 3.81248006e-01 6.17471169e-03 9.24452179e-01 1.95246485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:78.07, Y:-34.77, Z:19.50 [[ 7.46429480e-01 5.80710434e-01 -3.24989883e-01 7.80662619e+01] [-5.52821694e-01 8.12968373e-01 1.82949716e-01 -3.47732840e+01] [ 3.70447305e-01 4.31023962e-02 9.27852886e-01 1.94997469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:-34.80, Z:19.53 [[ 7.46474829e-01 5.92325148e-01 -3.03193417e-01 7.80735081e+01] [-5.52758447e-01 8.05653412e-01 2.13027414e-01 -3.47982888e+01] [ 3.70450305e-01 8.57311995e-03 9.28812722e-01 1.95270422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:-34.83, Z:19.57 [[ 7.40708040e-01 6.07311494e-01 -2.87270515e-01 7.80734059e+01] [-5.52870303e-01 7.93951496e-01 2.52933688e-01 -3.48284492e+01] [ 3.81688391e-01 -2.85266795e-02 9.23850746e-01 1.95731208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:-34.82, Z:19.54 [[ 7.48217485e-01 5.79267378e-01 -3.23449996e-01 7.81280223e+01] [-5.49902935e-01 8.14223389e-01 1.86137139e-01 -3.48237965e+01] [ 3.71183724e-01 3.85950402e-02 9.27757008e-01 1.95362907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-34.85, Z:19.56 [[ 7.48311000e-01 5.87382521e-01 -3.08240849e-01 7.81411659e+01] [-5.49279006e-01 8.09200783e-01 2.08534570e-01 -3.48478008e+01] [ 3.71918298e-01 1.32615143e-02 9.28170734e-01 1.95577957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-34.88, Z:19.61 [[ 7.40766064e-01 6.06313294e-01 -2.89222799e-01 7.81384041e+01] [-5.49516687e-01 7.94566652e-01 2.58254229e-01 -3.48809298e+01] [ 3.86389763e-01 -3.23732147e-02 9.21767284e-01 1.96077098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:78.20, Y:-34.88, Z:19.57 [[ 7.48013222e-01 5.76080089e-01 -3.29557204e-01 7.81957868e+01] [-5.46020102e-01 8.16441435e-01 1.87844167e-01 -3.48757443e+01] [ 3.77277441e-01 3.94349369e-02 9.25260298e-01 1.95659384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:78.20, Y:-34.90, Z:19.59 [[ 7.47946938e-01 5.88441874e-01 -3.07101839e-01 7.82009785e+01] [-5.46096807e-01 8.08530852e-01 2.19217103e-01 -3.49006512e+01] [ 3.77297834e-01 3.74457276e-03 9.26084403e-01 1.95939856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:-34.93, Z:19.64 [[ 7.40600720e-01 6.04274917e-01 -2.93874802e-01 7.82022685e+01] [-5.48232816e-01 7.96274297e-01 2.55710820e-01 -3.49304866e+01] [ 3.88524586e-01 -2.82678071e-02 9.21004657e-01 1.96396066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.6 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:78.26, Y:-34.93, Z:19.60 [[ 7.47921857e-01 5.77025409e-01 -3.28107564e-01 7.82562823e+01] [-5.45777243e-01 8.15916263e-01 1.90808421e-01 -3.49260440e+01] [ 3.77809604e-01 3.63638528e-02 9.25168943e-01 1.96027190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-34.95, Z:19.63 [[ 7.47832252e-01 5.87369421e-01 -3.09425413e-01 7.82655467e+01] [-5.46604142e-01 8.09277118e-01 2.15161469e-01 -3.49490115e+01] [ 3.76790175e-01 8.22852639e-03 9.26262088e-01 1.96271673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-34.98, Z:19.67 [[ 7.40550943e-01 6.05094174e-01 -2.92310353e-01 7.82655735e+01] [-5.49924018e-01 7.95686411e-01 2.53902952e-01 -3.49780907e+01] [ 3.86222572e-01 -2.72795862e-02 9.22002141e-01 1.96743559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:-34.99, Z:19.67 [[ 7.40774933e-01 5.95497714e-01 -3.10861659e-01 7.82984308e+01] [-5.50582719e-01 8.03351136e-01 2.26904432e-01 -3.49857117e+01] [ 3.84852137e-01 3.06994213e-03 9.22973135e-01 1.96707314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.34, Y:-34.99, Z:19.65 [[ 7.48769831e-01 5.77148343e-01 -3.25950195e-01 7.83430623e+01] [-5.47828446e-01 8.15687763e-01 1.85842588e-01 -3.49875728e+01] [ 3.73132327e-01 3.94114659e-02 9.26940668e-01 1.96458407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.35, Y:-35.01, Z:19.67 [[ 7.48746910e-01 5.87970438e-01 -3.06053636e-01 7.83511344e+01] [-5.48282236e-01 8.08835960e-01 2.12534654e-01 -3.50106364e+01] [ 3.72511280e-01 8.66910669e-03 9.27987173e-01 1.96705771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:78.37, Y:-35.03, Z:19.68 [[ 7.48742937e-01 5.87314596e-01 -3.07319994e-01 7.83742942e+01] [-5.48848389e-01 8.09271384e-01 2.09392629e-01 -3.50253815e+01] [ 3.71684624e-01 1.18908310e-02 9.28282903e-01 1.96798200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:78.39, Y:-35.04, Z:19.70 [[ 7.47438995e-01 5.90429651e-01 -3.04512359e-01 7.83920024e+01] [-5.48748420e-01 8.07078179e-01 2.17944913e-01 -3.50428159e+01] [ 3.74446419e-01 4.20014891e-03 9.27239040e-01 1.96953562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:-35.07, Z:19.74 [[ 7.39622099e-01 6.07175789e-01 -2.90338960e-01 7.83935549e+01] [-5.52128772e-01 7.94086147e-01 2.54127941e-01 -3.50708464e+01] [ 3.84854479e-01 -2.76541482e-02 9.22562886e-01 1.97412424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:-35.06, Z:19.70 [[ 7.47250142e-01 5.77894451e-01 -3.28108561e-01 7.84508327e+01] [-5.49211728e-01 8.15020014e-01 1.84685827e-01 -3.50636386e+01] [ 3.74143959e-01 4.21945592e-02 9.26410232e-01 1.96998004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89999999999999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:78.44, Y:-35.10, Z:19.76 [[ 7.39308303e-01 6.06716932e-01 -2.92092106e-01 7.84368759e+01] [-5.49910727e-01 7.94344460e-01 2.58098954e-01 -3.51036826e+01] [ 3.88614752e-01 -3.01901174e-02 9.20905604e-01 1.97619215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:-35.10, Z:19.73 [[ 7.45531995e-01 5.80709457e-01 -3.27045213e-01 7.84895960e+01] [-5.48871925e-01 8.13330055e-01 1.92960701e-01 -3.50970224e+01] [ 3.78049805e-01 3.56475593e-02 9.25098696e-01 1.97268248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:-35.12, Z:19.75 [[ 7.45138465e-01 5.89933023e-01 -3.11042918e-01 7.85005719e+01] [-5.48973899e-01 8.07394439e-01 2.16198700e-01 -3.51199727e+01] [ 3.78677075e-01 9.65647604e-03 9.25478484e-01 1.97499589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:78.50, Y:-35.15, Z:19.79 [[ 7.38566146e-01 6.05177599e-01 -2.97119709e-01 7.85024701e+01] [-5.49444761e-01 7.95697459e-01 2.54903920e-01 -3.51496418e+01] [ 3.90679540e-01 -2.50125384e-02 9.20186867e-01 1.97932216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:78.53, Y:-35.16, Z:19.79 [[ 7.38905273e-01 5.95464537e-01 -3.15342644e-01 7.85346642e+01] [-5.49003002e-01 8.03376973e-01 2.30610370e-01 -3.51583535e+01] [ 3.90659316e-01 2.72484028e-03 9.20531300e-01 1.97902668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:-35.17, Z:19.80 [[ 7.39371518e-01 5.95084501e-01 -3.14966974e-01 7.85541248e+01] [-5.48729169e-01 8.03659028e-01 2.30279106e-01 -3.51730681e+01] [ 3.90161579e-01 2.56975380e-03 9.20742819e-01 1.98022999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:-35.19, Z:19.81 [[ 7.39993329e-01 5.94316721e-01 -3.14956358e-01 7.85740802e+01] [-5.47940492e-01 8.04227929e-01 2.30170927e-01 -3.51880665e+01] [ 3.90091131e-01 2.25239135e-03 9.20773499e-01 1.98124640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:78.61, Y:-35.19, Z:19.79 [[ 7.47900250e-01 5.75792578e-01 -3.30315187e-01 7.86149130e+01] [-5.43084342e-01 8.16885901e-01 1.94311148e-01 -3.51899712e+01] [ 3.81712736e-01 3.40636494e-02 9.23653103e-01 1.97890308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:78.60, Y:-35.23, Z:19.85 [[ 7.42841519e-01 5.99999185e-01 -2.96963729e-01 7.86047095e+01] [-5.44062004e-01 7.99529327e-01 2.54459018e-01 -3.52275666e+01] [ 3.90106414e-01 -2.74560416e-02 9.20360338e-01 1.98471940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:78.65, Y:-35.22, Z:19.82 [[ 7.49871502e-01 5.75356297e-01 -3.26585152e-01 7.86541220e+01] [-5.41842799e-01 8.17348356e-01 1.95826571e-01 -3.52232792e+01] [ 3.79603888e-01 3.01130479e-02 9.24658906e-01 1.98156121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:-35.25, Z:19.84 [[ 7.49045381e-01 5.85171691e-01 -3.10652715e-01 7.86644127e+01] [-5.42092233e-01 8.10902634e-01 2.20392671e-01 -3.52468637e+01] [ 3.80876656e-01 3.31831196e-03 9.24619901e-01 1.98408592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:-35.26, Z:19.85 [[ 7.49214046e-01 5.84578913e-01 -3.11361219e-01 7.86859327e+01] [-5.41801758e-01 8.11325944e-01 2.19547416e-01 -3.52622703e+01] [ 3.80958225e-01 4.20804851e-03 9.24582675e-01 1.98520250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:78.70, Y:-35.28, Z:19.87 [[ 7.49359443e-01 5.86024714e-01 -3.08278218e-01 7.87049560e+01] [-5.41373340e-01 8.10292230e-01 2.24368910e-01 -3.52790145e+01] [ 3.81281171e-01 -1.23935251e-03 9.24458291e-01 1.98663454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28999999999999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:78.73, Y:-35.29, Z:19.87 [[ 7.48526491e-01 5.84341849e-01 -3.13452862e-01 7.87282000e+01] [-5.41320736e-01 8.11492726e-01 2.20116824e-01 -3.52929723e+01] [ 3.82988190e-01 4.91526006e-03 9.23740162e-01 1.98743317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.74, Y:-35.32, Z:19.91 [[ 7.43060794e-01 5.96678896e-01 -3.03042821e-01 7.87354724e+01] [-5.43431257e-01 8.02256546e-01 2.47117186e-01 -3.53184068e+01] [ 3.90567697e-01 -1.89401517e-02 9.20379348e-01 1.99097194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:-35.32, Z:19.89 [[ 7.48033131e-01 5.78894848e-01 -3.24541508e-01 7.87786843e+01] [-5.42522219e-01 8.15050730e-01 2.03376374e-01 -3.53190626e+01] [ 3.82251328e-01 2.39387129e-02 9.23748267e-01 1.98896290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:78.79, Y:-35.34, Z:19.91 [[ 7.48536619e-01 5.84531143e-01 -3.13075507e-01 7.87931261e+01] [-5.41782653e-01 8.11353823e-01 2.19491528e-01 -3.53397176e+01] [ 3.82314643e-01 5.32143262e-03 9.24016881e-01 1.99062056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:-35.35, Z:19.92 [[ 7.47514991e-01 5.84799217e-01 -3.15009864e-01 7.88154922e+01] [-5.43346229e-01 8.11124117e-01 2.16454484e-01 -3.53531742e+01] [ 3.82094510e-01 9.35644999e-03 9.24075886e-01 1.99163634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:78.84, Y:-35.37, Z:19.93 [[ 7.46625001e-01 5.86521419e-01 -3.13916762e-01 7.88353303e+01] [-5.43300495e-01 8.09914967e-01 2.21048225e-01 -3.53700030e+01] [ 3.83895403e-01 5.51100077e-03 9.23360140e-01 1.99292701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:78.86, Y:-35.39, Z:19.94 [[ 7.46274097e-01 5.86326352e-01 -3.15113282e-01 7.88564356e+01] [-5.42735913e-01 8.10056842e-01 2.21913591e-01 -3.53855100e+01] [ 3.85373457e-01 5.41492984e-03 9.22744806e-01 1.99405494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.5 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:78.86, Y:-35.41, Z:19.98 [[ 7.40097187e-01 6.01087573e-01 -3.01578983e-01 7.88596494e+01] [-5.44621179e-01 7.98795252e-01 2.55565876e-01 -3.54129031e+01] [ 3.94517332e-01 -2.48972848e-02 9.18551142e-01 1.99821583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:78.91, Y:-35.41, Z:19.95 [[ 7.47285157e-01 5.76934173e-01 -3.29714806e-01 7.89083743e+01] [-5.41383171e-01 8.16309423e-01 2.01353390e-01 -3.54095591e+01] [ 3.85316955e-01 2.80336471e-02 9.22358368e-01 1.99521118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:-35.43, Z:19.97 [[ 7.48092422e-01 5.82515395e-01 -3.17857741e-01 7.89239619e+01] [-5.42044171e-01 8.12724663e-01 2.13697772e-01 -3.54285977e+01] [ 3.82813068e-01 1.24272517e-02 9.23742236e-01 1.99693765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:-35.46, Z:20.02 [[ 7.40330402e-01 6.02616760e-01 -2.97932771e-01 7.89216770e+01] [-5.45044077e-01 7.97498798e-01 2.58694071e-01 -3.54604964e+01] [ 3.93494409e-01 -2.91325933e-02 9.18865301e-01 2.00193562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:-35.45, Z:19.98 [[ 7.48366354e-01 5.75363261e-01 -3.30007452e-01 7.89732173e+01] [-5.41115867e-01 8.17330239e-01 1.97901236e-01 -3.54539355e+01] [ 3.83590170e-01 3.04696419e-02 9.23000640e-01 1.99844295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:-35.47, Z:20.00 [[ 7.48904721e-01 5.81623848e-01 -3.17577421e-01 7.89878203e+01] [-5.40558485e-01 8.13387454e-01 2.14935746e-01 -3.54746359e+01] [ 3.83325245e-01 1.07027743e-02 9.23551410e-01 2.00026458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:-35.49, Z:20.02 [[ 7.48695189e-01 5.83659292e-01 -3.14320449e-01 7.90056345e+01] [-5.40432821e-01 8.11984517e-01 2.20484717e-01 -3.54914364e+01] [ 3.83911292e-01 4.79323971e-03 9.23357539e-01 2.00164488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:-35.51, Z:20.03 [[ 7.47388134e-01 5.85899408e-01 -3.13261649e-01 7.90235341e+01] [-5.41280123e-01 8.10381455e-01 2.24271543e-01 -3.55074535e+01] [ 3.85261995e-01 1.94441399e-03 9.22805188e-01 2.00310659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:-35.54, Z:20.07 [[ 7.39974960e-01 6.00981590e-01 -3.02089701e-01 7.90274203e+01] [-5.43834719e-01 7.98841334e-01 2.57092049e-01 -3.55359312e+01] [ 3.95829328e-01 -2.59548108e-02 9.17957238e-01 2.00735356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:-35.54, Z:20.07 [[ 7.39685595e-01 5.92516533e-01 -3.19044477e-01 7.90583378e+01] [-5.44024424e-01 8.05558285e-01 2.34762167e-01 -3.55446041e+01] [ 3.96109387e-01 -8.22052273e-05 9.18203325e-01 2.00716610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.8 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:79.08, Y:-35.56, Z:20.08 [[ 7.39772637e-01 5.92072215e-01 -3.19666916e-01 7.90790151e+01] [-5.43370723e-01 8.05884869e-01 2.35154918e-01 -3.55591418e+01] [ 3.96843424e-01 -2.63530763e-04 9.17886282e-01 2.00804339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:-35.57, Z:20.09 [[ 7.39020909e-01 5.92998921e-01 -3.19687934e-01 7.91004293e+01] [-5.44402213e-01 8.05203201e-01 2.35104308e-01 -3.55734665e+01] [ 3.96830349e-01 2.91819351e-04 9.17891927e-01 2.00929951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:-35.57, Z:20.07 [[ 7.46730554e-01 5.75491190e-01 -3.33471692e-01 7.91422301e+01] [-5.41836308e-01 8.17112841e-01 1.96824847e-01 -3.55734607e+01] [ 3.85754967e-01 3.37119429e-02 9.21985146e-01 2.00712881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:79.15, Y:-35.60, Z:20.09 [[ 7.46549588e-01 5.84973368e-01 -3.16969828e-01 7.91520287e+01] [-5.41369405e-01 8.11029643e-01 2.21698186e-01 -3.55959033e+01] [ 3.86759461e-01 6.08907760e-03 9.22160530e-01 2.00938405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:79.17, Y:-35.61, Z:20.11 [[ 7.45879070e-01 5.86247715e-01 -3.16193026e-01 7.91724723e+01] [-5.41707550e-01 8.10121607e-01 2.24178305e-01 -3.56124107e+01] [ 3.87578821e-01 4.07424396e-03 9.21827564e-01 2.01074141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:79.19, Y:-35.63, Z:20.12 [[ 7.44338505e-01 5.88731309e-01 -3.15207291e-01 7.91912301e+01] [-5.43245099e-01 8.08325451e-01 2.26924498e-01 -3.56282590e+01] [ 3.88387632e-01 2.32617403e-03 9.21493156e-01 2.01227278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:-35.66, Z:20.16 [[ 7.37355631e-01 6.01822445e-01 -3.06783992e-01 7.91988991e+01] [-5.46223857e-01 7.98397711e-01 2.53378360e-01 -3.56550428e+01] [ 3.97424421e-01 -1.92572251e-02 9.17432825e-01 2.01601373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:79.23, Y:-35.66, Z:20.16 [[ 7.37478744e-01 5.94833706e-01 -3.19840529e-01 7.92282739e+01] [-5.46298293e-01 8.03847933e-01 2.35343740e-01 -3.56647960e+01] [ 3.97093537e-01 1.16732917e-03 9.17777402e-01 2.01606233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:-35.68, Z:20.17 [[ 7.35830967e-01 5.96612732e-01 -3.20321770e-01 7.92499217e+01] [-5.48129846e-01 8.02526213e-01 2.35595731e-01 -3.56790821e+01] [ 3.97626030e-01 2.21928826e-03 9.17544885e-01 2.01722227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.29, Y:-35.68, Z:20.16 [[ 7.41511567e-01 5.83425386e-01 -3.31323732e-01 7.92858280e+01] [-5.46369036e-01 8.11687418e-01 2.06505235e-01 -3.56804625e+01] [ 3.89411701e-01 2.78990082e-02 9.20641175e-01 2.01563983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.1 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.30, Y:-35.70, Z:20.18 [[ 7.38773008e-01 5.92885599e-01 -3.20470137e-01 7.92997885e+01] [-5.49114679e-01 8.05216713e-01 2.23828312e-01 -3.57001456e+01] [ 3.90752493e-01 1.06165407e-02 9.20434559e-01 2.01762996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.32, Y:-35.71, Z:20.18 [[ 7.38839807e-01 5.92816082e-01 -3.20444741e-01 7.93224830e+01] [-5.49759350e-01 8.05247711e-01 2.22127849e-01 -3.57149897e+01] [ 3.89718355e-01 1.20505953e-02 9.20855247e-01 2.01846441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:-35.73, Z:20.20 [[ 7.36131480e-01 5.96371422e-01 -3.20080569e-01 7.93419496e+01] [-5.51693371e-01 8.02649842e-01 2.26688457e-01 -3.57316322e+01] [ 3.92103135e-01 9.71381866e-03 9.19869976e-01 2.01998637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:79.36, Y:-35.75, Z:20.22 [[ 7.33541421e-01 6.00602278e-01 -3.18109868e-01 7.93595953e+01] [-5.53328569e-01 7.99534365e-01 2.33607138e-01 -3.57472996e+01] [ 3.94644751e-01 4.65876582e-03 9.18821972e-01 2.02154501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.38, Y:-35.76, Z:20.23 [[ 7.32520630e-01 6.00161590e-01 -3.21278061e-01 7.93825800e+01] [-5.54055221e-01 7.99829302e-01 2.30859045e-01 -3.57622091e+01] [ 3.95520339e-01 8.89677393e-03 9.18414127e-01 2.02260492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:-35.78, Z:20.24 [[ 7.31138102e-01 6.02271243e-01 -3.20478431e-01 7.94014542e+01] [-5.54585819e-01 7.98269321e-01 2.34948208e-01 -3.57795101e+01] [ 3.97330649e-01 5.95320675e-03 9.17656207e-01 2.02418404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.43, Y:-35.79, Z:20.25 [[ 7.32013801e-01 5.98986901e-01 -3.24608207e-01 7.94258626e+01] [-5.54283755e-01 8.00646261e-01 2.27453475e-01 -3.57933037e+01] [ 3.96137999e-01 1.34259735e-02 9.18092821e-01 2.02482591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:-35.81, Z:20.27 [[ 7.31739103e-01 6.01860953e-01 -3.19876973e-01 7.94424087e+01] [-5.54355298e-01 7.98579984e-01 2.34435946e-01 -3.58105859e+01] [ 3.96545190e-01 5.77954610e-03 9.17997009e-01 2.02659469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:79.46, Y:-35.83, Z:20.29 [[ 7.28841556e-01 6.06816311e-01 -3.17118198e-01 7.94573302e+01] [-5.55255506e-01 7.94838678e-01 2.44791338e-01 -3.58321780e+01] [ 4.00601186e-01 -2.33247386e-03 9.16249556e-01 2.02878162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:79.49, Y:-35.84, Z:20.28 [[ 7.32363266e-01 5.97726326e-01 -3.26139979e-01 7.94857905e+01] [-5.52903195e-01 8.01583133e-01 2.27513818e-01 -3.58393815e+01] [ 3.97419304e-01 1.37010735e-02 9.17534837e-01 2.02848717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:-35.86, Z:20.30 [[ 7.32477361e-01 6.00268247e-01 -3.21177439e-01 7.95015718e+01] [-5.52775743e-01 7.99775680e-01 2.34089382e-01 -3.58582155e+01] [ 3.97386328e-01 6.07392442e-03 9.17631306e-01 2.03033753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:-35.88, Z:20.32 [[ 7.30931491e-01 6.03023129e-01 -3.19534443e-01 7.95189559e+01] [-5.53518188e-01 7.97721281e-01 2.39287219e-01 -3.58777028e+01] [ 3.99195153e-01 1.96556237e-03 9.16863876e-01 2.03209557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:79.54, Y:-35.89, Z:20.33 [[ 7.32459586e-01 5.99559378e-01 -3.22539156e-01 7.95419802e+01] [-5.51348300e-01 8.00313034e-01 2.35614301e-01 -3.58899584e+01] [ 3.99397055e-01 5.25346216e-03 9.16762998e-01 2.03260611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:-35.91, Z:20.34 [[ 7.31500543e-01 6.00610212e-01 -3.22760481e-01 7.95620558e+01] [-5.52766439e-01 7.99515477e-01 2.34998438e-01 -3.59069076e+01] [ 3.99194462e-01 6.50967682e-03 9.16843174e-01 2.03398679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:-35.92, Z:20.35 [[ 7.30984017e-01 6.01148689e-01 -3.22928197e-01 7.95818746e+01] [-5.52451459e-01 7.99120880e-01 2.37072151e-01 -3.59223790e+01] [ 4.00574278e-01 5.10620046e-03 9.16250061e-01 2.03504378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:-35.93, Z:20.35 [[ 7.33795232e-01 5.93829234e-01 -3.30017270e-01 7.96108995e+01] [-5.50908598e-01 8.04376406e-01 2.22437216e-01 -3.59314985e+01] [ 3.97547827e-01 1.85859831e-02 9.17393202e-01 2.03481087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:-35.96, Z:20.38 [[ 7.29699263e-01 6.05133058e-01 -3.18359808e-01 7.96195663e+01] [-5.51951325e-01 7.96106476e-01 2.48121368e-01 -3.59570749e+01] [ 4.03594747e-01 -5.33486147e-03 9.14922303e-01 2.03778756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:-35.97, Z:20.38 [[ 7.29429829e-01 6.01558001e-01 -3.25668692e-01 7.96444406e+01] [-5.52079258e-01 7.98810348e-01 2.38978076e-01 -3.59699067e+01] [ 4.03906695e-01 5.47719276e-03 9.14783790e-01 2.03837765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:-35.99, Z:20.39 [[ 7.29024077e-01 6.01641813e-01 -3.26421543e-01 7.96655969e+01] [-5.51998143e-01 7.98745880e-01 2.39380595e-01 -3.59854417e+01] [ 4.04749238e-01 5.66986772e-03 9.14410142e-01 2.03948920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:79.69, Y:-36.00, Z:20.40 [[ 7.28413771e-01 6.01576717e-01 -3.27900645e-01 7.96863246e+01] [-5.51524272e-01 7.98793977e-01 2.40310547e-01 -3.60005445e+01] [ 4.06490290e-01 5.79965331e-03 9.13636694e-01 2.04034292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:-36.02, Z:20.42 [[ 7.28260832e-01 6.02179395e-01 -3.27133210e-01 7.97065849e+01] [-5.52476626e-01 7.98336640e-01 2.39641789e-01 -3.60160681e+01] [ 4.05469775e-01 6.21172369e-03 9.14087346e-01 2.04162213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.73, Y:-36.03, Z:20.43 [[ 7.28219510e-01 6.02195479e-01 -3.27195584e-01 7.97263567e+01] [-5.52541389e-01 7.98323389e-01 2.39536594e-01 -3.60310554e+01] [ 4.05455741e-01 6.35388113e-03 9.14092594e-01 2.04270642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:-36.05, Z:20.44 [[ 7.28631338e-01 6.02071183e-01 -3.26506760e-01 7.97473619e+01] [-5.52653523e-01 7.98417336e-01 2.38964101e-01 -3.60463982e+01] [ 4.04562056e-01 6.32837902e-03 9.14488652e-01 2.04383313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:79.77, Y:-36.06, Z:20.45 [[ 7.28982607e-01 6.02152488e-01 -3.25571404e-01 7.97681272e+01] [-5.53103127e-01 7.98354795e-01 2.38131376e-01 -3.60612769e+01] [ 4.03312892e-01 6.48093053e-03 9.15039184e-01 2.04475137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:-36.08, Z:20.46 [[ 7.29164092e-01 6.02860309e-01 -3.23850544e-01 7.97878364e+01] [-5.54445420e-01 7.97817048e-01 2.36808435e-01 -3.60756695e+01] [ 4.01135891e-01 6.88524386e-03 9.15992680e-01 2.04599956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:-36.09, Z:20.47 [[ 7.29316362e-01 6.02659394e-01 -3.23881612e-01 7.98091271e+01] [-5.54244457e-01 7.97969281e-01 2.36765937e-01 -3.60910923e+01] [ 4.01136793e-01 6.83231666e-03 9.15992682e-01 2.04712560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:79.83, Y:-36.11, Z:20.48 [[ 7.30059272e-01 6.01972326e-01 -3.23485359e-01 7.98308780e+01] [-5.53676126e-01 7.98489970e-01 2.36339830e-01 -3.61069063e+01] [ 4.00569852e-01 6.56403631e-03 9.16242712e-01 2.04806761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:-36.11, Z:20.47 [[ 7.35837418e-01 5.89638269e-01 -3.32971479e-01 7.98658608e+01] [-5.52550632e-01 8.07078294e-01 2.08116377e-01 -3.61118237e+01] [ 3.91447434e-01 3.08437840e-02 9.19683406e-01 2.04706421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:79.86, Y:-36.14, Z:20.51 [[ 7.31182830e-01 6.08495499e-01 -3.08390818e-01 7.98645509e+01] [-5.53106494e-01 7.93411205e-01 2.54109951e-01 -3.61419069e+01] [ 3.99305492e-01 -1.52278692e-02 9.16691462e-01 2.05127121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:-36.15, Z:20.52 [[ 7.30895546e-01 6.01736066e-01 -3.22033242e-01 7.98938850e+01] [-5.53936508e-01 7.98668269e-01 2.35124099e-01 -3.61515704e+01] [ 3.98680382e-01 6.53481265e-03 9.17066655e-01 2.05159125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:-36.17, Z:20.53 [[ 7.30058664e-01 6.02421441e-01 -3.22649586e-01 7.99154804e+01] [-5.54561483e-01 7.98146974e-01 2.35420836e-01 -3.61665383e+01] [ 3.99344350e-01 7.05801187e-03 9.16773841e-01 2.05269626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:79.95, Y:-36.17, Z:20.52 [[ 7.34062220e-01 5.91454752e-01 -3.33667399e-01 7.99506310e+01] [-5.53127129e-01 8.05805199e-01 2.11490803e-01 -3.61729544e+01] [ 3.93958165e-01 2.93130814e-02 9.18660823e-01 2.05159820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:79.95, Y:-36.20, Z:20.56 [[ 7.28339060e-01 6.10186693e-01 -3.11760184e-01 7.99507731e+01] [-5.55134116e-01 7.92172689e-01 2.53551855e-01 -3.62010651e+01] [ 4.01681872e-01 -1.16030055e-02 9.15705763e-01 2.05573495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:79.98, Y:-36.21, Z:20.56 [[ 7.27477750e-01 6.03879933e-01 -3.25737854e-01 7.99809424e+01] [-5.55277769e-01 7.97034101e-01 2.37493666e-01 -3.62112212e+01] [ 4.03041837e-01 8.10363103e-03 9.15145676e-01 2.05584432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:80.00, Y:-36.23, Z:20.57 [[ 7.27538493e-01 6.03573567e-01 -3.26169727e-01 8.00019450e+01] [-5.54876069e-01 7.97266348e-01 2.37652938e-01 -3.62260673e+01] [ 4.03485178e-01 8.08211539e-03 9.14950485e-01 2.05698772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:-36.24, Z:20.58 [[ 7.27830423e-01 6.03207940e-01 -3.26194815e-01 8.00227062e+01] [-5.54535882e-01 7.97543691e-01 2.37516350e-01 -3.62409885e+01] [ 4.03426365e-01 8.01510413e-03 9.14977008e-01 2.05814154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:80.04, Y:-36.26, Z:20.59 [[ 7.28192099e-01 6.02474362e-01 -3.26742881e-01 8.00426459e+01] [-5.53629123e-01 7.98100525e-01 2.37761113e-01 -3.62557183e+01] [ 4.04018639e-01 7.75861099e-03 9.14717849e-01 2.05915123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:-36.27, Z:20.60 [[ 7.29647883e-01 6.00528422e-01 -3.27077331e-01 8.00622409e+01] [-5.51422599e-01 7.99574927e-01 2.37934978e-01 -3.62719357e+01] [ 4.04409550e-01 6.74907909e-03 9.14553096e-01 2.06035754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:80.08, Y:-36.29, Z:20.61 [[ 7.30952470e-01 5.98510299e-01 -3.27862637e-01 8.00828707e+01] [-5.49032879e-01 8.01094227e-01 2.38350450e-01 -3.62879588e+01] [ 4.05304065e-01 5.78451787e-03 9.14163637e-01 2.06133037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:80.10, Y:-36.30, Z:20.62 [[ 7.32078906e-01 5.97016541e-01 -3.28072743e-01 8.01025937e+01] [-5.47398342e-01 8.02212734e-01 2.38348031e-01 -3.63034934e+01] [ 4.05481849e-01 5.09691013e-03 9.14088886e-01 2.06244717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.3 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:80.12, Y:-36.32, Z:20.64 [[ 7.33446082e-01 5.95654708e-01 -3.27493990e-01 8.01227834e+01] [-5.46137014e-01 8.03228399e-01 2.37820315e-01 -3.63194551e+01] [ 4.04711263e-01 4.42821141e-03 9.14433805e-01 2.06366606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:80.14, Y:-36.34, Z:20.65 [[ 7.36386434e-01 5.92063214e-01 -3.27408261e-01 8.01419913e+01] [-5.42300178e-01 8.05887381e-01 2.37604812e-01 -3.63362940e+01] [ 4.04531255e-01 2.58459810e-03 9.14520521e-01 2.06478772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:-36.35, Z:20.66 [[ 7.38051291e-01 5.90449960e-01 -3.26571793e-01 8.01620459e+01] [-5.40868886e-01 8.07072177e-01 2.36844568e-01 -3.63522947e+01] [ 4.03411874e-01 1.82908274e-03 9.15016674e-01 2.06606435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:80.18, Y:-36.37, Z:20.67 [[ 7.40090750e-01 5.88024543e-01 -3.26332374e-01 8.01818002e+01] [-5.38361387e-01 8.08842831e-01 2.36517000e-01 -3.63678723e+01] [ 4.03029403e-01 6.40705035e-04 9.15186806e-01 2.06702888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:-36.38, Z:20.68 [[ 7.43288840e-01 5.84572976e-01 -3.25263181e-01 8.02002046e+01] [-5.34962332e-01 8.11340290e-01 2.35674006e-01 -3.63846582e+01] [ 4.01667779e-01 -1.17030900e-03 9.15784705e-01 2.06839166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:80.22, Y:-36.40, Z:20.69 [[ 7.45292253e-01 5.81873190e-01 -3.25519659e-01 8.02212031e+01] [-5.32001094e-01 8.13275706e-01 2.35706304e-01 -3.64009260e+01] [ 4.01888409e-01 -2.49326728e-03 9.15685257e-01 2.06934930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:-36.41, Z:20.68 [[ 7.51789052e-01 5.67170054e-01 -3.36350043e-01 8.02569687e+01] [-5.28833006e-01 8.23284558e-01 2.06247880e-01 -3.64063783e+01] [ 3.93889418e-01 2.28181059e-02 9.18874562e-01 2.06808548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50999999999999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:80.25, Y:-36.44, Z:20.73 [[ 7.49021319e-01 5.85125144e-01 -3.10798374e-01 8.02536344e+01] [-5.27191701e-01 8.10480209e-01 2.55324776e-01 -3.64366827e+01] [ 4.01292878e-01 -2.73933770e-02 9.15540075e-01 2.07271764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53999999999999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:80.28, Y:-36.45, Z:20.73 [[ 7.49856420e-01 5.75951643e-01 -3.25568817e-01 8.02844121e+01] [-5.25645656e-01 8.17465694e-01 2.35470770e-01 -3.64463840e+01] [ 4.01761116e-01 -5.43543395e-03 9.15728378e-01 2.07272289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:-36.46, Z:20.74 [[ 7.50510499e-01 5.74987483e-01 -3.25765846e-01 8.03048115e+01] [-5.24596184e-01 8.18141485e-01 2.35464123e-01 -3.64611130e+01] [ 4.01911476e-01 -5.82277643e-03 9.15660014e-01 2.07402054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.6 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:80.33, Y:-36.48, Z:20.75 [[ 7.51672305e-01 5.73034321e-01 -3.26527815e-01 8.03262878e+01] [-5.22285749e-01 8.19503563e-01 2.35863322e-01 -3.64758702e+01] [ 4.02748486e-01 -6.75110266e-03 9.15285791e-01 2.07496406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:-36.49, Z:20.76 [[ 7.52904115e-01 5.71079456e-01 -3.27114122e-01 8.03472542e+01] [-5.20029910e-01 8.20858885e-01 2.36134674e-01 -3.64899831e+01] [ 4.03366194e-01 -7.67764078e-03 9.15006430e-01 2.07627121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:-36.50, Z:20.77 [[ 7.53972102e-01 5.69756984e-01 -3.26960318e-01 8.03679288e+01] [-5.18705008e-01 8.21771858e-01 2.35873121e-01 -3.65044051e+01] [ 4.03077146e-01 -8.24579858e-03 9.15128855e-01 2.07731101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:80.39, Y:-36.52, Z:20.78 [[ 7.55459073e-01 5.67713163e-01 -3.27083100e-01 8.03897888e+01] [-5.16467199e-01 8.23174122e-01 2.35894036e-01 -3.65188221e+01] [ 4.03166493e-01 -9.28059722e-03 9.15079586e-01 2.07826518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:80.43, Y:-36.52, Z:20.77 [[ 7.62768632e-01 5.51898193e-01 -3.37034714e-01 8.04271348e+01] [-5.11593415e-01 8.33791664e-01 2.07517804e-01 -3.65223953e+01] [ 3.95545436e-01 1.41366685e-02 9.18337608e-01 2.07691059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:-36.55, Z:20.82 [[ 7.58223426e-01 5.71775746e-01 -3.13320496e-01 8.04236623e+01] [-5.13282741e-01 8.19797173e-01 2.53916173e-01 -3.65518386e+01] [ 4.02042366e-01 -3.17031874e-02 9.15072043e-01 2.08166735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.46, Y:-36.55, Z:20.80 [[ 7.63034991e-01 5.54852773e-01 -3.31535825e-01 8.04631160e+01] [-5.09909245e-01 8.31945837e-01 2.18766281e-01 -3.65539817e+01] [ 3.97202927e-01 2.12685466e-03 9.17728343e-01 2.08008283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:80.47, Y:-36.58, Z:20.83 [[ 7.59144113e-01 5.66147878e-01 -3.21211451e-01 8.04725682e+01] [-5.10918714e-01 8.24016007e-01 2.44866673e-01 -3.65781353e+01] [ 4.03314125e-01 -2.17761517e-02 9.14802446e-01 2.08331870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:-36.59, Z:20.84 [[ 7.58256688e-01 5.63682054e-01 -3.27581040e-01 8.04970754e+01] [-5.12044957e-01 8.25916266e-01 2.35949749e-01 -3.65902619e+01] [ 4.03555148e-01 -1.11742554e-02 9.14887085e-01 2.08413441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:-36.60, Z:20.85 [[ 7.57678707e-01 5.64456815e-01 -3.27584311e-01 8.05183561e+01] [-5.12954299e-01 8.25394205e-01 2.35801386e-01 -3.66039929e+01] [ 4.03485892e-01 -1.06259082e-02 9.14924164e-01 2.08522291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:-36.62, Z:20.86 [[ 7.55395802e-01 5.67435389e-01 -3.27710638e-01 8.05415934e+01] [-5.16204317e-01 8.23369307e-01 2.35788224e-01 -3.66162694e+01] [ 4.03621464e-01 -8.94778835e-03 9.14882316e-01 2.08626699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:-36.63, Z:20.87 [[ 7.53958506e-01 5.69450467e-01 -3.27525171e-01 8.05629214e+01] [-5.18528168e-01 8.21989310e-01 2.35503956e-01 -3.66290336e+01] [ 4.03330027e-01 -7.72918422e-03 9.15021939e-01 2.08726623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:-36.64, Z:20.88 [[ 7.52481989e-01 5.71496240e-01 -3.27357457e-01 8.05852883e+01] [-5.20843231e-01 8.20578393e-01 2.35315597e-01 -3.66424097e+01] [ 4.03104435e-01 -6.56883329e-03 9.15130409e-01 2.08835980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:80.61, Y:-36.65, Z:20.89 [[ 7.49498463e-01 5.75796246e-01 -3.26666094e-01 8.06086723e+01] [-5.25822686e-01 8.17582873e-01 2.34667315e-01 -3.66548674e+01] [ 4.02197163e-01 -4.11434866e-03 9.15543835e-01 2.08935874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:-36.67, Z:20.90 [[ 7.47826412e-01 5.78169986e-01 -3.26305264e-01 8.06293468e+01] [-5.28593848e-01 8.15911866e-01 2.34257061e-01 -3.66682658e+01] [ 4.01676739e-01 -2.70066232e-03 9.15777541e-01 2.09045955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:-36.68, Z:20.92 [[ 7.46426934e-01 5.80171080e-01 -3.25957590e-01 8.06508178e+01] [-5.30916976e-01 8.14493140e-01 2.33940354e-01 -3.66825975e+01] [ 4.01215649e-01 -1.56296328e-03 9.15982292e-01 2.09162275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:-36.70, Z:20.93 [[ 7.43669421e-01 5.83988618e-01 -3.25442909e-01 8.06725330e+01] [-5.35310351e-01 8.11761606e-01 2.33422200e-01 -3.66961015e+01] [ 4.00497966e-01 6.24005345e-04 9.16297435e-01 2.09275248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:80.69, Y:-36.71, Z:20.94 [[ 7.42500918e-01 5.85535193e-01 -3.25332021e-01 8.06943079e+01] [-5.37099493e-01 8.10645426e-01 2.33191184e-01 -3.67105534e+01] [ 4.00270560e-01 1.59099586e-03 9.16395628e-01 2.09375609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.72, Y:-36.72, Z:20.95 [[ 7.41010021e-01 5.84215913e-01 -3.31052738e-01 8.07187701e+01] [-5.38165204e-01 8.11542131e-01 2.27546880e-01 -3.67235645e+01] [ 4.01599753e-01 9.54654596e-03 9.15765528e-01 2.09461061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:80.73, Y:-36.74, Z:20.96 [[ 7.40403696e-01 5.91120366e-01 -3.19967313e-01 8.07335129e+01] [-5.40002054e-01 8.06565960e-01 2.40518470e-01 -3.67410874e+01] [ 4.00250109e-01 -5.29775823e-03 9.16390629e-01 2.09623531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.2 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:80.76, Y:-36.75, Z:20.97 [[ 7.39509834e-01 5.89183820e-01 -3.25557417e-01 8.07581099e+01] [-5.41187039e-01 8.07989553e-01 2.32958090e-01 -3.67535311e+01] [ 4.00302129e-01 3.91265622e-03 9.16374867e-01 2.09687370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:80.78, Y:-36.77, Z:20.98 [[ 7.38211649e-01 5.90978086e-01 -3.25251383e-01 8.07797644e+01] [-5.43286520e-01 8.06672301e-01 2.32636103e-01 -3.67685892e+01] [ 3.99854120e-01 4.97001125e-03 9.16565318e-01 2.09796475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:-36.78, Z:20.99 [[ 7.37778268e-01 5.91877314e-01 -3.24598940e-01 8.08003008e+01] [-5.44532625e-01 8.06008793e-01 2.32021650e-01 -3.67837345e+01] [ 3.98957951e-01 5.57418191e-03 9.16952279e-01 2.09922196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:-36.80, Z:21.00 [[ 7.36679512e-01 5.92679875e-01 -3.25628412e-01 8.08215491e+01] [-5.45161371e-01 8.05414545e-01 2.32608018e-01 -3.67995107e+01] [ 4.00127951e-01 6.16247018e-03 9.16438567e-01 2.10026128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.84, Y:-36.82, Z:21.01 [[ 7.36155708e-01 5.92876633e-01 -3.26453783e-01 8.08422676e+01] [-5.45191750e-01 8.05267688e-01 2.33044860e-01 -3.68151558e+01] [ 4.01049535e-01 6.42260501e-03 9.16033853e-01 2.10131702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:-36.83, Z:21.02 [[ 7.35598531e-01 5.93021415e-01 -3.27445266e-01 8.08625577e+01] [-5.45115065e-01 8.05159139e-01 2.33598647e-01 -3.68304423e+01] [ 4.02174548e-01 6.66052594e-03 9.15538787e-01 2.10235139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:-36.85, Z:21.03 [[ 7.34881031e-01 5.93345074e-01 -3.28468407e-01 8.08824088e+01] [-5.45186315e-01 8.04918444e-01 2.34260923e-01 -3.68467219e+01] [ 4.03387843e-01 6.92257154e-03 9.15002910e-01 2.10330444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:-36.86, Z:21.04 [[ 7.34749883e-01 5.93034267e-01 -3.29321980e-01 8.09031824e+01] [-5.44614184e-01 8.05148227e-01 2.34801456e-01 -3.68627727e+01] [ 4.04398318e-01 6.83307908e-03 9.14557439e-01 2.10440546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:-36.88, Z:21.05 [[ 7.34857518e-01 5.92722205e-01 -3.29643468e-01 8.09239350e+01] [-5.44240369e-01 8.05378243e-01 2.34879344e-01 -3.68789869e+01] [ 4.04705880e-01 6.80243047e-03 9.14421608e-01 2.10548385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:-36.90, Z:21.07 [[ 7.35632582e-01 5.91627907e-01 -3.29880468e-01 8.09429093e+01] [-5.43035941e-01 8.06186218e-01 2.34895186e-01 -3.68955888e+01] [ 4.04915635e-01 6.34039826e-03 9.14332067e-01 2.10657357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:-36.91, Z:21.08 [[ 7.36668627e-01 5.90507619e-01 -3.29575615e-01 8.09628653e+01] [-5.41932756e-01 8.07011376e-01 2.34609308e-01 -3.69120748e+01] [ 4.04509854e-01 5.77850456e-03 9.14515384e-01 2.10771417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:-36.92, Z:21.06 [[ 7.42044399e-01 5.74044369e-01 -3.46183727e-01 8.09999370e+01] [-5.38278208e-01 8.18034571e-01 2.02672177e-01 -3.69164661e+01] [ 3.99533078e-01 3.59514030e-02 9.16013546e-01 2.10623094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:-36.95, Z:21.11 [[ 7.40551534e-01 5.95551841e-01 -3.11289946e-01 8.09906765e+01] [-5.37296868e-01 8.02964167e-01 2.57993453e-01 -3.69536470e+01] [ 4.03603148e-01 -2.38023338e-02 9.14624484e-01 2.11145519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:-36.96, Z:21.11 [[ 7.42199881e-01 5.84230760e-01 -3.28350052e-01 8.10207471e+01] [-5.35494980e-01 8.11583925e-01 2.33616478e-01 -3.69626955e+01] [ 4.02969557e-01 2.43968211e-03 9.15210131e-01 2.11128619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:-36.98, Z:21.12 [[ 7.44193910e-01 5.81856561e-01 -3.28052383e-01 8.10403407e+01] [-5.33021216e-01 8.13290526e-01 2.33338604e-01 -3.69782846e+01] [ 4.02571493e-01 1.20971239e-03 9.15387748e-01 2.11236964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:-36.99, Z:21.14 [[ 7.46183758e-01 5.79311671e-01 -3.28036260e-01 8.10604819e+01] [-5.30275154e-01 8.15106114e-01 2.33260122e-01 -3.69942517e+01] [ 4.02514672e-01 -1.05436284e-04 9.15413528e-01 2.11350263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:-37.01, Z:21.14 [[ 7.47887179e-01 5.74328849e-01 -3.32883073e-01 8.10836154e+01] [-5.26727757e-01 8.18614450e-01 2.28972167e-01 -3.70091255e+01] [ 4.04008215e-01 4.09340600e-03 9.14746198e-01 2.11437054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:-37.03, Z:21.16 [[ 7.50912227e-01 5.75980241e-01 -3.23075207e-01 8.10996963e+01] [-5.24609668e-01 8.17411902e-01 2.37954783e-01 -3.70259579e+01] [ 4.01142773e-01 -9.19477892e-03 9.15969394e-01 2.11615674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:-37.04, Z:21.17 [[ 7.52008559e-01 5.72212152e-01 -3.27194712e-01 8.11237519e+01] [-5.22959655e-01 8.20097888e-01 2.32277105e-01 -3.70390843e+01] [ 4.01243475e-01 -3.56473761e-03 9.15964501e-01 2.11703554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:-37.05, Z:21.18 [[ 7.52156613e-01 5.71977621e-01 -3.27264465e-01 8.11452626e+01] [-5.22746659e-01 8.20261506e-01 2.32178792e-01 -3.70541816e+01] [ 4.01243516e-01 -3.55840772e-03 9.15964507e-01 2.11816531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:-37.07, Z:21.19 [[ 7.53226529e-01 5.70642935e-01 -3.27133668e-01 8.11666079e+01] [-5.21393556e-01 8.21187845e-01 2.31946725e-01 -3.70691165e+01] [ 4.00996952e-01 -4.14304017e-03 9.16070019e-01 2.11932913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:-37.07, Z:21.18 [[ 7.60089131e-01 5.53883134e-01 -3.39820521e-01 8.12045340e+01] [-5.15861488e-01 8.32325336e-01 2.02784269e-01 -3.70739477e+01] [ 3.95160016e-01 2.11662005e-02 9.18368419e-01 2.11792815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:81.20, Y:-37.10, Z:21.23 [[ 7.57457198e-01 5.73101033e-01 -3.12751979e-01 8.11999052e+01] [-5.14620641e-01 8.18875912e-01 2.54180718e-01 -3.71040673e+01] [ 4.01776294e-01 -3.15823909e-02 9.15193074e-01 2.12259063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:81.24, Y:-37.11, Z:21.21 [[ 7.62158838e-01 5.53017686e-01 -3.36578883e-01 8.12432687e+01] [-5.11106098e-01 8.33098755e-01 2.11463995e-01 -3.71063421e+01] [ 3.97346777e-01 1.08583667e-02 9.17604291e-01 2.12068570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:-37.13, Z:21.25 [[ 7.61601637e-01 5.64856544e-01 -3.17647653e-01 8.12463526e+01] [-5.08495381e-01 8.24749960e-01 2.47426657e-01 -3.71315281e+01] [ 4.01740455e-01 -2.69181825e-02 9.15357863e-01 2.12454871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:-37.14, Z:21.25 [[ 7.62987351e-01 5.56816416e-01 -3.28337907e-01 8.12749923e+01] [-5.06130139e-01 8.30561132e-01 2.32380050e-01 -3.71412834e+01] [ 4.02097731e-01 -1.11213286e-02 9.15529208e-01 2.12484962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:81.30, Y:-37.15, Z:21.26 [[ 7.64710695e-01 5.54504334e-01 -3.28241523e-01 8.12975005e+01] [-5.03711023e-01 8.32091438e-01 2.32161677e-01 -3.71549391e+01] [ 4.01861617e-01 -1.21976442e-02 9.15619167e-01 2.12581947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:-37.17, Z:21.27 [[ 7.67278470e-01 5.51526470e-01 -3.27264881e-01 8.13195414e+01] [-5.00855449e-01 8.34046917e-01 2.31321333e-01 -3.71669945e+01] [ 4.00534103e-01 -1.35754793e-02 9.16181280e-01 2.12710390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:81.36, Y:-37.17, Z:21.26 [[ 7.71758103e-01 5.39524038e-01 -3.36605470e-01 8.13552539e+01] [-4.98064260e-01 8.41936987e-01 2.07543015e-01 -3.71741401e+01] [ 3.95375040e-01 7.47815099e-03 9.18489333e-01 2.12615026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:-37.20, Z:21.30 [[ 7.69952585e-01 5.55915889e-01 -3.13257946e-01 8.13553783e+01] [-4.98628038e-01 8.30503436e-01 2.48262206e-01 -3.71987879e+01] [ 3.98174705e-01 -3.49509324e-02 9.16643517e-01 2.13037893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:-37.21, Z:21.31 [[ 7.70718349e-01 5.47775691e-01 -3.25476603e-01 8.13849201e+01] [-4.97481862e-01 8.36487520e-01 2.29783432e-01 -3.72064587e+01] [ 3.98126895e-01 -1.51796011e-02 9.17204751e-01 2.13051192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:81.41, Y:-37.22, Z:21.31 [[ 7.72758552e-01 5.45725357e-01 -3.24080322e-01 8.14095352e+01] [-4.95738410e-01 8.37809495e-01 2.28732769e-01 -3.72180734e+01] [ 3.96342843e-01 -1.60961404e-02 9.17961473e-01 2.13132342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:81.43, Y:-37.23, Z:21.32 [[ 7.73297481e-01 5.45149187e-01 -3.23764374e-01 8.14326700e+01] [-4.95280844e-01 8.38181823e-01 2.28359623e-01 -3.72308924e+01] [ 3.95863476e-01 -1.62356285e-02 9.18165842e-01 2.13238877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:81.47, Y:-37.24, Z:21.32 [[ 7.75879406e-01 5.34363733e-01 -3.35360327e-01 8.14700788e+01] [-4.94218074e-01 8.45217191e-01 2.03362717e-01 -3.72379904e+01] [ 3.92121974e-01 7.95619076e-03 9.19878827e-01 2.13154237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:81.47, Y:-37.26, Z:21.36 [[ 7.73673623e-01 5.53474202e-01 -3.08375473e-01 8.14714984e+01] [-4.96083578e-01 8.31937517e-01 2.48557945e-01 -3.72603649e+01] [ 3.94119536e-01 -3.93227182e-02 9.18217575e-01 2.13558008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:81.51, Y:-37.27, Z:21.36 [[ 7.72000348e-01 5.45322904e-01 -3.26555344e-01 8.15062589e+01] [-4.96885919e-01 8.38148310e-01 2.24970650e-01 -3.72695959e+01] [ 3.96383458e-01 -1.14166680e-02 9.18014060e-01 2.13552035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:81.53, Y:-37.28, Z:21.37 [[ 7.71400001e-01 5.48017035e-01 -3.23449173e-01 8.15278990e+01] [-4.97731321e-01 8.36307296e-01 2.29899191e-01 -3.72842217e+01] [ 3.96491576e-01 -1.63534524e-02 9.17892692e-01 2.13689564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:81.55, Y:-37.29, Z:21.38 [[ 7.70912878e-01 5.51932067e-01 -3.17906161e-01 8.15478903e+01] [-4.99083094e-01 8.33544672e-01 2.36895218e-01 -3.72916991e+01] [ 3.95739054e-01 -2.39639844e-02 9.18050286e-01 2.13823707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:81.57, Y:-37.30, Z:21.39 [[ 7.69754912e-01 5.49670723e-01 -3.24560429e-01 8.15743753e+01] [-5.00281917e-01 8.35276943e-01 2.28101802e-01 -3.73011989e+01] [ 3.96478725e-01 -1.32107686e-02 9.17948853e-01 2.13893756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:-37.31, Z:21.40 [[ 7.68380288e-01 5.51241616e-01 -3.25152907e-01 8.15965829e+01] [-5.01860948e-01 8.34255057e-01 2.28372697e-01 -3.73133695e+01] [ 3.97148991e-01 -1.22955331e-02 9.17671781e-01 2.14018567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39999999999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:81.62, Y:-37.33, Z:21.41 [[ 7.67919562e-01 5.51858456e-01 -3.25195005e-01 8.16197085e+01] [-5.02581792e-01 8.33853696e-01 2.28253271e-01 -3.73255108e+01] [ 3.97128554e-01 -1.18430640e-02 9.17686577e-01 2.14099272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:-37.33, Z:21.41 [[ 7.67158683e-01 5.49342083e-01 -3.31196062e-01 8.16514636e+01] [-5.05317628e-01 8.35595051e-01 2.15487829e-01 -3.73337749e+01] [ 3.95122323e-01 2.04584955e-03 9.18626238e-01 2.14132397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:81.66, Y:-37.35, Z:21.44 [[ 7.65425964e-01 5.59789647e-01 -3.17425023e-01 8.16622146e+01] [-5.06368641e-01 8.28321943e-01 2.39736435e-01 -3.73520775e+01] [ 3.97132086e-01 -2.27664142e-02 9.17479044e-01 2.14371428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:81.69, Y:-37.36, Z:21.44 [[ 7.64832459e-01 5.55901818e-01 -3.25583290e-01 8.16893276e+01] [-5.06921979e-01 8.31192365e-01 2.28362343e-01 -3.73614940e+01] [ 3.97569386e-01 -9.61360683e-03 9.17521750e-01 2.14433802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:-37.37, Z:21.45 [[ 7.64950190e-01 5.52431300e-01 -3.31165918e-01 8.17184473e+01] [-5.08194604e-01 8.33554403e-01 2.16622486e-01 -3.73704874e+01] [ 3.95713851e-01 2.59132055e-03 9.18370205e-01 2.14477619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:-37.39, Z:21.47 [[ 7.62832834e-01 5.62385086e-01 -3.19075356e-01 8.17292956e+01] [-5.09521675e-01 8.26642467e-01 2.38851198e-01 -3.73889300e+01] [ 3.98087591e-01 -1.96277259e-02 9.17137406e-01 2.14729054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.76, Y:-37.40, Z:21.48 [[ 7.62876040e-01 5.56707497e-01 -3.28780945e-01 8.17595833e+01] [-5.09904108e-01 8.30703817e-01 2.23447912e-01 -3.73992977e+01] [ 3.97514714e-01 -2.81630397e-03 9.17591478e-01 2.14752085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:81.78, Y:-37.41, Z:21.49 [[ 7.60909542e-01 5.62918462e-01 -3.22706482e-01 8.17780099e+01] [-5.12065475e-01 8.26411263e-01 2.34165271e-01 -3.74123296e+01] [ 3.98504225e-01 -1.29317412e-02 9.17075325e-01 2.14903290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.80, Y:-37.42, Z:21.50 [[ 7.59693750e-01 5.62140465e-01 -3.26899837e-01 8.18020768e+01] [-5.13549464e-01 8.27021001e-01 2.28698957e-01 -3.74233118e+01] [ 3.98913968e-01 -5.86193189e-03 9.16969620e-01 2.14991877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:81.82, Y:-37.44, Z:21.51 [[ 7.58716401e-01 5.63319167e-01 -3.27140550e-01 8.18232257e+01] [-5.14787140e-01 8.26223102e-01 2.28800321e-01 -3.74361122e+01] [ 3.99178686e-01 -5.18680780e-03 9.16858481e-01 2.15091987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.7 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:81.85, Y:-37.45, Z:21.52 [[ 7.56770886e-01 5.65584434e-01 -3.27737814e-01 8.18454345e+01] [-5.17098389e-01 8.24680970e-01 2.29151813e-01 -3.74493315e+01] [ 3.99883836e-01 -3.94272485e-03 9.16557348e-01 2.15195079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72999999999999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:81.87, Y:-37.46, Z:21.53 [[ 7.55917296e-01 5.66679307e-01 -3.27816418e-01 8.18666905e+01] [-5.18333730e-01 8.23932122e-01 2.29054583e-01 -3.74629133e+01] [ 3.99898970e-01 -3.22801435e-03 9.16553541e-01 2.15307990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75999999999999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:81.89, Y:-37.48, Z:21.54 [[ 7.54547398e-01 5.68275617e-01 -3.28208846e-01 8.18879950e+01] [-5.20019118e-01 8.22835195e-01 2.29177568e-01 -3.74763920e+01] [ 4.00297814e-01 -2.25046308e-03 9.16382341e-01 2.15417849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:-37.49, Z:21.55 [[ 7.52039479e-01 5.69339743e-01 -3.32097696e-01 8.19135966e+01] [-5.24119213e-01 8.22074600e-01 2.22468878e-01 -3.74894338e+01] [ 3.99669455e-01 6.75340368e-03 9.16634452e-01 2.15518253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:81.93, Y:-37.51, Z:21.57 [[ 7.50758622e-01 5.75690009e-01 -3.23948305e-01 8.19282990e+01] [-5.24600314e-01 8.17627292e-01 2.37234317e-01 -3.75061357e+01] [ 4.01442402e-01 -8.16232658e-03 9.15847899e-01 2.15664084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:81.95, Y:-37.52, Z:21.57 [[ 7.49607809e-01 5.73873519e-01 -3.29783742e-01 8.19524983e+01] [-5.25771748e-01 8.18943348e-01 2.29991002e-01 -3.75177193e+01] [ 4.02059947e-01 9.87923693e-04 9.15612813e-01 2.15740458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.97, Y:-37.53, Z:21.59 [[ 7.48426436e-01 5.75197506e-01 -3.30160111e-01 8.19727051e+01] [-5.27133011e-01 8.18012672e-01 2.30187005e-01 -3.75320720e+01] [ 4.02478145e-01 1.76025324e-03 9.15427902e-01 2.15869009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:81.99, Y:-37.55, Z:21.60 [[ 7.47067305e-01 5.76806519e-01 -3.30431053e-01 8.19935063e+01] [-5.28875241e-01 8.16876130e-01 2.30226775e-01 -3.75479503e+01] [ 4.02717544e-01 2.76190587e-03 9.15320136e-01 2.15973385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:82.01, Y:-37.56, Z:21.61 [[ 7.46536172e-01 5.77436602e-01 -3.30530960e-01 8.20134162e+01] [-5.29600669e-01 8.16429107e-01 2.30144835e-01 -3.75632659e+01] [ 4.02749148e-01 3.23797336e-03 9.15304670e-01 2.16089165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:82.03, Y:-37.58, Z:21.62 [[ 7.45873171e-01 5.78438225e-01 -3.30276298e-01 8.20330843e+01] [-5.30839302e-01 8.15716823e-01 2.29816667e-01 -3.75794607e+01] [ 4.02346678e-01 3.90955311e-03 9.15479036e-01 2.16190420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.0 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:82.05, Y:-37.59, Z:21.63 [[ 7.45688589e-01 5.78808685e-01 -3.30043988e-01 8.20536056e+01] [-5.31359749e-01 8.15452563e-01 2.29551595e-01 -3.75949832e+01] [ 4.02001672e-01 4.19808546e-03 9.15629309e-01 2.16306691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:82.07, Y:-37.61, Z:21.64 [[ 7.45489395e-01 5.78894144e-01 -3.30343961e-01 8.20742095e+01] [-5.31430189e-01 8.15390915e-01 2.29607513e-01 -3.76108206e+01] [ 4.02277909e-01 4.38478805e-03 9.15507104e-01 2.16403693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.10, Y:-37.62, Z:21.64 [[ 7.48603321e-01 5.70360538e-01 -3.38056095e-01 8.21039653e+01] [-5.32214378e-01 8.21006739e-01 2.06629596e-01 -3.76204294e+01] [ 3.95399700e-01 2.52347126e-02 9.18162451e-01 2.16362845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:82.11, Y:-37.65, Z:21.67 [[ 7.44136666e-01 5.87054747e-01 -3.18790442e-01 8.21060023e+01] [-5.33479144e-01 8.09450802e-01 2.45335287e-01 -3.76488337e+01] [ 4.02070423e-01 -1.24949303e-02 9.15523485e-01 2.16713921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11999999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:82.13, Y:-37.66, Z:21.68 [[ 7.43432644e-01 5.81615617e-01 -3.30198695e-01 8.21333458e+01] [-5.34560658e-01 8.13441070e-01 2.29256468e-01 -3.76604301e+01] [ 4.01936322e-01 6.07448958e-03 9.15647473e-01 2.16756073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14999999999999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:82.15, Y:-37.68, Z:21.69 [[ 7.42503091e-01 5.82332332e-01 -3.31026004e-01 8.21537107e+01] [-5.35165339e-01 8.12923912e-01 2.29679719e-01 -3.76768155e+01] [ 4.02848880e-01 6.61574215e-03 9.15242597e-01 2.16852359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17999999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:82.17, Y:-37.69, Z:21.70 [[ 7.40170286e-01 5.84587810e-01 -3.32272540e-01 8.21712500e+01] [-5.37331855e-01 8.11290909e-01 2.30394310e-01 -3.76939872e+01] [ 4.04255396e-01 8.00959780e-03 9.14611076e-01 2.16984069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:-37.70, Z:21.69 [[ 7.44904053e-01 5.71301178e-01 -3.44576430e-01 8.22073864e+01] [-5.37133394e-01 8.19885298e-01 1.98181268e-01 -3.76984441e+01] [ 3.95734341e-01 3.74574780e-02 9.17600822e-01 2.16855821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:82.20, Y:-37.73, Z:21.73 [[ 7.38643600e-01 5.94567883e-01 -3.17639204e-01 8.22027889e+01] [-5.37713400e-01 8.03864966e-01 2.54293957e-01 -3.77338803e+01] [ 4.06534047e-01 -1.70337477e-02 9.13476830e-01 2.17301723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:82.23, Y:-37.75, Z:21.73 [[ 7.38328151e-01 5.86159117e-01 -3.33600106e-01 8.22313133e+01] [-5.38736705e-01 8.10145269e-01 2.31143692e-01 -3.77453491e+01] [ 4.05751530e-01 9.06272688e-03 9.13938490e-01 2.17308508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.3 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:82.25, Y:-37.76, Z:21.74 [[ 7.38615161e-01 5.85938036e-01 -3.33353061e-01 8.22501686e+01] [-5.38633165e-01 8.10305159e-01 2.30824313e-01 -3.77613917e+01] [ 4.05366449e-01 9.06467713e-03 9.14109333e-01 2.17418057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:82.27, Y:-37.78, Z:21.75 [[ 7.39298286e-01 5.85450501e-01 -3.32694688e-01 8.22694082e+01] [-5.38322577e-01 8.10660011e-01 2.30302299e-01 -3.77776836e+01] [ 4.04532876e-01 8.83496639e-03 9.14480779e-01 2.17539421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:82.29, Y:-37.80, Z:21.76 [[ 7.40840864e-01 5.83808319e-01 -3.32148552e-01 8.22869300e+01] [-5.36750717e-01 8.11851559e-01 2.29773180e-01 -3.77959833e+01] [ 4.03798814e-01 8.05561213e-03 9.14812344e-01 2.17646301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:82.31, Y:-37.81, Z:21.78 [[ 7.42146930e-01 5.82388499e-01 -3.31725143e-01 8.23066901e+01] [-5.35349939e-01 8.12877543e-01 2.29413476e-01 -3.78129232e+01] [ 4.03259689e-01 7.33052755e-03 9.15056220e-01 2.17752169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:82.33, Y:-37.83, Z:21.79 [[ 7.43201813e-01 5.81090655e-01 -3.31639436e-01 8.23261465e+01] [-5.34014989e-01 8.13810869e-01 2.29215752e-01 -3.78297325e+01] [ 4.03086909e-01 6.74686744e-03 9.15136833e-01 2.17866929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:82.35, Y:-37.84, Z:21.80 [[ 7.44205186e-01 5.77483807e-01 -3.35665153e-01 8.23477680e+01] [-5.32442395e-01 8.16312726e-01 2.23916569e-01 -3.78445565e+01] [ 4.03315928e-01 1.20824861e-02 9.14981025e-01 2.17957471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:82.36, Y:-37.87, Z:21.81 [[ 7.46901347e-01 5.79623900e-01 -3.25844305e-01 8.23601562e+01] [-5.30450246e-01 8.14882424e-01 2.33643259e-01 -3.78663838e+01] [ 4.00950014e-01 -1.66427298e-03 9.16098421e-01 2.18141404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:82.38, Y:-37.88, Z:21.82 [[ 7.48029639e-01 5.75715226e-01 -3.30156989e-01 8.23827735e+01] [-5.28716628e-01 8.17639960e-01 2.27867554e-01 -3.78815297e+01] [ 4.01136368e-01 4.10780522e-03 9.16009138e-01 2.18213728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:-37.90, Z:21.83 [[ 7.48882625e-01 5.74623294e-01 -3.30125559e-01 8.24016116e+01] [-5.27598072e-01 8.18409864e-01 2.27696222e-01 -3.78973895e+01] [ 4.01017567e-01 3.65586414e-03 9.16063069e-01 2.18349576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:-37.91, Z:21.85 [[ 7.49746687e-01 5.73219383e-01 -3.30604664e-01 8.24209939e+01] [-5.25987199e-01 8.19396282e-01 2.27875404e-01 -3.79131978e+01] [ 4.01518831e-01 3.04499149e-03 9.15845706e-01 2.18451804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.6 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:82.44, Y:-37.93, Z:21.85 [[ 7.51903017e-01 5.69602790e-01 -3.31955591e-01 8.24403675e+01] [-5.21657980e-01 8.21919263e-01 2.28739320e-01 -3.79319309e+01] [ 4.03131250e-01 1.17749821e-03 9.15141415e-01 2.18540044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:82.46, Y:-37.95, Z:21.86 [[ 7.53078912e-01 5.67380759e-01 -3.33093420e-01 8.24616569e+01] [-5.18950353e-01 8.23455560e-01 2.29371910e-01 -3.79493199e+01] [ 4.04428837e-01 1.23799063e-04 9.14569462e-01 2.18626170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:82.48, Y:-37.96, Z:21.87 [[ 7.53177475e-01 5.67209035e-01 -3.33163027e-01 8.24833440e+01] [-5.18807317e-01 8.23573848e-01 2.29270766e-01 -3.79640815e+01] [ 4.04428806e-01 1.65839613e-04 9.14569469e-01 2.18739291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:82.50, Y:-37.98, Z:21.89 [[ 7.54456336e-01 5.65226051e-01 -3.33639248e-01 8.25024343e+01] [-5.16535720e-01 8.24935664e-01 2.29503816e-01 -3.79800575e+01] [ 4.04952450e-01 -8.14018793e-04 9.14337383e-01 2.18868920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:82.52, Y:-38.00, Z:21.90 [[ 7.57591698e-01 5.60522655e-01 -3.34468492e-01 8.25222754e+01] [-5.11205293e-01 8.28132883e-01 2.29924066e-01 -3.79990306e+01] [ 4.05862005e-01 -3.20650019e-03 9.13928745e-01 2.18960223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:-38.00, Z:21.88 [[ 7.65470048e-01 5.43164539e-01 -3.45004186e-01 8.25585484e+01] [-5.06909282e-01 8.39272560e-01 1.96633036e-01 -3.80030914e+01] [ 3.96356639e-01 2.43691250e-02 9.17773153e-01 2.18820639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:82.55, Y:-38.04, Z:21.93 [[ 7.61606511e-01 5.63808883e-01 -3.19491889e-01 8.25525163e+01] [-5.05362772e-01 8.25348527e-01 2.51810002e-01 -3.80383418e+01] [ 4.05664876e-01 -3.03208302e-02 9.13518832e-01 2.19306050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:82.60, Y:-38.03, Z:21.90 [[ 7.69861508e-01 5.36693536e-01 -3.45359677e-01 8.26014132e+01] [-5.01206828e-01 8.43430719e-01 1.93433033e-01 -3.80341793e+01] [ 3.95101219e-01 2.41799814e-02 9.18319310e-01 2.19017159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:82.59, Y:-38.07, Z:21.96 [[ 7.64981554e-01 5.61688219e-01 -3.15134205e-01 8.25927830e+01] [-5.03122788e-01 8.26638831e-01 2.52062898e-01 -3.80681382e+01] [ 4.02082931e-01 -3.42722673e-02 9.14961599e-01 2.19579357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86999999999999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:82.63, Y:-38.08, Z:21.96 [[ 7.65260154e-01 5.51574801e-01 -3.31876686e-01 8.26254096e+01] [-5.02366539e-01 8.34090352e-01 2.27862119e-01 -3.80763855e+01] [ 4.02498145e-01 -7.65005815e-03 9.15388835e-01 2.19568359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:-38.09, Z:21.97 [[ 7.65446665e-01 5.51504034e-01 -3.31564025e-01 8.26463979e+01] [-5.02452317e-01 8.34138126e-01 2.27497814e-01 -3.80901866e+01] [ 4.02036157e-01 -7.54233029e-03 9.15592727e-01 2.19703314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:82.67, Y:-38.10, Z:21.98 [[ 7.65246894e-01 5.51171565e-01 -3.32576454e-01 8.26687214e+01] [-5.01841790e-01 8.34357261e-01 2.28041178e-01 -3.81046462e+01] [ 4.03177392e-01 -7.60703963e-03 9.15090227e-01 2.19784460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.69, Y:-38.12, Z:21.99 [[ 7.64688645e-01 5.51676148e-01 -3.33023579e-01 8.26896767e+01] [-5.02319470e-01 8.34027199e-01 2.28196807e-01 -3.81188117e+01] [ 4.03641458e-01 -7.21527909e-03 9.14888798e-01 2.19919860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:-38.13, Z:22.00 [[ 7.63005391e-01 5.52683666e-01 -3.35206710e-01 8.27125555e+01] [-5.02806584e-01 8.33365024e-01 2.29539267e-01 -3.81316163e+01] [ 4.06212152e-01 -6.59555771e-03 9.13754993e-01 2.20015884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:82.74, Y:-38.14, Z:22.01 [[ 7.62100902e-01 5.52903588e-01 -3.36897369e-01 8.27355003e+01] [-5.02585454e-01 8.33220819e-01 2.30544849e-01 -3.81448768e+01] [ 4.08178977e-01 -6.37871999e-03 9.12879639e-01 2.20095047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:82.76, Y:-38.16, Z:22.02 [[ 7.61453232e-01 5.53325001e-01 -3.37669096e-01 8.27587012e+01] [-5.02835009e-01 8.32943065e-01 2.31003906e-01 -3.81588072e+01] [ 4.09079368e-01 -6.10682802e-03 9.12478371e-01 2.20188785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:82.78, Y:-38.17, Z:22.03 [[ 7.59905717e-01 5.54933674e-01 -3.38514281e-01 8.27803913e+01] [-5.04398260e-01 8.31878844e-01 2.31430300e-01 -3.81708080e+01] [ 4.10031335e-01 -5.11919406e-03 9.12057069e-01 2.20319753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:-38.18, Z:22.04 [[ 7.62533645e-01 5.52337102e-01 -3.36847394e-01 8.28050008e+01] [-5.04439505e-01 8.33619236e-01 2.24988347e-01 -3.81806910e+01] [ 4.05071878e-01 -1.64205173e-03 9.14283368e-01 2.20358315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:82.83, Y:-38.20, Z:22.05 [[ 7.59018969e-01 5.55866060e-01 -3.38973639e-01 8.28251269e+01] [-5.04990937e-01 8.31255615e-01 2.32375247e-01 -3.81991625e+01] [ 4.10943254e-01 -5.19860477e-03 9.11646103e-01 2.20528145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:82.85, Y:-38.21, Z:22.07 [[ 7.58955701e-01 5.56348353e-01 -3.38323446e-01 8.28458445e+01] [-5.06182517e-01 8.30939554e-01 2.30908461e-01 -3.82114789e+01] [ 4.09591875e-01 -3.99587913e-03 9.12260121e-01 2.20662632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:-38.23, Z:22.08 [[ 7.59180766e-01 5.56512906e-01 -3.37546960e-01 8.28669059e+01] [-5.06650130e-01 8.30830264e-01 2.30275312e-01 -3.82253936e+01] [ 4.08595413e-01 -3.80237667e-03 9.12707692e-01 2.20790589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22999999999999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:82.89, Y:-38.24, Z:22.09 [[ 7.59556943e-01 5.55800127e-01 -3.37874931e-01 8.28898199e+01] [-5.05835008e-01 8.31306066e-01 2.30350101e-01 -3.82396654e+01] [ 4.08906095e-01 -4.05505004e-03 9.12567456e-01 2.20874280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:-38.25, Z:22.10 [[ 7.59902582e-01 5.56329676e-01 -3.36222183e-01 8.29106686e+01] [-5.06992140e-01 8.30953818e-01 2.29073618e-01 -3.82533144e+01] [ 4.06825559e-01 -3.61162962e-03 9.13498725e-01 2.21015591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:82.93, Y:-38.27, Z:22.11 [[ 7.59597083e-01 5.57208932e-01 -3.35455626e-01 8.29320588e+01] [-5.08254671e-01 8.30366920e-01 2.28403082e-01 -3.82666394e+01] [ 4.05819493e-01 -2.99742558e-03 9.13948333e-01 2.21115141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:-38.28, Z:22.12 [[ 7.59012248e-01 5.58102052e-01 -3.35294657e-01 8.29530716e+01] [-5.09543023e-01 8.29769954e-01 2.27700969e-01 -3.82806801e+01] [ 4.05297811e-01 -1.98077140e-03 9.14182565e-01 2.21241362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:-38.29, Z:22.13 [[ 7.58466634e-01 5.59392501e-01 -3.34377623e-01 8.29731457e+01] [-5.10816350e-01 8.28900153e-01 2.28015773e-01 -3.82942733e+01] [ 4.04715976e-01 -2.13679931e-03 9.14439945e-01 2.21349398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:82.99, Y:-38.31, Z:22.14 [[ 7.56294940e-01 5.61669894e-01 -3.35477114e-01 8.29948825e+01] [-5.13249458e-01 8.27361349e-01 2.28140729e-01 -3.83078792e+01] [ 4.05700577e-01 -3.58232042e-04 9.14005970e-01 2.21442960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:83.02, Y:-38.32, Z:22.15 [[ 7.55375710e-01 5.62768850e-01 -3.35706358e-01 8.30174886e+01] [-5.14411716e-01 8.26614261e-01 2.28231131e-01 -3.83225614e+01] [ 4.05941034e-01 2.91031175e-04 9.13899224e-01 2.21538032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:83.04, Y:-38.34, Z:22.17 [[ 7.54001332e-01 5.64339250e-01 -3.36159490e-01 8.30391216e+01] [-5.16059139e-01 8.25542004e-01 2.28393007e-01 -3.83369070e+01] [ 4.06404917e-01 1.26954533e-03 9.13692198e-01 2.21653209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:83.06, Y:-38.35, Z:22.17 [[ 7.51006342e-01 5.67062370e-01 -3.38274655e-01 8.30603935e+01] [-5.18474838e-01 8.23669760e-01 2.29677966e-01 -3.83508029e+01] [ 4.08868335e-01 2.89728810e-03 9.12588785e-01 2.21738417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:-38.37, Z:22.19 [[ 7.49486958e-01 5.69014363e-01 -3.38366598e-01 8.30802173e+01] [-5.20655852e-01 8.22317374e-01 2.29590115e-01 -3.83650210e+01] [ 4.08884806e-01 4.09775249e-03 9.12576804e-01 2.21877033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:83.10, Y:-38.38, Z:22.20 [[ 7.48538086e-01 5.69192484e-01 -3.40162681e-01 8.31027467e+01] [-5.20380570e-01 8.22192755e-01 2.30658051e-01 -3.83798569e+01] [ 4.10968120e-01 4.35771379e-03 9.11639301e-01 2.21959503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:83.12, Y:-38.39, Z:22.21 [[ 7.47317867e-01 5.70129708e-01 -3.41274261e-01 8.31242744e+01] [-5.21143594e-01 8.21539320e-01 2.31262837e-01 -3.83949260e+01] [ 4.12220038e-01 5.02604429e-03 9.11070458e-01 2.22064875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:83.14, Y:-38.41, Z:22.22 [[ 7.45926920e-01 5.71745970e-01 -3.41613196e-01 8.31449252e+01] [-5.22886669e-01 8.20408328e-01 2.31343266e-01 -3.84101881e+01] [ 4.12531891e-01 6.05981610e-03 9.10923003e-01 2.22185462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61999999999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:83.17, Y:-38.42, Z:22.23 [[ 7.45713415e-01 5.71374001e-01 -3.42699947e-01 8.31656498e+01] [-5.22217706e-01 8.20667809e-01 2.31933213e-01 -3.84245480e+01] [ 4.13763423e-01 6.00827179e-03 9.10364614e-01 2.22273314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:-38.44, Z:22.24 [[ 7.45641775e-01 5.72016987e-01 -3.41781962e-01 8.31850606e+01] [-5.23230649e-01 8.20216765e-01 2.31244775e-01 -3.84404454e+01] [ 4.12611235e-01 6.40503354e-03 9.10884704e-01 2.22415920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:83.20, Y:-38.46, Z:22.25 [[ 7.47317349e-01 5.69929961e-01 -3.41608870e-01 8.32046619e+01] [-5.21056570e-01 8.21675622e-01 2.30974506e-01 -3.84575014e+01] [ 4.12330972e-01 5.38629079e-03 9.11018198e-01 2.22515704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:83.22, Y:-38.47, Z:22.26 [[ 7.48440877e-01 5.68866769e-01 -3.40920596e-01 8.32239436e+01] [-5.20162615e-01 8.22414945e-01 2.30357360e-01 -3.84727143e+01] [ 4.11420840e-01 4.92528425e-03 9.11432188e-01 2.22634735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:-38.48, Z:22.26 [[ 7.53767133e-01 5.59262495e-01 -3.45051550e-01 8.32527997e+01] [-5.18583373e-01 8.28740584e-01 2.10381389e-01 -3.84808279e+01] [ 4.03616643e-01 2.03594207e-02 9.14701645e-01 2.22595929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:-38.51, Z:22.30 [[ 7.51435043e-01 5.70865099e-01 -3.30845002e-01 8.32567658e+01] [-5.18043899e-01 8.20995107e-01 2.39994900e-01 -3.85096574e+01] [ 4.08626840e-01 -8.94834317e-03 9.12657675e-01 2.22950889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.8 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:83.28, Y:-38.52, Z:22.30 [[ 7.52567267e-01 5.64488115e-01 -3.39110125e-01 8.32826260e+01] [-5.15958214e-01 8.25437010e-01 2.28999704e-01 -3.85215336e+01] [ 4.09181659e-01 2.62897248e-03 9.12449154e-01 2.22976997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:-38.54, Z:22.31 [[ 7.53145990e-01 5.64476366e-01 -3.37842492e-01 8.33017447e+01] [-5.16353609e-01 8.25444912e-01 2.28078162e-01 -3.85361582e+01] [ 4.07615098e-01 2.67003690e-03 9.13149934e-01 2.23105749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:83.32, Y:-38.55, Z:22.32 [[ 7.53717688e-01 5.63430406e-01 -3.38313206e-01 8.33235282e+01] [-5.15096536e-01 8.26160684e-01 2.28328893e-01 -3.85503394e+01] [ 4.08148510e-01 2.16843536e-03 9.12912970e-01 2.23200670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:83.34, Y:-38.56, Z:22.33 [[ 7.53656001e-01 5.63495086e-01 -3.38342903e-01 8.33448407e+01] [-5.15226382e-01 8.26116098e-01 2.28197214e-01 -3.85638602e+01] [ 4.08098527e-01 2.34098984e-03 9.12934889e-01 2.23318523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:83.38, Y:-38.57, Z:22.32 [[ 7.59020365e-01 5.50052936e-01 -3.48324351e-01 8.33814862e+01] [-5.13774505e-01 8.34649886e-01 1.98482556e-01 -3.85654473e+01] [ 3.99904792e-01 2.83078684e-02 9.16119436e-01 2.23177752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:83.38, Y:-38.60, Z:22.36 [[ 7.52972005e-01 5.71265407e-01 -3.26632813e-01 8.33805882e+01] [-5.14939021e-01 8.20555157e-01 2.48046445e-01 -3.85961754e+01] [ 4.09720592e-01 -1.85760482e-02 9.12021911e-01 2.23636529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:-38.59, Z:22.34 [[ 7.58254526e-01 5.50503502e-01 -3.49279212e-01 8.34270782e+01] [-5.14580760e-01 8.34303900e-01 1.97847527e-01 -3.85913365e+01] [ 4.00320765e-01 2.97135794e-02 9.15893219e-01 2.23397013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:83.44, Y:-38.61, Z:22.36 [[ 7.56915619e-01 5.60098296e-01 -3.36702605e-01 8.34383320e+01] [-5.14104004e-01 8.28412161e-01 2.22329403e-01 -3.86133909e+01] [ 4.03454853e-01 4.81555948e-03 9.14986881e-01 2.23638910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:-38.64, Z:22.40 [[ 7.51661458e-01 5.72556644e-01 -3.27389587e-01 8.34465483e+01] [-5.16876518e-01 8.19702839e-01 2.46831766e-01 -3.86367688e+01] [ 4.09687341e-01 -1.63139357e-02 9.12080116e-01 2.23992121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:-38.65, Z:22.40 [[ 7.51782489e-01 5.65349054e-01 -3.39416465e-01 8.34763232e+01] [-5.17024384e-01 8.24844216e-01 2.28730858e-01 -3.86463751e+01] [ 4.09278482e-01 3.53073537e-03 9.12402684e-01 2.24008818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.1 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:83.51, Y:-38.65, Z:22.39 [[ 7.57352760e-01 5.50905265e-01 -3.50599752e-01 8.35135426e+01] [-5.14170577e-01 8.34068111e-01 1.99897484e-01 -3.86491236e+01] [ 4.02548649e-01 2.88751662e-02 9.14943064e-01 2.23856870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:83.51, Y:-38.68, Z:22.43 [[ 7.51899043e-01 5.72115646e-01 -3.27614891e-01 8.35125374e+01] [-5.15606543e-01 8.19975791e-01 2.48575127e-01 -3.86815749e+01] [ 4.10849999e-01 -1.79830186e-02 9.11525584e-01 2.24328176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:83.54, Y:-38.69, Z:22.43 [[ 7.53117175e-01 5.63572229e-01 -3.39412526e-01 8.35436457e+01] [-5.15137047e-01 8.26062421e-01 2.28592867e-01 -3.86898806e+01] [ 4.09204525e-01 2.68675231e-03 9.12438731e-01 2.24338538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:83.56, Y:-38.70, Z:22.44 [[ 7.53744991e-01 5.62612593e-01 -3.39610893e-01 8.35643713e+01] [-5.14093778e-01 8.26717457e-01 2.28573475e-01 -3.87035337e+01] [ 4.09360569e-01 2.30573532e-03 9.12369776e-01 2.24439996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:-38.71, Z:22.43 [[ 7.60875575e-01 5.46420401e-01 -3.49990149e-01 8.36025197e+01] [-5.11207726e-01 8.36963282e-01 1.95343609e-01 -3.87054737e+01] [ 3.99668637e-01 3.02854875e-02 9.16159249e-01 2.24283966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:-38.73, Z:22.45 [[ 7.62373489e-01 5.53952296e-01 -3.34549722e-01 8.36117727e+01] [-5.09605841e-01 8.32534117e-01 2.17229901e-01 -3.87274172e+01] [ 3.98859060e-01 4.87817503e-03 9.16999266e-01 2.24518717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:83.64, Y:-38.74, Z:22.46 [[ 7.63001827e-01 5.51246525e-01 -3.37572926e-01 8.36358744e+01] [-5.07901997e-01 8.34305379e-01 2.14406379e-01 -3.87426004e+01] [ 3.99829680e-01 7.86150419e-03 9.16555740e-01 2.24603882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:83.64, Y:-38.77, Z:22.50 [[ 7.58984959e-01 5.66044372e-01 -3.21769484e-01 8.36389138e+01] [-5.08297156e-01 8.23946654e-01 2.50491342e-01 -3.87714102e+01] [ 4.06910104e-01 -2.65646475e-02 9.13081862e-01 2.25025433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:83.67, Y:-38.78, Z:22.50 [[ 7.59704279e-01 5.56347745e-01 -3.36640157e-01 8.36706062e+01] [-5.08277124e-01 8.30949224e-01 2.26225004e-01 -3.87792826e+01] [ 4.05590649e-01 -7.57612865e-04 9.14054512e-01 2.25022262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36999999999999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:83.71, Y:-38.78, Z:22.48 [[ 7.66279459e-01 5.38724089e-01 -3.50131615e-01 8.37111384e+01] [-5.05115685e-01 8.41899254e-01 1.89904686e-01 -3.87798247e+01] [ 3.97081774e-01 3.13369104e-02 9.17248092e-01 2.24824207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:83.70, Y:-38.81, Z:22.54 [[ 7.60361268e-01 5.65455985e-01 -3.19546977e-01 8.37033868e+01] [-5.07888332e-01 8.24306447e-01 2.50136611e-01 -3.88149889e+01] [ 4.04845877e-01 -2.79000092e-02 9.13959192e-01 2.25384438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:83.74, Y:-38.82, Z:22.54 [[ 7.60372864e-01 5.55130912e-01 -3.37139109e-01 8.37364681e+01] [-5.06917673e-01 8.31762179e-01 2.26287762e-01 -3.88218849e+01] [ 4.06038891e-01 -1.16130109e-03 9.13855060e-01 2.25353934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:83.76, Y:-38.84, Z:22.55 [[ 7.60448659e-01 5.54830727e-01 -3.37462149e-01 8.37571154e+01] [-5.06521980e-01 8.31962301e-01 2.26438099e-01 -3.88354507e+01] [ 4.06390601e-01 -1.26255338e-03 9.13698575e-01 2.25465429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:83.78, Y:-38.85, Z:22.56 [[ 7.60704979e-01 5.54112522e-01 -3.38063969e-01 8.37787584e+01] [-5.05600456e-01 8.32440321e-01 2.26740582e-01 -3.88497350e+01] [ 4.07057875e-01 -1.55739285e-03 9.13401041e-01 2.25576629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:83.80, Y:-38.86, Z:22.57 [[ 7.61422825e-01 5.53339560e-01 -3.37713803e-01 8.37998514e+01] [-5.04927708e-01 8.32953770e-01 2.26353765e-01 -3.88634201e+01] [ 4.06550478e-01 -1.82986694e-03 9.13626488e-01 2.25691327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:83.84, Y:-38.86, Z:22.55 [[ 7.67733787e-01 5.37230969e-01 -3.49238769e-01 8.38380047e+01] [-5.01974987e-01 8.43005741e-01 1.93293643e-01 -3.88647616e+01] [ 3.98253619e-01 2.69110660e-02 9.16880499e-01 2.25528764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:83.85, Y:-38.89, Z:22.58 [[ 7.67494798e-01 5.46128237e-01 -3.35701777e-01 8.38505498e+01] [-5.02125960e-01 8.37693388e-01 2.14800623e-01 -3.88863214e+01] [ 3.98523844e-01 3.70621619e-03 9.17150484e-01 2.25752849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:83.86, Y:-38.91, Z:22.61 [[ 7.61883027e-01 5.60763172e-01 -3.24158786e-01 8.38557030e+01] [-5.02798065e-01 8.27525198e-01 2.49792220e-01 -3.89137200e+01] [ 4.08323841e-01 -2.73260427e-02 9.12428040e-01 2.26149944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:83.89, Y:-38.92, Z:22.61 [[ 7.62356670e-01 5.51008350e-01 -3.39414358e-01 8.38870307e+01] [-5.01911667e-01 8.34494365e-01 2.27384771e-01 -3.89213679e+01] [ 4.08530276e-01 -2.99227088e-03 9.12739864e-01 2.26148061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:83.91, Y:-38.94, Z:22.63 [[ 7.62754479e-01 5.49637266e-01 -3.40741075e-01 8.39086675e+01] [-5.00072721e-01 8.35395627e-01 2.28125887e-01 -3.89358801e+01] [ 4.10040093e-01 -3.60872604e-03 9.12060360e-01 2.26258547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:-38.94, Z:22.61 [[ 7.69044366e-01 5.34044092e-01 -3.51237344e-01 8.39466808e+01] [-4.98287319e-01 8.45059088e-01 1.93868217e-01 -3.89376161e+01] [ 4.00350486e-01 2.59238545e-02 9.15995329e-01 2.26109881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:-38.97, Z:22.66 [[ 7.63043061e-01 5.58512080e-01 -3.25314531e-01 8.39409277e+01] [-5.00038677e-01 8.29010017e-01 2.50407095e-01 -3.89711169e+01] [ 4.09544392e-01 -2.84015487e-02 9.11847982e-01 2.26619229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:83.99, Y:-38.97, Z:22.63 [[ 7.69137529e-01 5.31317499e-01 -3.55146697e-01 8.39928550e+01] [-4.97180087e-01 8.46621763e-01 1.89851393e-01 -3.89654348e+01] [ 4.01546290e-01 3.05500345e-02 9.15329051e-01 2.26297936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:-39.00, Z:22.69 [[ 7.62977832e-01 5.60196776e-01 -3.22559142e-01 8.39825311e+01] [-4.99917960e-01 8.27690601e-01 2.54971180e-01 -3.90002880e+01] [ 4.09813203e-01 -3.32842495e-02 9.11562010e-01 2.26879138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:-39.01, Z:22.69 [[ 7.62760343e-01 5.49572081e-01 -3.40833078e-01 8.40154486e+01] [-5.00118058e-01 8.35439588e-01 2.27865361e-01 -3.90059796e+01] [ 4.09973887e-01 -3.34988349e-03 9.12091108e-01 2.26852418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:-39.02, Z:22.70 [[ 7.63153642e-01 5.49472291e-01 -3.40112807e-01 8.40373743e+01] [-5.00258133e-01 8.35505292e-01 2.27316316e-01 -3.90192587e+01] [ 4.09070067e-01 -3.33307638e-03 9.12496888e-01 2.26964679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:-39.03, Z:22.71 [[ 7.63118284e-01 5.49415506e-01 -3.40283833e-01 8.40580820e+01] [-5.00211781e-01 8.35543049e-01 2.27279535e-01 -3.90322038e+01] [ 4.09192692e-01 -3.22718656e-03 9.12442286e-01 2.27070806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:-39.03, Z:22.68 [[ 7.70989318e-01 5.25347884e-01 -3.59979267e-01 8.41077200e+01] [-4.97941194e-01 8.49672233e-01 1.73527127e-01 -3.90279532e+01] [ 3.97026496e-01 4.54609448e-02 9.16680568e-01 2.26766366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:84.08, Y:-39.07, Z:22.75 [[ 7.61978714e-01 5.65722872e-01 -3.15192118e-01 8.40848417e+01] [-5.00733133e-01 8.23323265e-01 2.67217385e-01 -3.90711576e+01] [ 4.10675991e-01 -4.57868230e-02 9.10630989e-01 2.27507251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.15, Y:-39.06, Z:22.70 [[ 7.68335777e-01 5.29380187e-01 -3.59745398e-01 8.41504481e+01] [-5.00344798e-01 8.47290176e-01 1.78197756e-01 -3.90593463e+01] [ 3.99143103e-01 4.30810275e-02 9.15875979e-01 2.27035774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.0 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.13, Y:-39.10, Z:22.77 [[ 7.60706430e-01 5.65984263e-01 -3.17785371e-01 8.41301076e+01] [-5.01487303e-01 8.23299877e-01 2.65871768e-01 -3.90997474e+01] [ 4.12111894e-01 -4.28850347e-02 9.10123432e-01 2.27720036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:84.17, Y:-39.10, Z:22.76 [[ 7.59092855e-01 5.53555735e-01 -3.42569827e-01 8.41687894e+01] [-5.04157222e-01 8.32811742e-01 2.28582804e-01 -3.91034473e+01] [ 4.11829496e-01 -8.06521029e-04 9.11260564e-01 2.27648380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.19, Y:-39.12, Z:22.78 [[ 7.58570896e-01 5.54310970e-01 -3.42504811e-01 8.41900168e+01] [-5.05074457e-01 8.32309608e-01 2.28386754e-01 -3.91170526e+01] [ 4.11667328e-01 -2.57113150e-04 9.11334157e-01 2.27752916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:84.21, Y:-39.13, Z:22.79 [[ 7.57816844e-01 5.55445701e-01 -3.42335661e-01 8.42116676e+01] [-5.06401410e-01 8.31552702e-01 2.28205425e-01 -3.91311465e+01] [ 4.11425866e-01 4.21347016e-04 9.11443130e-01 2.27875244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11999999999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:84.23, Y:-39.14, Z:22.80 [[ 7.56394185e-01 5.57572937e-01 -3.42023767e-01 8.42325548e+01] [-5.08898630e-01 8.30126181e-01 2.27843605e-01 -3.91448548e+01] [ 4.10962311e-01 1.71584844e-03 9.11650720e-01 2.27980526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:84.25, Y:-39.16, Z:22.81 [[ 7.55894946e-01 5.58537819e-01 -3.41552829e-01 8.42539634e+01] [-5.10128609e-01 8.29475870e-01 2.27461168e-01 -3.91592309e+01] [ 4.10355495e-01 2.29912251e-03 9.11922739e-01 2.28097138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:84.28, Y:-39.17, Z:22.82 [[ 7.56278967e-01 5.56166537e-01 -3.44559004e-01 8.42795361e+01] [-5.10708622e-01 8.31019140e-01 2.20417541e-01 -3.91728869e+01] [ 4.08923988e-01 9.27210374e-03 9.12521342e-01 2.28156036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:84.30, Y:-39.19, Z:22.83 [[ 7.55635064e-01 5.59855470e-01 -3.39966915e-01 8.42963471e+01] [-5.10888792e-01 8.28590017e-01 2.28978658e-01 -3.91897091e+01] [ 4.09888146e-01 6.60984353e-04 9.12135555e-01 2.28317756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:-39.20, Z:22.84 [[ 7.56576107e-01 5.57224300e-01 -3.42189530e-01 8.43207890e+01] [-5.11362171e-01 8.30329035e-01 2.21500390e-01 -3.92020733e+01] [ 4.07555302e-01 7.40087793e-03 9.13150537e-01 2.28389975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:84.34, Y:-39.22, Z:22.86 [[ 7.55118481e-01 5.60496111e-01 -3.40059095e-01 8.43371796e+01] [-5.10596140e-01 8.28156520e-01 2.31189014e-01 -3.92182725e+01] [ 4.11202700e-01 -9.42235806e-04 9.11543445e-01 2.28564298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:-39.23, Z:22.87 [[ 7.55572590e-01 5.61935323e-01 -3.36658214e-01 8.43569200e+01] [-5.11456831e-01 8.27172839e-01 2.32802500e-01 -3.92325866e+01] [ 4.09294479e-01 -3.71304465e-03 9.12394784e-01 2.28702586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:84.38, Y:-39.24, Z:22.88 [[ 7.56672947e-01 5.57848070e-01 -3.40956862e-01 8.43817981e+01] [-5.09850465e-01 8.29939226e-01 2.26392104e-01 -3.92445190e+01] [ 4.09265873e-01 2.53223366e-03 9.12411658e-01 2.28762765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:-39.25, Z:22.87 [[ 7.60681699e-01 5.45442077e-01 -3.51932227e-01 8.44187603e+01] [-5.09071411e-01 8.37660222e-01 1.97918294e-01 -3.92509619e+01] [ 4.02752593e-01 2.86058114e-02 9.14861769e-01 2.28677072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:84.42, Y:-39.28, Z:22.91 [[ 7.57228727e-01 5.65500630e-01 -3.26823641e-01 8.44158775e+01] [-5.07987016e-01 8.24429040e-01 2.49531459e-01 -3.92795590e+01] [ 4.10553098e-01 -2.29302231e-02 9.11548330e-01 2.29106499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:84.47, Y:-39.28, Z:22.88 [[ 7.62220213e-01 5.38985390e-01 -3.58490023e-01 8.44689460e+01] [-5.07267530e-01 8.41377409e-01 1.86450282e-01 -3.92757432e+01] [ 4.02119385e-01 3.97341745e-02 9.14724656e-01 2.28808026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:-39.30, Z:22.91 [[ 7.61805217e-01 5.52261874e-01 -3.38614284e-01 8.44772292e+01] [-5.07759325e-01 8.33646107e-01 2.17289291e-01 -3.92995169e+01] [ 4.02285071e-01 6.40244453e-03 9.15492070e-01 2.29089285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:-39.32, Z:22.92 [[ 7.60961833e-01 5.54687237e-01 -3.36539978e-01 8.44968553e+01] [-5.08056426e-01 8.32057439e-01 2.22618700e-01 -3.93153761e+01] [ 4.03504344e-01 1.57696439e-03 9.14976370e-01 2.29242430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:-39.33, Z:22.93 [[ 7.60070399e-01 5.53161242e-01 -3.41036111e-01 8.45232123e+01] [-5.09279916e-01 8.33021032e-01 2.16124796e-01 -3.93278350e+01] [ 4.03642114e-01 9.41278228e-03 9.14868539e-01 2.29312930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53999999999999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:84.52, Y:-39.35, Z:22.97 [[ 7.54130605e-01 5.72360743e-01 -3.22009643e-01 8.45217620e+01] [-5.09178681e-01 8.19257774e-01 2.63730490e-01 -3.93547578e+01] [ 4.14757882e-01 -3.49267885e-02 9.09261249e-01 2.29749856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:-39.35, Z:22.94 [[ 7.58363777e-01 5.42791867e-01 -3.60917402e-01 8.45800228e+01] [-5.09873908e-01 8.38929296e-01 1.90331904e-01 -3.93477999e+01] [ 4.06094791e-01 3.96815450e-02 9.12969000e-01 2.29410560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:-39.37, Z:22.96 [[ 7.58089920e-01 5.52903159e-01 -3.45829106e-01 8.45924711e+01] [-5.09873099e-01 8.33130047e-01 2.14298268e-01 -3.93692496e+01] [ 4.06606809e-01 1.38716012e-02 9.13497938e-01 2.29621937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:84.59, Y:-39.40, Z:23.01 [[ 7.51756015e-01 5.74655836e-01 -3.23471118e-01 8.45867758e+01] [-5.09891294e-01 8.17596549e-01 2.67482245e-01 -3.93986738e+01] [ 4.18179103e-01 -3.61462793e-02 9.07645131e-01 2.30121844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:84.62, Y:-39.40, Z:23.01 [[ 7.51938705e-01 5.60225230e-01 -3.47470682e-01 8.46242902e+01] [-5.10687949e-01 8.28329529e-01 2.30364950e-01 -3.94022547e+01] [ 4.16876483e-01 4.22876792e-03 9.08953307e-01 2.30056760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:-39.42, Z:23.02 [[ 7.52327667e-01 5.60176610e-01 -3.46706285e-01 8.46454896e+01] [-5.10934330e-01 8.28361870e-01 2.29701379e-01 -3.94160352e+01] [ 4.15871606e-01 4.33344020e-03 9.09413013e-01 2.30179582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:84.67, Y:-39.43, Z:23.03 [[ 7.53053679e-01 5.59337152e-01 -3.46485363e-01 8.46672712e+01] [-5.10147210e-01 8.28930564e-01 2.29399093e-01 -3.94309204e+01] [ 4.15523743e-01 4.00871075e-03 9.09573499e-01 2.30289992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:-39.44, Z:23.04 [[ 7.52844918e-01 5.59938001e-01 -3.45968157e-01 8.46880555e+01] [-5.11032765e-01 8.28522434e-01 2.28901920e-01 -3.94446988e+01] [ 4.14813263e-01 4.47341706e-03 9.09895568e-01 2.30422528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:-39.46, Z:23.05 [[ 7.52633893e-01 5.60375801e-01 -3.45718361e-01 8.47096366e+01] [-5.11658586e-01 8.28224265e-01 2.28582718e-01 -3.94589174e+01] [ 4.14424559e-01 4.85066642e-03 9.10070742e-01 2.30541919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:84.73, Y:-39.47, Z:23.06 [[ 7.53176244e-01 5.59539689e-01 -3.45891430e-01 8.47316307e+01] [-5.10757298e-01 8.28791161e-01 2.28543636e-01 -3.94733807e+01] [ 4.14550995e-01 4.53293505e-03 9.10014794e-01 2.30640066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:84.75, Y:-39.49, Z:23.08 [[ 7.52710023e-01 5.60178847e-01 -3.45871769e-01 8.47515088e+01] [-5.11535594e-01 8.28356464e-01 2.28378862e-01 -3.94868715e+01] [ 4.14438123e-01 5.02266267e-03 9.10063632e-01 2.30760333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:-39.50, Z:23.09 [[ 7.52286061e-01 5.60799208e-01 -3.45788854e-01 8.47721138e+01] [-5.12273530e-01 8.27934071e-01 2.28256445e-01 -3.95006150e+01] [ 4.14296407e-01 5.42433541e-03 9.10125850e-01 2.30884606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:84.79, Y:-39.51, Z:23.10 [[ 7.52028854e-01 5.60708508e-01 -3.46494694e-01 8.47934464e+01] [-5.12037507e-01 8.27994797e-01 2.28565544e-01 -3.95139111e+01] [ 4.15054449e-01 5.53039491e-03 9.09779764e-01 2.30980403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:-39.53, Z:23.11 [[ 7.51330426e-01 5.61441785e-01 -3.46822307e-01 8.48144177e+01] [-5.12779891e-01 8.27494453e-01 2.28713168e-01 -3.95273374e+01] [ 4.15402665e-01 6.00434314e-03 9.09617818e-01 2.31097355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:-39.54, Z:23.12 [[ 7.51223446e-01 5.61277260e-01 -3.47319985e-01 8.48361419e+01] [-5.12482815e-01 8.27606201e-01 2.28974542e-01 -3.95413106e+01] [ 4.15962377e-01 5.98447905e-03 9.09362132e-01 2.31207598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:-39.56, Z:23.13 [[ 7.52168814e-01 5.60293699e-01 -3.46861710e-01 8.48562602e+01] [-5.11605619e-01 8.28275261e-01 2.28516484e-01 -3.95552811e+01] [ 4.15333320e-01 5.57342708e-03 9.09652225e-01 2.31314885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:-39.57, Z:23.14 [[ 7.51784227e-01 5.60219136e-01 -3.47814601e-01 8.48775680e+01] [-5.11317237e-01 8.28324842e-01 2.28981744e-01 -3.95694253e+01] [ 4.16383429e-01 5.69873717e-03 9.09171251e-01 2.31432195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:84.90, Y:-39.58, Z:23.15 [[ 7.52387256e-01 5.59161740e-01 -3.48211955e-01 8.48990232e+01] [-5.10110465e-01 8.29041837e-01 2.29078473e-01 -3.95837472e+01] [ 4.16774196e-01 5.27083843e-03 9.08994768e-01 2.31542833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:84.92, Y:-39.60, Z:23.17 [[ 7.53538592e-01 5.58046816e-01 -3.47510205e-01 8.49201790e+01] [-5.09160749e-01 8.29795675e-01 2.28461091e-01 -3.95983813e+01] [ 4.15854449e-01 4.78430702e-03 9.09418599e-01 2.31662860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:84.94, Y:-39.61, Z:23.18 [[ 7.54885718e-01 5.56585548e-01 -3.46929502e-01 8.49418631e+01] [-5.07794422e-01 8.30780124e-01 2.27923694e-01 -3.96122985e+01] [ 4.15081169e-01 4.11252435e-03 9.09775088e-01 2.31752803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:-39.63, Z:23.19 [[ 7.54830919e-01 5.56834242e-01 -3.46649551e-01 8.49615235e+01] [-5.08181883e-01 8.30612466e-01 2.27671045e-01 -3.96257717e+01] [ 4.14706472e-01 4.30787778e-03 9.09945045e-01 2.31886129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:-39.62, Z:23.17 [[ 7.64136170e-01 5.37673054e-01 -3.56375646e-01 8.50022151e+01] [-5.03672510e-01 8.42489348e-01 1.91116981e-01 -3.96244251e+01] [ 4.03001136e-01 3.34572185e-02 9.14587721e-01 2.31677316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:-39.65, Z:23.19 [[ 7.64261844e-01 5.45558928e-01 -3.43903024e-01 8.50159606e+01] [-5.03637228e-01 8.37977318e-01 2.10103680e-01 -3.96453374e+01] [ 4.02806872e-01 1.26281395e-02 9.15197877e-01 2.31885870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:-39.68, Z:23.24 [[ 7.56618674e-01 5.64954729e-01 -3.29172198e-01 8.50159120e+01] [-5.06575791e-01 8.24792669e-01 2.51193194e-01 -3.96762872e+01] [ 4.13411599e-01 -2.33067950e-02 9.10245924e-01 2.32362114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:-39.68, Z:23.24 [[ 7.57240442e-01 5.54471941e-01 -3.45177895e-01 8.50483081e+01] [-5.05923181e-01 8.32197685e-01 2.26911321e-01 -3.96832084e+01] [ 4.13072206e-01 2.80706991e-03 9.10693951e-01 2.32351258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28999999999999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:85.07, Y:-39.70, Z:23.24 [[ 7.59147257e-01 5.52025144e-01 -3.44911123e-01 8.50715662e+01] [-5.03381711e-01 8.33825910e-01 2.26585976e-01 -3.96976082e+01] [ 4.12676987e-01 1.60982957e-03 9.10876014e-01 2.32425888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:-39.71, Z:23.26 [[ 7.58748081e-01 5.52252902e-01 -3.45424495e-01 8.50917643e+01] [-5.03550373e-01 8.33674519e-01 2.26768205e-01 -3.97107970e+01] [ 4.13204999e-01 1.87869345e-03 9.10636096e-01 2.32565149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:-39.71, Z:23.24 [[ 7.67249832e-01 5.33817408e-01 -3.55480901e-01 8.51319509e+01] [-4.98938517e-01 8.45069448e-01 1.92140531e-01 -3.97083006e+01] [ 4.02974009e-01 2.99433232e-02 9.14721458e-01 2.32352231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:85.13, Y:-39.74, Z:23.29 [[ 7.58873875e-01 5.59064827e-01 -3.34001439e-01 8.51281342e+01] [-5.01757570e-01 8.28879177e-01 2.47383610e-01 -3.97448362e+01] [ 4.15150313e-01 -2.01452076e-02 9.09529762e-01 2.32872844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:-39.75, Z:23.29 [[ 7.58698739e-01 5.51102901e-01 -3.47364098e-01 8.51588832e+01] [-5.01763946e-01 8.34436168e-01 2.27923726e-01 -3.97530823e+01] [ 4.15462593e-01 1.36933746e-03 9.09609234e-01 2.32894292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:-39.77, Z:23.30 [[ 7.58672115e-01 5.50834360e-01 -3.47847856e-01 8.51807885e+01] [-5.01393608e-01 8.34613473e-01 2.28089459e-01 -3.97668929e+01] [ 4.15958018e-01 1.36357927e-03 9.09382795e-01 2.33005207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:-39.78, Z:23.31 [[ 7.58817365e-01 5.50589709e-01 -3.47918351e-01 8.52026959e+01] [-5.01173790e-01 8.34774875e-01 2.27981885e-01 -3.97810943e+01] [ 4.15957978e-01 1.37094559e-03 9.09382802e-01 2.33122082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:-39.79, Z:23.32 [[ 7.58947075e-01 5.50104539e-01 -3.48402545e-01 8.52240726e+01] [-5.00561138e-01 8.35094882e-01 2.28155836e-01 -3.97948124e+01] [ 4.16458743e-01 1.23857003e-03 9.09153772e-01 2.33227037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:85.25, Y:-39.81, Z:23.33 [[ 7.60008544e-01 5.48782192e-01 -3.48173979e-01 8.52462391e+01] [-4.99205133e-01 8.35965176e-01 2.27939595e-01 -3.98090854e+01] [ 4.16150513e-01 5.74197489e-04 9.09295563e-01 2.33311251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:-39.81, Z:23.31 [[ 7.68409069e-01 5.29564204e-01 -3.59317766e-01 8.52855352e+01] [-4.95372612e-01 8.47663964e-01 1.89925720e-01 -3.98063000e+01] [ 4.05158585e-01 3.20555343e-02 9.13684280e-01 2.33131350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:-39.84, Z:23.37 [[ 7.60844285e-01 5.57026238e-01 -3.32923030e-01 8.52774634e+01] [-4.98230263e-01 8.30131539e-01 2.50296291e-01 -3.98444163e+01] [ 4.15791508e-01 -2.45641739e-02 9.09128167e-01 2.33697337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:85.33, Y:-39.84, Z:23.34 [[ 7.69164480e-01 5.29619249e-01 -3.57616350e-01 8.53262122e+01] [-4.93613283e-01 8.47793095e-01 1.93888614e-01 -3.98374855e+01] [ 4.05871814e-01 2.73919452e-02 9.13519431e-01 2.33391505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:85.32, Y:-39.87, Z:23.39 [[ 7.62920564e-01 5.53590560e-01 -3.33900741e-01 8.53208931e+01] [-4.95749840e-01 8.32464098e-01 2.47458325e-01 -3.98734099e+01] [ 4.14950972e-01 -2.32598066e-02 9.09546410e-01 2.33917246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:-39.88, Z:23.39 [[ 7.63058142e-01 5.45165280e-01 -3.47184518e-01 8.53495385e+01] [-4.95579625e-01 8.38327595e-01 2.27173236e-01 -3.98806556e+01] [ 4.14901322e-01 -1.28881433e-03 9.09865502e-01 2.33944427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:-39.89, Z:23.41 [[ 7.63622219e-01 5.44434728e-01 -3.47090672e-01 8.53708882e+01] [-4.94836045e-01 8.38801641e-01 2.27044260e-01 -3.98948783e+01] [ 4.14751005e-01 -1.62306633e-03 9.09933498e-01 2.34064572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:-39.91, Z:23.42 [[ 7.63977352e-01 5.43769245e-01 -3.47352291e-01 8.53912272e+01] [-4.94096199e-01 8.39232747e-01 2.27062419e-01 -3.99083776e+01] [ 4.14978977e-01 -1.84509855e-03 9.09829129e-01 2.34181183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.42, Y:-39.91, Z:23.42 [[ 7.68870725e-01 5.35322059e-01 -3.49668559e-01 8.54186516e+01] [-4.89781264e-01 8.44632698e-01 2.16124776e-01 -3.99146237e+01] [ 4.11037859e-01 5.08909511e-03 9.11604070e-01 2.34170818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:-39.93, Z:23.43 [[ 7.68164340e-01 5.38556602e-01 -3.46237396e-01 8.54361163e+01] [-4.89139341e-01 8.42580867e-01 2.25388968e-01 -3.99314240e+01] [ 4.13117722e-01 -3.77743592e-03 9.10669797e-01 2.34344646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:85.45, Y:-39.95, Z:23.45 [[ 7.66222143e-01 5.42124087e-01 -3.44971161e-01 8.54531542e+01] [-4.88590530e-01 8.40217583e-01 2.35188665e-01 -3.99486090e+01] [ 4.17352275e-01 -1.16571206e-02 9.08670012e-01 2.34538999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:-39.96, Z:23.46 [[ 7.63861732e-01 5.36862456e-01 -3.58181459e-01 8.54833189e+01] [-4.91236783e-01 8.43606597e-01 2.16827889e-01 -3.99621632e+01] [ 4.18570995e-01 1.03253804e-02 9.08125382e-01 2.34602278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:-39.98, Z:23.48 [[ 7.65713501e-01 5.41408563e-01 -3.47216937e-01 8.54970496e+01] [-4.88780486e-01 8.40714578e-01 2.33007800e-01 -3.99761112e+01] [ 4.18062759e-01 -8.70435502e-03 9.08376444e-01 2.34774376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:-39.99, Z:23.50 [[ 7.62534192e-01 5.46607846e-01 -3.46065700e-01 8.55131827e+01] [-4.89345474e-01 8.37219796e-01 2.44139347e-01 -3.99927692e+01] [ 4.23181537e-01 -1.68189150e-02 9.05888796e-01 2.34995294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:-40.00, Z:23.49 [[ 7.61689185e-01 5.33463136e-01 -3.67758982e-01 8.55545424e+01] [-4.92651784e-01 8.45476534e-01 2.06067103e-01 -4.00002780e+01] [ 4.20860792e-01 2.42180345e-02 9.06801897e-01 2.34895441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:-40.02, Z:23.51 [[ 7.59703706e-01 5.45366438e-01 -3.54154949e-01 8.55658694e+01] [-4.93900859e-01 8.38197374e-01 2.31272790e-01 -4.00201922e+01] [ 4.22980166e-01 -7.81362352e-04 9.06138603e-01 2.35136677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:-40.04, Z:23.54 [[ 7.58163288e-01 5.54148444e-01 -3.43668343e-01 8.55744604e+01] [-4.92142185e-01 8.32045440e-01 2.55922753e-01 -4.00350839e+01] [ 4.27766873e-01 -2.48975465e-02 9.03546133e-01 2.35415753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:-40.04, Z:23.54 [[ 7.57711895e-01 5.44155651e-01 -3.60232303e-01 8.56080392e+01] [-4.93499326e-01 8.38974611e-01 2.29303329e-01 -4.00416439e+01] [ 4.27002458e-01 4.02853836e-03 9.04241490e-01 2.35400204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:-40.05, Z:23.54 [[ 7.58297691e-01 5.36583981e-01 -3.70219181e-01 8.56424362e+01] [-4.96051680e-01 8.43410011e-01 2.06378983e-01 -4.00537343e+01] [ 4.22986220e-01 2.71511408e-02 9.05729249e-01 2.35380778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:-40.07, Z:23.56 [[ 7.60147683e-01 5.47536807e-01 -3.49827021e-01 8.56474264e+01] [-4.93350687e-01 8.36742937e-01 2.37626508e-01 -4.00713249e+01] [ 4.22824549e-01 -8.04383851e-03 9.06175865e-01 2.35646272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:85.68, Y:-40.09, Z:23.57 [[ 7.58915962e-01 5.40957667e-01 -3.62507056e-01 8.56793568e+01] [-4.94272407e-01 8.40962998e-01 2.20172715e-01 -4.00850839e+01] [ 4.23959139e-01 1.20846469e-02 9.05600690e-01 2.35676596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:-40.10, Z:23.58 [[ 7.60663316e-01 5.45008789e-01 -3.52642511e-01 8.56940760e+01] [-4.93981991e-01 8.38429796e-01 2.30254794e-01 -4.00976940e+01] [ 4.21156874e-01 -9.47325651e-04 9.06987315e-01 2.35834170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:-40.11, Z:23.60 [[ 7.58577021e-01 5.44872191e-01 -3.57316664e-01 8.57183398e+01] [-4.95811498e-01 8.38499727e-01 2.26029128e-01 -4.01144039e+01] [ 4.22766911e-01 5.70120839e-03 9.06220522e-01 2.35953921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:-40.12, Z:23.60 [[ 7.61049280e-01 5.43119361e-01 -3.54718697e-01 8.57392483e+01] [-4.94220405e-01 8.39646541e-01 2.25255139e-01 -4.01236059e+01] [ 4.20178754e-01 3.87895720e-03 9.07433066e-01 2.36029846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:85.76, Y:-40.14, Z:23.62 [[ 7.57883704e-01 5.46372556e-01 -3.56495892e-01 8.57585696e+01] [-4.95061939e-01 8.37541263e-01 2.31167275e-01 -4.01424258e+01] [ 4.24883474e-01 1.28963645e-03 9.05247132e-01 2.36210772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.78, Y:-40.16, Z:23.63 [[ 7.57901448e-01 5.46878865e-01 -3.55680900e-01 8.57792718e+01] [-4.95418926e-01 8.37211467e-01 2.31596735e-01 -4.01568199e+01] [ 4.24435488e-01 6.83549195e-04 9.05457923e-01 2.36337884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:85.80, Y:-40.17, Z:23.64 [[ 7.57926102e-01 5.45704252e-01 -3.57428165e-01 8.58003797e+01] [-4.93660063e-01 8.37977828e-01 2.32578807e-01 -4.01694315e+01] [ 4.26436122e-01 1.70461510e-04 9.04517664e-01 2.36442142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:85.84, Y:-40.17, Z:23.62 [[ 7.65138987e-01 5.26282637e-01 -3.70929799e-01 8.58414096e+01] [-4.90849562e-01 8.49611810e-01 1.92941650e-01 -4.01695018e+01] [ 4.16688178e-01 3.44435508e-02 9.08396722e-01 2.36247327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:85.86, Y:-40.19, Z:23.64 [[ 7.66806038e-01 5.32733966e-01 -3.58054496e-01 8.58555619e+01] [-4.88948217e-01 8.46188993e-01 2.11881639e-01 -4.01900525e+01] [ 4.15858320e-01 1.25979869e-02 9.09342152e-01 2.36433853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:85.87, Y:-40.21, Z:23.66 [[ 7.67623615e-01 5.35748462e-01 -3.51749302e-01 8.58719910e+01] [-4.87323270e-01 8.44377449e-01 2.22582019e-01 -4.02082555e+01] [ 4.16257152e-01 5.56405995e-04 9.09246762e-01 2.36608553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:-40.24, Z:23.71 [[ 7.63671694e-01 5.52325957e-01 -3.34277701e-01 8.58694863e+01] [-4.86604889e-01 8.32710201e-01 2.64214691e-01 -4.02385446e+01] [ 4.24289083e-01 -3.91121170e-02 9.04681721e-01 2.37106674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:-40.22, Z:23.66 [[ 7.75072520e-01 5.07896392e-01 -3.75904036e-01 8.59362191e+01] [-4.81429843e-01 8.59979903e-01 1.69292272e-01 -4.02203249e+01] [ 4.09252851e-01 4.97576330e-02 9.11063270e-01 2.36569054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:-40.27, Z:23.74 [[ 7.66475115e-01 5.52412726e-01 -3.27652376e-01 8.59076303e+01] [-4.83163430e-01 8.32035050e-01 2.72526651e-01 -4.02706585e+01] [ 4.23165451e-01 -5.05752502e-02 9.04639787e-01 2.37415958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:-40.27, Z:23.73 [[ 7.67401743e-01 5.34033710e-01 -3.54827509e-01 8.59472977e+01] [-4.81711973e-01 8.45441554e-01 2.30612562e-01 -4.02740747e+01] [ 4.23140803e-01 -6.04782277e-03 9.06043754e-01 2.37319405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:-40.29, Z:23.74 [[ 7.69840340e-01 5.30565282e-01 -3.54748266e-01 8.59688064e+01] [-4.77989486e-01 8.47608103e-01 2.30405197e-01 -4.02888079e+01] [ 4.22932503e-01 -7.80927358e-03 9.06127537e-01 2.37435788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:-40.30, Z:23.75 [[ 7.70877382e-01 5.28898453e-01 -3.54985194e-01 8.59906056e+01] [-4.76153927e-01 8.48641710e-01 2.30401143e-01 -4.03031505e+01] [ 4.23114050e-01 -8.58343574e-03 9.06035775e-01 2.37548734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:-40.32, Z:23.77 [[ 7.71758297e-01 5.27567622e-01 -3.55051454e-01 8.60115001e+01] [-4.74740919e-01 8.49463551e-01 2.30288376e-01 -4.03168190e+01] [ 4.23095959e-01 -9.16951132e-03 9.06038481e-01 2.37659437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:-40.33, Z:23.78 [[ 7.72695229e-01 5.26378137e-01 -3.54779000e-01 8.60332409e+01] [-4.73567837e-01 8.50195128e-01 2.30003801e-01 -4.03303630e+01] [ 4.22700350e-01 -9.71091580e-03 9.06217475e-01 2.37767996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:-40.34, Z:23.79 [[ 7.72920251e-01 5.26322908e-01 -3.54370542e-01 8.60537849e+01] [-4.73706655e-01 8.50230760e-01 2.29585842e-01 -4.03432020e+01] [ 4.22133024e-01 -9.58386229e-03 9.06483238e-01 2.37877977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:-40.36, Z:23.80 [[ 7.72983629e-01 5.26775411e-01 -3.53559014e-01 8.60761155e+01] [-4.74490188e-01 8.49954221e-01 2.28991012e-01 -4.03563947e+01] [ 4.21135810e-01 -9.24602030e-03 9.06950462e-01 2.37998895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:-40.37, Z:23.81 [[ 7.72555754e-01 5.27430653e-01 -3.53517344e-01 8.60982523e+01] [-4.75294548e-01 8.49553080e-01 2.28811399e-01 -4.03696600e+01] [ 4.21013894e-01 -8.74469664e-03 9.07012035e-01 2.38112452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:-40.38, Z:23.82 [[ 7.71953101e-01 5.28323688e-01 -3.53500339e-01 8.61197299e+01] [-4.76352382e-01 8.49004254e-01 2.28648606e-01 -4.03825594e+01] [ 4.20923767e-01 -8.11527166e-03 9.07059714e-01 2.38224261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:-40.40, Z:23.83 [[ 7.71369809e-01 5.29334576e-01 -3.53261270e-01 8.61421478e+01] [-4.77569844e-01 8.48380074e-01 2.28425686e-01 -4.03961058e+01] [ 4.20613436e-01 -7.49374845e-03 9.07209006e-01 2.38338550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:-40.41, Z:23.84 [[ 7.69418139e-01 5.32256786e-01 -3.53126665e-01 8.61653853e+01] [-4.80897202e-01 8.46563424e-01 2.28184686e-01 -4.04079651e+01] [ 4.20396966e-01 -5.75181151e-03 9.07322053e-01 2.38447988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:-40.42, Z:23.86 [[ 7.68125742e-01 5.34063407e-01 -3.53212574e-01 8.61871243e+01] [-4.82929863e-01 8.45431787e-01 2.28087355e-01 -4.04198562e+01] [ 4.20430247e-01 -4.62286906e-03 9.07313086e-01 2.38551588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:-40.43, Z:23.87 [[ 7.66975854e-01 5.35631749e-01 -3.53336481e-01 8.62096361e+01] [-4.84650539e-01 8.44443562e-01 2.28098500e-01 -4.04322476e+01] [ 4.20549515e-01 -3.70132582e-03 9.07262038e-01 2.38657580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:-40.44, Z:23.88 [[ 7.64532684e-01 5.38868744e-01 -3.53709276e-01 8.62319792e+01] [-4.88172107e-01 8.42387845e-01 2.28190081e-01 -4.04431408e+01] [ 4.20924897e-01 -1.78777251e-03 9.07093730e-01 2.38760215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:-40.46, Z:23.89 [[ 7.63769635e-01 5.39965993e-01 -3.53684423e-01 8.62540077e+01] [-4.89418966e-01 8.41686085e-01 2.28108766e-01 -4.04555684e+01] [ 4.20862233e-01 -1.12268423e-03 9.07123873e-01 2.38865101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:-40.45, Z:23.86 [[ 7.71193314e-01 5.21189421e-01 -3.65544059e-01 8.62979443e+01] [-4.87117933e-01 8.52807048e-01 1.88245210e-01 -4.04533892e+01] [ 4.09849962e-01 3.28896190e-02 9.11559807e-01 2.38637762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-40.49, Z:23.92 [[ 7.62417159e-01 5.51015087e-01 -3.39267520e-01 8.62880154e+01] [-4.90798235e-01 8.34107665e-01 2.51756818e-01 -4.04889132e+01] [ 4.21707444e-01 -2.54318183e-02 9.06375228e-01 2.39209242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-40.50, Z:23.92 [[ 7.62780268e-01 5.42191377e-01 -3.52412788e-01 8.63207999e+01] [-4.91244530e-01 8.40252856e-01 2.29464486e-01 -4.04967811e+01] [ 4.20529517e-01 -1.91012776e-03 9.07276847e-01 2.39228814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-40.51, Z:23.93 [[ 7.63106602e-01 5.41322204e-01 -3.53041904e-01 8.63437250e+01] [-4.91296392e-01 8.40815242e-01 2.27283047e-01 -4.05095401e+01] [ 4.19876374e-01 7.01963327e-06 9.07581308e-01 2.39332480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-40.52, Z:23.94 [[ 7.63916299e-01 5.40978393e-01 -3.51815671e-01 8.63662434e+01] [-4.91352912e-01 8.41036490e-01 2.26340316e-01 -4.05228324e+01] [ 4.18335037e-01 -3.94016771e-05 9.08292792e-01 2.39443150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:-40.54, Z:23.96 [[ 7.64354025e-01 5.40546348e-01 -3.51528903e-01 8.63876768e+01] [-4.91033014e-01 8.41314226e-01 2.26002106e-01 -4.05364113e+01] [ 4.17910880e-01 -1.33322823e-04 9.08488018e-01 2.39556265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:-40.54, Z:23.93 [[ 7.72071724e-01 5.20815463e-01 -3.64220410e-01 8.64310483e+01] [-4.87389283e-01 8.53013722e-01 1.86599240e-01 -4.05350703e+01] [ 4.07868777e-01 3.34491273e-02 9.12427650e-01 2.39341173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-40.57, Z:23.99 [[ 7.66111394e-01 5.49756677e-01 -3.32927812e-01 8.64201686e+01] [-4.89439208e-01 8.34776815e-01 2.52184320e-01 -4.05725601e+01] [ 4.16560432e-01 -3.02533563e-02 9.08604502e-01 2.39932017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:-40.58, Z:23.99 [[ 7.67040871e-01 5.37844865e-01 -3.49815957e-01 8.64536107e+01] [-4.88664954e-01 8.43042662e-01 2.24690081e-01 -4.05787033e+01] [ 4.15758182e-01 -1.40367696e-03 9.09474114e-01 2.39912549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:-40.59, Z:24.00 [[ 7.67810513e-01 5.36867469e-01 -3.49628856e-01 8.64749215e+01] [-4.87715760e-01 8.43664693e-01 2.24417518e-01 -4.05920604e+01] [ 4.15451986e-01 -1.79062621e-03 9.09613347e-01 2.40024091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:-40.59, Z:23.98 [[ 7.76546648e-01 5.15818591e-01 -3.61810010e-01 8.65168440e+01] [-4.82942368e-01 8.56105194e-01 1.83985231e-01 -4.05882046e+01] [ 4.04650432e-01 3.18602687e-02 9.13916271e-01 2.39789276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.3 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:86.51, Y:-40.63, Z:24.04 [[ 7.69829648e-01 5.44369590e-01 -3.33202733e-01 8.65083240e+01] [-4.84755217e-01 8.38286877e-01 2.49574621e-01 -4.06270767e+01] [ 4.15180313e-01 -3.06081792e-02 9.09224091e-01 2.40367386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:86.54, Y:-40.63, Z:24.04 [[ 7.70199825e-01 5.33303966e-01 -3.49827256e-01 8.65406151e+01] [-4.83785537e-01 8.45915895e-01 2.24450112e-01 -4.06336262e+01] [ 4.15624571e-01 -3.63007002e-03 9.09529020e-01 2.40361966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-40.64, Z:24.02 [[ 7.76427126e-01 5.18512501e-01 -3.58197857e-01 8.65753581e+01] [-4.78963270e-01 8.54904993e-01 1.99327969e-01 -4.06351427e+01] [ 4.09579180e-01 1.67999749e-02 9.12119869e-01 2.40246943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:-40.65, Z:24.04 [[ 7.76237985e-01 5.24729701e-01 -3.49447179e-01 8.65913938e+01] [-4.79165318e-01 8.51267712e-01 2.13878192e-01 -4.06541144e+01] [ 4.09701340e-01 1.42259152e-03 9.12218608e-01 2.40436134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:-40.67, Z:24.05 [[ 7.76585706e-01 5.22812652e-01 -3.51541706e-01 8.66146312e+01] [-4.78603914e-01 8.52434058e-01 2.10462515e-01 -4.06669172e+01] [ 4.09698589e-01 4.80705570e-03 9.12208287e-01 2.40526219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:-40.68, Z:24.07 [[ 7.76186832e-01 5.25549931e-01 -3.48326388e-01 8.66329698e+01] [-4.77474581e-01 8.50752596e-01 2.19631610e-01 -4.06834378e+01] [ 4.11766957e-01 -4.15816724e-03 9.11279695e-01 2.40700245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:-40.69, Z:24.08 [[ 7.77772402e-01 5.21074852e-01 -3.51498350e-01 8.66578753e+01] [-4.75880282e-01 8.53508231e-01 2.12277313e-01 -4.06945939e+01] [ 4.10619104e-01 2.16769824e-03 9.11804394e-01 2.40767727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:86.67, Y:-40.71, Z:24.10 [[ 7.77834196e-01 5.24898651e-01 -3.45623161e-01 8.66722753e+01] [-4.73107302e-01 8.51055406e-01 2.27759034e-01 -4.07135227e+01] [ 4.13694869e-01 -1.36419238e-02 9.10313382e-01 2.40997905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:86.69, Y:-40.73, Z:24.11 [[ 7.78171818e-01 5.22629497e-01 -3.48291590e-01 8.66935352e+01] [-4.71148809e-01 8.52473057e-01 2.26513766e-01 -4.07268175e+01] [ 4.15291971e-01 -1.21694610e-02 9.09606774e-01 2.41134684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:-40.74, Z:24.12 [[ 7.79760528e-01 5.17337190e-01 -3.52612750e-01 8.67182284e+01] [-4.68984068e-01 8.55767266e-01 2.18440679e-01 -4.07379018e+01] [ 4.14761936e-01 -4.96165747e-03 9.09916435e-01 2.41217068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-40.76, Z:24.14 [[ 7.77400584e-01 5.21689839e-01 -3.51408656e-01 8.67363728e+01] [-4.70351150e-01 8.53072563e-01 2.25913697e-01 -4.07600109e+01] [ 4.17633963e-01 -1.03399748e-02 9.08556524e-01 2.41439510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:86.76, Y:-40.77, Z:24.15 [[ 7.83394525e-01 5.12671848e-01 -3.51369599e-01 8.67605440e+01] [-4.63236898e-01 8.58532507e-01 2.19848835e-01 -4.07672013e+01] [ 4.14372532e-01 -9.46101034e-03 9.10058182e-01 2.41472904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:-40.79, Z:24.17 [[ 7.81384472e-01 5.15579728e-01 -3.51590459e-01 8.67795092e+01] [-4.64262605e-01 8.56754082e-01 2.24572209e-01 -4.07873202e+01] [ 4.17011439e-01 -1.22469351e-02 9.08818723e-01 2.41667034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:86.80, Y:-40.80, Z:24.18 [[ 7.84728154e-01 5.13210967e-01 -3.47586289e-01 8.67982520e+01] [-4.59308282e-01 8.58011458e-01 2.29896151e-01 -4.07976988e+01] [ 4.16218245e-01 -2.07567207e-02 9.09027795e-01 2.41774357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:86.83, Y:-40.81, Z:24.19 [[ 7.84184332e-01 5.07668489e-01 -3.56829987e-01 8.68263045e+01] [-4.59320483e-01 8.61533523e-01 2.16297673e-01 -4.08123859e+01] [ 4.17228508e-01 -5.71792402e-03 9.08783625e-01 2.41857443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:-40.83, Z:24.20 [[ 7.84659553e-01 5.11040814e-01 -3.50922600e-01 8.68429196e+01] [-4.58838158e-01 8.59407783e-01 2.25578828e-01 -4.08276416e+01] [ 4.16865602e-01 -1.59859028e-02 9.08827553e-01 2.42018705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-40.84, Z:24.21 [[ 7.84987465e-01 5.10510285e-01 -3.50961435e-01 8.68651784e+01] [-4.58275472e-01 8.59718901e-01 2.25537143e-01 -4.08406992e+01] [ 4.16867210e-01 -1.62068123e-02 9.08822903e-01 2.42135048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:86.89, Y:-40.85, Z:24.22 [[ 7.84093648e-01 5.11348129e-01 -3.51738884e-01 8.68885530e+01] [-4.59019642e-01 8.59231000e-01 2.25882841e-01 -4.08524885e+01] [ 4.17729721e-01 -1.56582439e-02 9.08436404e-01 2.42237312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:-40.86, Z:24.24 [[ 7.82788362e-01 5.16817975e-01 -3.46614426e-01 8.69026614e+01] [-4.58960819e-01 8.55630117e-01 2.39274047e-01 -4.08643188e+01] [ 4.20234870e-01 -2.82184990e-02 9.06976499e-01 2.42442856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:86.94, Y:-40.87, Z:24.24 [[ 7.81370494e-01 5.08118200e-01 -3.62320364e-01 8.69406898e+01] [-4.62112067e-01 8.61284170e-01 2.11286572e-01 -4.08728446e+01] [ 4.19419347e-01 2.33951896e-03 9.07789589e-01 2.42390659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:-40.89, Z:24.26 [[ 7.79319082e-01 5.18851565e-01 -3.51361383e-01 8.69540791e+01] [-4.64616792e-01 8.54690565e-01 2.31592908e-01 -4.08854238e+01] [ 4.20467602e-01 -1.72363739e-02 9.07143816e-01 2.42595988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.98, Y:-40.90, Z:24.27 [[ 7.77692526e-01 5.17708997e-01 -3.56611455e-01 8.69796959e+01] [-4.66857921e-01 8.55522780e-01 2.23884913e-01 -4.08958621e+01] [ 4.20996457e-01 -7.62674128e-03 9.07030218e-01 2.42672972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:-40.91, Z:24.28 [[ 7.75723747e-01 5.18855744e-01 -3.59223308e-01 8.70049908e+01] [-4.70404136e-01 8.54861387e-01 2.18933683e-01 -4.09098771e+01] [ 4.20681134e-01 -8.51926646e-04 9.07208167e-01 2.42759640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:-40.92, Z:24.29 [[ 7.73411081e-01 5.25979247e-01 -3.53809457e-01 8.70246059e+01] [-4.74742535e-01 8.50466499e-01 2.26552994e-01 -4.09229623e+01] [ 4.20065263e-01 -7.25019784e-03 9.07464935e-01 2.42915251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:87.05, Y:-40.94, Z:24.30 [[ 7.72503337e-01 5.27493329e-01 -3.53538376e-01 8.70472254e+01] [-4.76562513e-01 8.49536000e-01 2.26222801e-01 -4.09352268e+01] [ 4.19674596e-01 -6.27473183e-03 9.07652941e-01 2.43026537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.07, Y:-40.95, Z:24.31 [[ 7.70574013e-01 5.25371037e-01 -3.60833706e-01 8.70740717e+01] [-4.77922283e-01 8.50862428e-01 2.18227906e-01 -4.09450916e+01] [ 4.21670465e-01 4.28971565e-03 9.06739002e-01 2.43112066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:87.09, Y:-40.96, Z:24.33 [[ 7.68650800e-01 5.38237302e-01 -3.45653808e-01 8.70883556e+01] [-4.84519407e-01 8.42693588e-01 2.34751916e-01 -4.09605592e+01] [ 4.17632485e-01 -1.29662699e-02 9.08523518e-01 2.43306719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:87.12, Y:-40.97, Z:24.34 [[ 7.67020065e-01 5.36158663e-01 -3.52440220e-01 8.71150533e+01] [-4.86592088e-01 8.44116364e-01 2.25157065e-01 -4.09697385e+01] [ 4.18220468e-01 -1.20536439e-03 9.08344751e-01 2.43376004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:87.13, Y:-40.98, Z:24.35 [[ 7.65692505e-01 5.40217944e-01 -3.49112532e-01 8.71332866e+01] [-4.88009818e-01 8.41495031e-01 2.31802781e-01 -4.09826256e+01] [ 4.19000483e-01 -7.11930912e-03 9.07958100e-01 2.43537479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:87.16, Y:-40.99, Z:24.36 [[ 7.64336999e-01 5.36573502e-01 -3.57600096e-01 8.71630507e+01] [-4.90754270e-01 8.43800058e-01 2.17167467e-01 -4.09928116e+01] [ 4.18269290e-01 9.50464419e-03 9.08273341e-01 2.43572650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.2 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:87.18, Y:-41.01, Z:24.38 [[ 7.61828223e-01 5.44909331e-01 -3.50273577e-01 8.71787135e+01] [-4.93004339e-01 8.38484622e-01 2.32142759e-01 -4.10068786e+01] [ 4.20195763e-01 -4.16651170e-03 9.07423915e-01 2.43768174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:-41.02, Z:24.39 [[ 7.59877359e-01 5.45873647e-01 -3.52999095e-01 8.72014070e+01] [-4.95007623e-01 8.37867501e-01 2.30098900e-01 -4.10189210e+01] [ 4.21371395e-01 -1.09701612e-04 9.06888160e-01 2.43898221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25999999999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:87.23, Y:-41.03, Z:24.39 [[ 7.59407865e-01 5.39973430e-01 -3.62944058e-01 8.72328632e+01] [-4.96172710e-01 8.41495042e-01 2.13772629e-01 -4.10284080e+01] [ 4.20847165e-01 1.77423206e-02 9.06958033e-01 2.43895358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-41.05, Z:24.41 [[ 7.57959296e-01 5.46807824e-01 -3.55666853e-01 8.72495382e+01] [-4.97627340e-01 8.37242241e-01 2.26699055e-01 -4.10451635e+01] [ 4.21740129e-01 5.16089395e-03 9.06702062e-01 2.44057651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:87.27, Y:-41.06, Z:24.42 [[ 7.57372920e-01 5.46434304e-01 -3.57485400e-01 8.72710157e+01] [-4.96758690e-01 8.37486261e-01 2.27700605e-01 -4.10581378e+01] [ 4.23812533e-01 5.12970686e-03 9.05735404e-01 2.44169409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:87.29, Y:-41.07, Z:24.43 [[ 7.57137267e-01 5.46136621e-01 -3.58438208e-01 8.72929789e+01] [-4.96184294e-01 8.37680928e-01 2.28236302e-01 -4.10722355e+01] [ 4.24905053e-01 5.04519927e-03 9.05223863e-01 2.44284336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:87.34, Y:-41.06, Z:24.40 [[ 7.66315423e-01 5.19323192e-01 -3.78238145e-01 8.73405372e+01] [-4.92959224e-01 8.52839079e-01 1.72211231e-01 -4.10635945e+01] [ 4.12009558e-01 5.44878604e-02 9.09548898e-01 2.44008899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:-41.11, Z:24.47 [[ 7.57875269e-01 5.60823184e-01 -3.33320316e-01 8.73191065e+01] [-4.94915099e-01 8.27113087e-01 2.66351246e-01 -4.11127890e+01] [ 4.25069549e-01 -3.68957652e-02 9.04408415e-01 2.44701177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:-41.08, Z:24.41 [[ 7.71900564e-01 5.04158850e-01 -3.87289780e-01 8.73966321e+01] [-4.89628063e-01 8.60014485e-01 1.43664354e-01 -4.10808755e+01] [ 4.05504476e-01 7.87333490e-02 9.10695987e-01 2.44066666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:-41.15, Z:24.50 [[ 7.58161765e-01 5.67361992e-01 -3.21389339e-01 8.73536127e+01] [-4.93509286e-01 8.21413807e-01 2.85880993e-01 -4.11474206e+01] [ 4.26191650e-01 -5.81354152e-02 9.02762954e-01 2.45048639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.5 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:87.40, Y:-41.14, Z:24.49 [[ 7.58081252e-01 5.43707714e-01 -3.60131555e-01 8.73995898e+01] [-4.93085297e-01 8.39265684e-01 2.29128789e-01 -4.11449617e+01] [ 4.26825146e-01 3.87733525e-03 9.04325860e-01 2.44904101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:87.42, Y:-41.16, Z:24.50 [[ 7.57602618e-01 5.44443078e-01 -3.60027789e-01 8.74204691e+01] [-4.94004301e-01 8.38786062e-01 2.28905423e-01 -4.11597807e+01] [ 4.26612264e-01 4.43592825e-03 9.04423738e-01 2.45018233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:-41.17, Z:24.51 [[ 7.57351773e-01 5.45083200e-01 -3.59586704e-01 8.74413900e+01] [-4.94916672e-01 8.38367432e-01 2.28467803e-01 -4.11740983e+01] [ 4.25999743e-01 4.93495894e-03 9.04709824e-01 2.45133708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:-41.17, Z:24.49 [[ 7.65684094e-01 5.21776055e-01 -3.76135103e-01 8.74865778e+01] [-4.92406038e-01 8.51728794e-01 1.79148976e-01 -4.11691731e+01] [ 4.13840744e-01 4.80396747e-02 9.09080870e-01 2.44878622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61999999999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:87.47, Y:-41.21, Z:24.55 [[ 7.55768741e-01 5.59291654e-01 -3.40597207e-01 8.74677914e+01] [-4.94057396e-01 8.28382089e-01 2.63989401e-01 -4.12146848e+01] [ 4.29791694e-01 -3.12403680e-02 9.02387466e-01 2.45531731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64999999999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:87.50, Y:-41.22, Z:24.55 [[ 7.55333651e-01 5.45990652e-01 -3.62443490e-01 8.75033862e+01] [-4.95198811e-01 8.37771690e-01 2.30036372e-01 -4.12193355e+01] [ 4.29242604e-01 5.72737215e-03 9.03171071e-01 2.45492503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.55, Y:-41.21, Z:24.52 [[ 7.65505209e-01 5.18247503e-01 -3.81341448e-01 8.75547229e+01] [-4.93437060e-01 8.53206675e-01 1.68991829e-01 -4.12108820e+01] [ 4.12942662e-01 5.88038774e-02 9.08856678e-01 2.45154460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.53, Y:-41.26, Z:24.59 [[ 7.53979003e-01 5.64072535e-01 -3.36656856e-01 8.75280127e+01] [-4.95524814e-01 8.24830223e-01 2.72232000e-01 -4.12619146e+01] [ 4.31243343e-01 -3.84353860e-02 9.01416607e-01 2.45933529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:87.61, Y:-41.24, Z:24.53 [[ 7.65885080e-01 5.10844126e-01 -3.90459117e-01 8.76053435e+01] [-4.93068837e-01 8.56383365e-01 1.53266612e-01 -4.12360912e+01] [ 4.12678041e-01 7.51386119e-02 9.07772561e-01 2.45288861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:87.60, Y:-41.28, Z:24.57 [[ 7.62790198e-01 5.39522461e-01 -3.56464063e-01 8.75997160e+01] [-4.94460248e-01 8.41894347e-01 2.16154973e-01 -4.12755955e+01] [ 4.16725543e-01 1.13764145e-02 9.08961165e-01 2.45716834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:-41.31, Z:24.64 [[ 7.51493563e-01 5.69391844e-01 -3.33242183e-01 8.75861594e+01] [-4.96696038e-01 8.20744542e-01 2.82261302e-01 -4.13126078e+01] [ 4.34223986e-01 -4.65974796e-02 8.99598913e-01 2.46373290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:-41.29, Z:24.58 [[ 7.64155410e-01 5.16459045e-01 -3.86440893e-01 8.76619035e+01] [-4.93665183e-01 8.53862981e-01 1.64962716e-01 -4.12905453e+01] [ 4.15164060e-01 6.47152626e-02 9.07441865e-01 2.45753715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:-41.32, Z:24.60 [[ 7.64629900e-01 5.32497071e-01 -3.63026148e-01 8.76664760e+01] [-4.92899704e-01 8.46097430e-01 2.02901505e-01 -4.13193945e+01] [ 4.15199948e-01 2.37909239e-02 9.09419043e-01 2.46035466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:-41.34, Z:24.62 [[ 7.65063310e-01 5.37157468e-01 -3.55161917e-01 8.76806136e+01] [-4.91996022e-01 8.43426947e-01 2.15802919e-01 -4.13398351e+01] [ 4.15473280e-01 9.63535471e-03 9.09554349e-01 2.46232394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:-41.35, Z:24.63 [[ 7.68633478e-01 5.29863701e-01 -3.58395081e-01 8.77035818e+01] [-4.87483835e-01 8.47955206e-01 2.08162144e-01 -4.13549986e+01] [ 4.14200539e-01 1.47114157e-02 9.10066749e-01 2.46323399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:-41.40, Z:24.71 [[ 7.58188327e-01 5.62856854e-01 -3.29154406e-01 8.76837896e+01] [-4.87995088e-01 8.24636979e-01 2.86067555e-01 -4.13963602e+01] [ 4.32447980e-01 -5.62673478e-02 8.99901512e-01 2.47064374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:-41.37, Z:24.63 [[ 7.73227132e-01 5.00634510e-01 -3.89210599e-01 8.77678030e+01] [-4.80750750e-01 8.63043463e-01 1.55031281e-01 -4.13671997e+01] [ 4.13519672e-01 6.72388944e-02 9.08009037e-01 2.46316722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:-41.40, Z:24.67 [[ 7.73980100e-01 5.20290366e-01 -3.60905445e-01 8.77650573e+01] [-4.77367211e-01 8.53907104e-01 2.07275668e-01 -4.14041759e+01] [ 4.16023257e-01 1.18571834e-02 9.09276667e-01 2.46680342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:-41.42, Z:24.69 [[ 7.73897126e-01 5.22669505e-01 -3.57630854e-01 8.77811490e+01] [-4.75318827e-01 8.52533590e-01 2.17390180e-01 -4.14231697e+01] [ 4.18515533e-01 1.75104230e-03 9.08207951e-01 2.46859196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:-41.46, Z:24.76 [[ 7.62447144e-01 5.53570891e-01 -3.35012868e-01 8.77653279e+01] [-4.76711855e-01 8.30665962e-01 2.87645384e-01 -4.14618238e+01] [ 4.37515898e-01 -5.96097958e-02 8.97232696e-01 2.47564412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.1 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:87.84, Y:-41.44, Z:24.69 [[ 7.71398591e-01 5.00993173e-01 -3.92364695e-01 8.78432776e+01] [-4.72008558e-01 8.64004036e-01 1.75228270e-01 -4.14419422e+01] [ 4.26792847e-01 5.00286535e-02 9.02964562e-01 2.46943600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:-41.49, Z:24.78 [[ 7.62371619e-01 5.49763416e-01 -3.41393763e-01 8.78116697e+01] [-4.75027261e-01 8.33663408e-01 2.81699173e-01 -4.14893385e+01] [ 4.39475387e-01 -5.25881103e-02 8.96713931e-01 2.47766120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:87.89, Y:-41.47, Z:24.72 [[ 7.70148060e-01 5.04914710e-01 -3.89785969e-01 8.78853758e+01] [-4.73125938e-01 8.62027332e-01 1.81826085e-01 -4.14707370e+01] [ 4.27812824e-01 4.43848455e-02 9.02776923e-01 2.47216149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:87.89, Y:-41.49, Z:24.75 [[ 7.69040421e-01 5.22922878e-01 -3.67598279e-01 8.78907413e+01] [-4.74250880e-01 8.52366095e-01 2.20359124e-01 -4.14949657e+01] [ 4.28559137e-01 4.86873358e-03 9.03500615e-01 2.47506357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:87.88, Y:-41.53, Z:24.81 [[ 7.57361255e-01 5.52835049e-01 -3.47530341e-01 8.78832874e+01] [-4.79386359e-01 8.32093069e-01 2.78944158e-01 -4.15265806e+01] [ 4.43387695e-01 -4.46601931e-02 8.95216632e-01 2.48112461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:-41.51, Z:24.77 [[ 7.65004003e-01 5.14941636e-01 -3.86786746e-01 8.79465622e+01] [-4.78139196e-01 8.56464629e-01 1.94553972e-01 -4.15119724e+01] [ 4.31453107e-01 3.61033358e-02 9.01412650e-01 2.47670188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:-41.54, Z:24.79 [[ 7.64672858e-01 5.27841380e-01 -3.69674044e-01 8.79557066e+01] [-4.78358516e-01 8.49320731e-01 2.23220577e-01 -4.15354244e+01] [ 4.31796887e-01 6.14601012e-03 9.01949929e-01 2.47929936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:87.97, Y:-41.55, Z:24.81 [[ 7.63581088e-01 5.30441115e-01 -3.68206661e-01 8.79738077e+01] [-4.78520967e-01 8.47720589e-01 2.28883131e-01 -4.15514821e+01] [ 4.33545391e-01 1.42377719e-03 9.01130605e-01 2.48092590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:-41.58, Z:24.86 [[ 7.55772324e-01 5.50030680e-01 -3.55351159e-01 8.79735110e+01] [-4.81565870e-01 8.34565213e-01 2.67572829e-01 -4.15805571e+01] [ 4.43736981e-01 -3.10991485e-02 8.95617293e-01 2.48562130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:-41.58, Z:24.83 [[ 7.61559993e-01 5.23868798e-01 -3.81559772e-01 8.80222076e+01] [-4.79257914e-01 8.51540727e-01 2.12579968e-01 -4.15753756e+01] [ 4.36277698e-01 2.09731409e-02 8.99567617e-01 2.48305675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:88.02, Y:-41.61, Z:24.87 [[ 7.55309828e-01 5.45713242e-01 -3.62910623e-01 8.80214087e+01] [-4.81968253e-01 8.37757981e-01 2.56647945e-01 -4.16055961e+01] [ 4.44087453e-01 -1.89373163e-02 8.95783295e-01 2.48749152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:88.05, Y:-41.61, Z:24.88 [[ 7.54655502e-01 5.39512726e-01 -3.73391338e-01 8.80499002e+01] [-4.83395921e-01 8.41977388e-01 2.39588107e-01 -4.16141333e+01] [ 4.43647896e-01 -3.10633597e-04 8.96201120e-01 2.48788041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:88.07, Y:-41.63, Z:24.89 [[ 7.52774540e-01 5.42107144e-01 -3.73430497e-01 8.80712457e+01] [-4.86315525e-01 8.40308390e-01 2.39539182e-01 -4.16278967e+01] [ 4.43652682e-01 1.28605028e-03 8.96197882e-01 2.48906487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:88.09, Y:-41.64, Z:24.90 [[ 7.51361826e-01 5.43860391e-01 -3.73726212e-01 8.80923934e+01] [-4.88259547e-01 8.39172067e-01 2.39568061e-01 -4.16415309e+01] [ 4.43912178e-01 2.47309549e-03 8.96066885e-01 2.49032080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:88.12, Y:-41.65, Z:24.90 [[ 7.53496254e-01 5.37139739e-01 -3.79109873e-01 8.81212657e+01] [-4.87998380e-01 8.43351163e-01 2.24980881e-01 -4.16467688e+01] [ 4.40568924e-01 1.54827531e-02 8.97585265e-01 2.49018355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:88.13, Y:-41.67, Z:24.93 [[ 7.46321983e-01 5.53813683e-01 -3.69180040e-01 8.81320940e+01] [-4.95699335e-01 8.32639582e-01 2.46968613e-01 -4.16692317e+01] [ 4.44168511e-01 -1.31580447e-03 8.95942299e-01 2.49320178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:88.16, Y:-41.67, Z:24.93 [[ 7.48750827e-01 5.44806673e-01 -3.77568389e-01 8.81636475e+01] [-4.95890448e-01 8.38373336e-01 2.26324574e-01 -4.16711124e+01] [ 4.39846408e-01 1.77718461e-02 8.97897154e-01 2.49274968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:-41.68, Z:24.94 [[ 7.47791280e-01 5.48385891e-01 -3.74274118e-01 8.81839265e+01] [-4.98259637e-01 8.36093638e-01 2.29531615e-01 -4.16840030e+01] [ 4.38800108e-01 1.48439463e-02 8.98462087e-01 2.49410393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:88.21, Y:-41.70, Z:24.95 [[ 7.45440722e-01 5.51723377e-01 -3.74058078e-01 8.82064434e+01] [-5.01576753e-01 8.33875801e-01 2.30373414e-01 -4.16967242e+01] [ 4.39020377e-01 1.58891124e-02 8.98336599e-01 2.49530637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:-41.72, Z:24.98 [[ 7.40833499e-01 5.61170293e-01 -3.69125491e-01 8.82208306e+01] [-5.05278504e-01 8.27681463e-01 2.44206941e-01 -4.17183270e+01] [ 4.42560007e-01 5.59449356e-03 8.96721440e-01 2.49793046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-41.72, Z:24.97 [[ 7.46158282e-01 5.48205734e-01 -3.77780746e-01 8.82530082e+01] [-5.02318543e-01 8.35973005e-01 2.20964287e-01 -4.17199463e+01] [ 4.36948394e-01 2.48919408e-02 8.99142087e-01 2.49722756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:88.26, Y:-41.75, Z:25.00 [[ 7.41407202e-01 5.60821910e-01 -3.68502572e-01 8.82623638e+01] [-5.03984587e-01 8.27929846e-01 2.46031920e-01 -4.17471466e+01] [ 4.43074369e-01 3.30977872e-03 8.96478750e-01 2.50042353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:88.29, Y:-41.75, Z:25.00 [[ 7.47216885e-01 5.46264840e-01 -3.78499208e-01 8.82944150e+01] [-4.99765062e-01 8.37284539e-01 2.21787023e-01 -4.17500326e+01] [ 4.38065988e-01 2.34376718e-02 8.98637227e-01 2.49981056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:88.30, Y:-41.78, Z:25.03 [[ 7.42988633e-01 5.58971331e-01 -3.68128977e-01 8.83033238e+01] [-5.01538857e-01 8.29186021e-01 2.46798132e-01 -4.17765538e+01] [ 4.43200482e-01 1.26277914e-03 8.96421630e-01 2.50299528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:88.34, Y:-41.78, Z:25.02 [[ 7.48434675e-01 5.43655983e-01 -3.79846954e-01 8.83375025e+01] [-4.98064502e-01 8.38935407e-01 2.19360742e-01 -4.17771953e+01] [ 4.37923839e-01 2.50110981e-02 8.98664095e-01 2.50206916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:-41.81, Z:25.06 [[ 7.43737554e-01 5.58034168e-01 -3.68038474e-01 8.83436903e+01] [-4.99347221e-01 8.29816626e-01 2.49111862e-01 -4.18053552e+01] [ 4.44417375e-01 -1.49485749e-03 8.95818599e-01 2.50555160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:-41.82, Z:25.06 [[ 7.43788561e-01 5.53126635e-01 -3.75272570e-01 8.83688710e+01] [-4.98429881e-01 8.33053278e-01 2.39978937e-01 -4.18164011e+01] [ 4.45360786e-01 8.55347421e-03 8.95310342e-01 2.50624515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:88.39, Y:-41.83, Z:25.07 [[ 7.44332966e-01 5.51732541e-01 -3.76244121e-01 8.83902957e+01] [-4.96605995e-01 8.33984496e-01 2.40525146e-01 -4.18306871e+01] [ 4.46487314e-01 7.81429015e-03 8.94755841e-01 2.50739823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:88.42, Y:-41.83, Z:25.06 [[ 7.51740674e-01 5.33981919e-01 -3.86974507e-01 8.84244096e+01] [-4.89996425e-01 8.45010980e-01 2.14149357e-01 -4.18330232e+01] [ 4.41349592e-01 2.86313429e-02 8.96878355e-01 2.50625138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:88.44, Y:-41.85, Z:25.08 [[ 7.53113231e-01 5.37602307e-01 -3.79215269e-01 8.84397208e+01] [-4.87709038e-01 8.43077755e-01 2.26626993e-01 -4.18519675e+01] [ 4.41543152e-01 1.42709272e-02 8.97126516e-01 2.50807856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:-41.87, Z:25.10 [[ 7.53449769e-01 5.38981190e-01 -3.76580300e-01 8.84568396e+01] [-4.85872390e-01 8.42287802e-01 2.33407967e-01 -4.18685463e+01] [ 4.42991497e-01 7.10879161e-03 8.96497629e-01 2.50985661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:-41.89, Z:25.13 [[ 7.49164761e-01 5.50304309e-01 -3.68669674e-01 8.84659273e+01] [-4.86860954e-01 8.34864099e-01 2.56843042e-01 -4.18939456e+01] [ 4.49130908e-01 -1.29268867e-02 8.93372444e-01 2.51338933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:88.49, Y:-41.90, Z:25.14 [[ 7.50509663e-01 5.42003610e-01 -3.78110212e-01 8.84943720e+01] [-4.85194733e-01 8.40373401e-01 2.41575284e-01 -4.19031490e+01] [ 4.48688441e-01 2.15249780e-03 8.93685655e-01 2.51387697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:-41.92, Z:25.15 [[ 7.52755206e-01 5.39222189e-01 -3.77622869e-01 8.85141755e+01] [-4.82320578e-01 8.42163293e-01 2.41097176e-01 -4.19157006e+01] [ 4.48025066e-01 6.48126265e-04 8.94020761e-01 2.51523393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:88.55, Y:-41.91, Z:25.14 [[ 7.60682100e-01 5.20589626e-01 -3.87748867e-01 8.85513269e+01] [-4.77534148e-01 8.53404471e-01 2.08954411e-01 -4.19146099e+01] [ 4.39686116e-01 2.62154444e-02 8.97768829e-01 2.51378386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:-41.95, Z:25.19 [[ 7.55287823e-01 5.44364863e-01 -3.64975616e-01 8.85476599e+01] [-4.78864288e-01 8.38574811e-01 2.59771591e-01 -4.19486549e+01] [ 4.47469885e-01 -2.14285313e-02 8.94042236e-01 2.51877671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:88.59, Y:-41.94, Z:25.16 [[ 7.64586274e-01 5.15735916e-01 -3.86554387e-01 8.85930494e+01] [-4.72225755e-01 8.56437696e-01 2.08608029e-01 -4.19427263e+01] [ 4.38646402e-01 2.30421019e-02 8.98364289e-01 2.51642347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:88.61, Y:-41.96, Z:25.18 [[ 7.65548903e-01 5.22182366e-01 -3.75846318e-01 8.86077757e+01] [-4.71553639e-01 8.52816333e-01 2.24369045e-01 -4.19615730e+01] [ 4.37689437e-01 5.46622235e-03 8.99109602e-01 2.51844911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:88.63, Y:-41.98, Z:25.20 [[ 7.66680030e-01 5.23135993e-01 -3.72196809e-01 8.86269175e+01] [-4.70319174e-01 8.52249030e-01 2.29066510e-01 -4.19757262e+01] [ 4.37037305e-01 -5.69422864e-04 8.99443200e-01 2.51989049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:-41.99, Z:25.21 [[ 7.66425023e-01 5.22057953e-01 -3.74230114e-01 8.86507832e+01] [-4.70039457e-01 8.52908143e-01 2.27179682e-01 -4.19868785e+01] [ 4.37784871e-01 1.78672656e-03 8.99077980e-01 2.52103740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.3 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:88.68, Y:-42.00, Z:25.22 [[ 7.65971300e-01 5.20140514e-01 -3.77811874e-01 8.86751110e+01] [-4.69592658e-01 8.54059418e-01 2.23752645e-01 -4.19982573e+01] [ 4.39056605e-01 6.02957805e-03 8.98439170e-01 2.52195468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:-42.01, Z:25.23 [[ 7.64899269e-01 5.22119333e-01 -3.77253907e-01 8.86957685e+01] [-4.70934346e-01 8.52856790e-01 2.25513055e-01 -4.20113877e+01] [ 4.39488282e-01 5.16705090e-03 8.98233462e-01 2.52326791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:-42.03, Z:25.25 [[ 7.63868244e-01 5.24749908e-01 -3.75689819e-01 8.87159202e+01] [-4.71819040e-01 8.51254514e-01 2.29679224e-01 -4.20264718e+01] [ 4.40331806e-01 1.81294364e-03 8.97833289e-01 2.52473456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:-42.04, Z:25.26 [[ 7.61194910e-01 5.25544224e-01 -3.79981024e-01 8.87391602e+01] [-4.73958620e-01 8.50736103e-01 2.27181228e-01 -4.20386693e+01] [ 4.42657357e-01 7.16608757e-03 8.96662206e-01 2.52585184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:-42.05, Z:25.27 [[ 7.59734105e-01 5.29296853e-01 -3.77688934e-01 8.87579033e+01] [-4.75065218e-01 8.48434082e-01 2.33393762e-01 -4.20539082e+01] [ 4.43978748e-01 2.10967472e-03 8.96034832e-01 2.52749843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:88.78, Y:-42.07, Z:25.28 [[ 7.59004552e-01 5.27554790e-01 -3.81573103e-01 8.87827862e+01] [-4.75706292e-01 8.49480525e-01 2.28224366e-01 -4.20660500e+01] [ 4.44539778e-01 8.29339367e-03 8.95720719e-01 2.52838318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:-42.08, Z:25.30 [[ 7.57701181e-01 5.31420619e-01 -3.78788919e-01 8.88033347e+01] [-4.78927193e-01 8.47080486e-01 2.30398336e-01 -4.20805268e+01] [ 4.43303128e-01 6.83922272e-03 8.96345671e-01 2.52991030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:-42.10, Z:25.32 [[ 7.56309767e-01 5.35656699e-01 -3.75589452e-01 8.88203976e+01] [-4.80217248e-01 8.44435391e-01 2.37318909e-01 -4.20961293e+01] [ 4.44282489e-01 8.77924408e-04 8.95886320e-01 2.53177535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:-42.12, Z:25.35 [[ 7.49981055e-01 5.49520941e-01 -3.68178154e-01 8.88284795e+01] [-4.84002868e-01 8.35298808e-01 2.60800930e-01 -4.21205528e+01] [ 4.50854345e-01 -1.73964737e-02 8.92427993e-01 2.53541153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:88.88, Y:-42.12, Z:25.33 [[ 7.56426251e-01 5.24373600e-01 -3.90962472e-01 8.88754874e+01] [-4.82510561e-01 8.50904577e-01 2.07713647e-01 -4.21158335e+01] [ 4.41591310e-01 3.15234660e-02 8.96662359e-01 2.53294112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.6 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:88.89, Y:-42.14, Z:25.35 [[ 7.55400050e-01 5.35907257e-01 -3.77059911e-01 8.88867704e+01] [-4.84964567e-01 8.44212632e-01 2.28285787e-01 -4.21366363e+01] [ 4.40658750e-01 1.04136013e-02 8.97614295e-01 2.53526939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:88.89, Y:-42.16, Z:25.40 [[ 7.47752078e-01 5.56093916e-01 -3.62803509e-01 8.88882386e+01] [-4.88836186e-01 8.30840478e-01 2.65976096e-01 -4.21639586e+01] [ 4.49339529e-01 -2.15326952e-02 8.93101523e-01 2.53969111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:88.92, Y:-42.17, Z:25.40 [[ 7.46905367e-01 5.47121838e-01 -3.77875730e-01 8.89211610e+01] [-4.90809622e-01 8.37038894e-01 2.41809438e-01 -4.21713405e+01] [ 4.48595907e-01 4.85627730e-03 8.93721505e-01 2.53955839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:88.96, Y:-42.17, Z:25.38 [[ 7.53385186e-01 5.28214704e-01 -3.91663105e-01 8.89626638e+01] [-4.88988604e-01 8.48247131e-01 2.03388666e-01 -4.21699948e+01] [ 4.39659989e-01 3.82887871e-02 8.97347794e-01 2.53780603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:88.97, Y:-42.19, Z:25.41 [[ 7.51285627e-01 5.42186973e-01 -3.76301998e-01 8.89718639e+01] [-4.90644339e-01 8.40184699e-01 2.30993084e-01 -4.21929738e+01] [ 4.41404621e-01 1.10886609e-02 8.97239657e-01 2.54051295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:88.99, Y:-42.21, Z:25.42 [[ 7.49631358e-01 5.44141477e-01 -3.76779618e-01 8.89930527e+01] [-4.92316299e-01 8.38914084e-01 2.32051334e-01 -4.22074888e+01] [ 4.42354484e-01 1.15417899e-02 8.96766022e-01 2.54166361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:-42.23, Z:25.46 [[ 7.41920628e-01 5.62999008e-01 -3.64123467e-01 8.89946618e+01] [-4.95019021e-01 8.26233673e-01 2.68875599e-01 -4.22340903e+01] [ 4.52227764e-01 -1.92363110e-02 8.91695023e-01 2.54603236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:89.04, Y:-42.23, Z:25.43 [[ 7.47253695e-01 5.36132522e-01 -3.92649759e-01 8.90436737e+01] [-4.93042294e-01 8.43441879e-01 2.13342665e-01 -4.22295606e+01] [ 4.45557192e-01 3.41718432e-02 8.94601070e-01 2.54340623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-42.25, Z:25.45 [[ 7.46174959e-01 5.44711561e-01 -3.82769181e-01 8.90568288e+01] [-4.93891255e-01 8.38448271e-01 2.30382130e-01 -4.22495691e+01] [ 4.46423967e-01 1.71409749e-02 8.94657381e-01 2.54545587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-42.27, Z:25.47 [[ 7.45661896e-01 5.47667374e-01 -3.79537593e-01 8.90746901e+01] [-4.93256528e-01 8.36640989e-01 2.38180295e-01 -4.22660811e+01] [ 4.47980284e-01 9.60742453e-03 8.93991813e-01 2.54716810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:89.10, Y:-42.28, Z:25.48 [[ 7.46068327e-01 5.44652244e-01 -3.83061331e-01 8.90975263e+01] [-4.91732134e-01 8.38555619e-01 2.34571912e-01 -4.22796060e+01] [ 4.48978350e-01 1.33568923e-02 8.93442799e-01 2.54810169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:89.10, Y:-42.31, Z:25.52 [[ 7.40813922e-01 5.60171296e-01 -3.70678908e-01 8.91004650e+01] [-4.92089519e-01 8.28217577e-01 2.68148375e-01 -4.23059245e+01] [ 4.57211810e-01 -1.62408444e-02 8.89209534e-01 2.55206022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:89.13, Y:-42.32, Z:25.52 [[ 7.42983037e-01 5.47268465e-01 -3.85322507e-01 8.91302111e+01] [-4.88877004e-01 8.36938552e-01 2.46034825e-01 -4.23157869e+01] [ 4.57138362e-01 5.57561126e-03 8.89378115e-01 2.55233750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:-42.33, Z:25.54 [[ 7.44238612e-01 5.45630858e-01 -3.85221826e-01 8.91497002e+01] [-4.87152288e-01 8.38012303e-01 2.45800790e-01 -4.23301133e+01] [ 4.56937126e-01 4.72725540e-03 8.89486434e-01 2.55365946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:-42.34, Z:25.55 [[ 7.45847130e-01 5.43547392e-01 -3.85056218e-01 8.91704950e+01] [-4.84899550e-01 8.39371102e-01 2.45618770e-01 -4.23448571e+01] [ 4.56710504e-01 3.51953247e-03 8.89608413e-01 2.55495572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:89.21, Y:-42.35, Z:25.54 [[ 7.53189580e-01 5.25513142e-01 -3.95653123e-01 8.92081305e+01] [-4.80636876e-01 8.50302294e-01 2.14415958e-01 -4.23485104e+01] [ 4.49103162e-01 2.86696157e-02 8.93019822e-01 2.55368775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:-42.38, Z:25.59 [[ 7.50240970e-01 5.47873469e-01 -3.70098836e-01 8.92017823e+01] [-4.79522398e-01 8.36271176e-01 2.65911244e-01 -4.23793813e+01] [ 4.55188705e-01 -2.20268291e-02 8.90122498e-01 2.55868460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:-42.38, Z:25.56 [[ 7.57116145e-01 5.21209044e-01 -3.93848034e-01 8.92492615e+01] [-4.76054224e-01 8.53043243e-01 2.13751262e-01 -4.23761422e+01] [ 4.47378495e-01 2.56584887e-02 8.93976579e-01 2.55638435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:-42.39, Z:25.58 [[ 7.59834923e-01 5.24419973e-01 -3.84232459e-01 8.92670645e+01] [-4.73856721e-01 8.51386736e-01 2.24945401e-01 -4.23936621e+01] [ 4.45096280e-01 1.11497619e-02 8.95413304e-01 2.55811511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:-42.42, Z:25.63 [[ 7.53201657e-01 5.46610202e-01 -3.65929708e-01 8.92641163e+01] [-4.75554535e-01 8.36840877e-01 2.71192240e-01 -4.24218678e+01] [ 4.54461383e-01 -3.02429125e-02 8.90252895e-01 2.56302788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:-42.43, Z:25.63 [[ 7.53156522e-01 5.34590528e-01 -3.83364345e-01 8.92982052e+01] [-4.75529578e-01 8.45109581e-01 2.44256867e-01 -4.24284540e+01] [ 4.54562289e-01 -1.66256697e-03 8.90713400e-01 2.56296627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:-42.44, Z:25.64 [[ 7.53537117e-01 5.34040461e-01 -3.83383099e-01 8.93194707e+01] [-4.74987822e-01 8.45456912e-01 2.44108949e-01 -4.24407127e+01] [ 4.54497946e-01 -1.84285063e-03 8.90745879e-01 2.56416601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-42.44, Z:25.62 [[ 7.61518342e-01 5.11382342e-01 -3.98218426e-01 8.93657552e+01] [-4.72135925e-01 8.58602287e-01 1.99724264e-01 -4.24377887e+01] [ 4.44046713e-01 3.59195349e-02 8.95283365e-01 2.56184915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:-42.46, Z:25.64 [[ 7.60740347e-01 5.24931096e-01 -3.81734814e-01 8.93752685e+01] [-4.72787738e-01 8.51116884e-01 2.28192472e-01 -4.24601160e+01] [ 4.44686270e-01 6.88431927e-03 8.95659940e-01 2.56448828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-42.49, Z:25.70 [[ 7.52207330e-01 5.48706745e-01 -3.64835637e-01 8.93722842e+01] [-4.74968050e-01 8.35279635e-01 2.76971629e-01 -4.24880610e+01] [ 4.56715978e-01 -3.50548180e-02 8.88921636e-01 2.56966858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:-42.49, Z:25.69 [[ 7.51541495e-01 5.35079190e-01 -3.85844065e-01 8.94083787e+01] [-4.75303280e-01 8.44800896e-01 2.45760529e-01 -4.24926160e+01] [ 4.57462757e-01 -1.30628586e-03 8.89227822e-01 2.56935261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:-42.49, Z:25.67 [[ 7.60103923e-01 5.10290382e-01 -4.02300575e-01 8.94576258e+01] [-4.72540669e-01 8.59048310e-01 1.96828142e-01 -4.24886839e+01] [ 4.46035137e-01 4.04935397e-02 8.94098949e-01 2.56669780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:-42.53, Z:25.74 [[ 7.50764613e-01 5.49887222e-01 -3.66028059e-01 8.94380313e+01] [-4.74691221e-01 8.34444290e-01 2.79948160e-01 -4.25278736e+01] [ 4.59369939e-01 -3.64248657e-02 8.87497881e-01 2.57361865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:-42.52, Z:25.70 [[ 7.58369666e-01 5.14719398e-01 -3.99924232e-01 8.94961725e+01] [-4.72211967e-01 8.56773485e-01 2.07256010e-01 -4.25175921e+01] [ 4.49323167e-01 3.16723374e-02 8.92807681e-01 2.56998064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:-42.55, Z:25.76 [[ 7.50881544e-01 5.46035017e-01 -3.71514020e-01 8.94845589e+01] [-4.74097305e-01 8.37281071e-01 2.72382366e-01 -4.25521048e+01] [ 4.59791966e-01 -2.83930959e-02 8.87572634e-01 2.57581398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:-42.56, Z:25.76 [[ 7.51567790e-01 5.33867727e-01 -3.87467555e-01 8.95178499e+01] [-4.73577989e-01 8.45566226e-01 2.46458202e-01 -4.25583102e+01] [ 4.59205559e-01 -1.73394069e-03 8.88328345e-01 2.57583730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:-42.57, Z:25.77 [[ 7.53460668e-01 5.31701757e-01 -3.86769006e-01 8.95379006e+01] [-4.71462749e-01 8.46926751e-01 2.45841322e-01 -4.25703557e+01] [ 4.58279280e-01 -2.88458823e-03 8.88803567e-01 2.57713767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:-42.58, Z:25.78 [[ 7.54936459e-01 5.30064787e-01 -3.86137624e-01 8.95593221e+01] [-4.69872443e-01 8.47948640e-01 2.45362978e-01 -4.25837456e+01] [ 4.57483148e-01 -3.79802889e-03 8.89210180e-01 2.57846682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:89.60, Y:-42.58, Z:25.76 [[ 7.63670670e-01 5.07466182e-01 -3.99105476e-01 8.96032122e+01] [-4.65338174e-01 8.61166917e-01 2.04577430e-01 -4.25821986e+01] [ 4.47512560e-01 2.94892309e-02 8.93791303e-01 2.57634479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:-42.60, Z:25.78 [[ 7.67562068e-01 5.11094333e-01 -3.86821734e-01 8.96195847e+01] [-4.61471599e-01 8.59469658e-01 2.19899682e-01 -4.25998238e+01] [ 4.44851025e-01 9.72058944e-03 8.95551828e-01 2.57814557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:89.61, Y:-42.63, Z:25.84 [[ 7.59564286e-01 5.38970438e-01 -3.64105703e-01 8.96101397e+01] [-4.62414867e-01 8.41140079e-01 2.80456520e-01 -4.26341413e+01] [ 4.57421673e-01 -4.46568659e-02 8.88127906e-01 2.58412611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:89.65, Y:-42.64, Z:25.84 [[ 7.60540358e-01 5.21661446e-01 -3.86584661e-01 8.96477168e+01] [-4.60139770e-01 8.53103372e-01 2.45939074e-01 -4.26384083e+01] [ 4.58093611e-01 -9.16361433e-03 8.88856722e-01 2.58366362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:89.67, Y:-42.65, Z:25.85 [[ 7.61420944e-01 5.20623463e-01 -3.86250380e-01 8.96684404e+01] [-4.59176668e-01 8.53732257e-01 2.45556553e-01 -4.26512251e+01] [ 4.57596912e-01 -9.61473914e-03 8.89107768e-01 2.58508827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:89.69, Y:-42.66, Z:25.86 [[ 7.62947138e-01 5.18355200e-01 -3.86289465e-01 8.96909225e+01] [-4.56708255e-01 8.55097036e-01 2.45411142e-01 -4.26638839e+01] [ 4.57525118e-01 -1.08141411e-02 8.89130936e-01 2.58623957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:-42.68, Z:25.88 [[ 7.62693693e-01 5.18545758e-01 -3.86534123e-01 8.97110572e+01] [-4.56926504e-01 8.54984865e-01 2.45395701e-01 -4.26755461e+01] [ 4.57729725e-01 -1.05440678e-02 8.89028864e-01 2.58761446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.8 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:89.73, Y:-42.69, Z:25.89 [[ 7.63036619e-01 5.17583229e-01 -3.87146895e-01 8.97336180e+01] [-4.55677824e-01 8.55561248e-01 2.45708511e-01 -4.26883808e+01] [ 4.58402485e-01 -1.10703367e-02 8.88675762e-01 2.58864933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:-42.68, Z:25.85 [[ 7.71666468e-01 4.86589373e-01 -4.09587164e-01 8.97896178e+01] [-4.54052903e-01 8.72401794e-01 1.80972570e-01 -4.26761142e+01] [ 4.45383906e-01 4.63237769e-02 8.94140528e-01 2.58507465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.76, Y:-42.72, Z:25.93 [[ 7.60406964e-01 5.39714065e-01 -3.61233964e-01 8.97582621e+01] [-4.58563240e-01 8.40066204e-01 2.89842247e-01 -4.27238763e+01] [ 4.59892382e-01 -5.47494464e-02 8.86285222e-01 2.59348507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:-42.72, Z:25.93 [[ 7.58940950e-01 5.21607338e-01 -3.89787659e-01 8.97996785e+01] [-4.59498070e-01 8.53144845e-01 2.46992708e-01 -4.27249302e+01] [ 4.61378541e-01 -8.34620413e-03 8.87164124e-01 2.59265953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:89.82, Y:-42.74, Z:25.94 [[ 7.58056016e-01 5.22526034e-01 -3.90278901e-01 8.98209693e+01] [-4.60454696e-01 8.52589167e-01 2.47129895e-01 -4.27370995e+01] [ 4.61879367e-01 -7.63255033e-03 8.86909913e-01 2.59381531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:89.84, Y:-42.75, Z:25.95 [[ 7.56294663e-01 5.24678568e-01 -3.90807859e-01 8.98434181e+01] [-4.62738403e-01 8.51277437e-01 2.47386125e-01 -4.27488940e+01] [ 4.62484110e-01 -6.25500132e-03 8.86605506e-01 2.59512376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-42.76, Z:25.96 [[ 7.55311304e-01 5.25906544e-01 -3.91058999e-01 8.98645097e+01] [-4.64126459e-01 8.50525585e-01 2.47371906e-01 -4.27615589e+01] [ 4.62700188e-01 -5.34196867e-03 8.86498730e-01 2.59645847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:-42.77, Z:25.98 [[ 7.54682250e-01 5.26815536e-01 -3.91049987e-01 8.98860603e+01] [-4.65243910e-01 8.49967096e-01 2.47192313e-01 -4.27744836e+01] [ 4.62604373e-01 -4.61802624e-03 8.86552801e-01 2.59775662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:89.91, Y:-42.79, Z:25.99 [[ 7.53497032e-01 5.28783889e-01 -3.90678669e-01 8.99072615e+01] [-4.67673885e-01 8.48750304e-01 2.46787476e-01 -4.27866971e+01] [ 4.62085880e-01 -3.24342016e-03 8.86829250e-01 2.59899809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:-42.80, Z:26.00 [[ 7.52439112e-01 5.30533966e-01 -3.90344840e-01 8.99282505e+01] [-4.69796145e-01 8.47661092e-01 2.46500009e-01 -4.27993733e+01] [ 4.61656761e-01 -2.09374639e-03 8.87056171e-01 2.60040025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.1 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:89.95, Y:-42.81, Z:26.02 [[ 7.51736087e-01 5.31809766e-01 -3.89963112e-01 8.99497270e+01] [-4.71446639e-01 8.46863066e-01 2.46091476e-01 -4.28118786e+01] [ 4.61119207e-01 -1.14904498e-03 8.87337454e-01 2.60153323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:89.97, Y:-42.82, Z:26.03 [[ 7.50986901e-01 5.33252147e-01 -3.89436544e-01 8.99712905e+01] [-4.73283433e-01 8.45956329e-01 2.45684108e-01 -4.28241115e+01] [ 4.60457888e-01 -1.91682662e-04 8.87681529e-01 2.60277368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:-42.84, Z:26.04 [[ 7.48173733e-01 5.37291453e-01 -3.89299319e-01 8.99924693e+01] [-4.77967514e-01 8.43393085e-01 2.45428523e-01 -4.28359201e+01] [ 4.60199002e-01 2.44925384e-03 8.87812413e-01 2.60413165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:90.01, Y:-42.85, Z:26.05 [[ 7.46931596e-01 5.38748479e-01 -3.89670717e-01 9.00143608e+01] [-4.79580462e-01 8.42459329e-01 2.45489020e-01 -4.28491675e+01] [ 4.60538567e-01 3.51495661e-03 8.87632736e-01 2.60535040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:-42.86, Z:26.07 [[ 7.45201763e-01 5.40839793e-01 -3.90085441e-01 9.00349710e+01] [-4.81896817e-01 8.41110902e-01 2.45576683e-01 -4.28615536e+01] [ 4.60922759e-01 4.97675496e-03 8.87426302e-01 2.60667638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:90.06, Y:-42.87, Z:26.08 [[ 7.42836058e-01 5.43551210e-01 -3.90828188e-01 9.00575935e+01] [-4.84762029e-01 8.39348895e-01 2.45965866e-01 -4.28739532e+01] [ 4.61736252e-01 6.74635126e-03 8.86991612e-01 2.60777864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:90.08, Y:-42.89, Z:26.09 [[ 7.41719816e-01 5.44894064e-01 -3.91078219e-01 9.00780298e+01] [-4.86291141e-01 8.38469050e-01 2.45948323e-01 -4.28862244e+01] [ 4.61922764e-01 7.75312798e-03 8.86886266e-01 2.60895242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-42.90, Z:26.10 [[ 7.40564487e-01 5.46450267e-01 -3.91096340e-01 9.00986482e+01] [-4.88085936e-01 8.37445343e-01 2.45880901e-01 -4.28988434e+01] [ 4.61883492e-01 8.79795939e-03 8.86896970e-01 2.61033064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:90.12, Y:-42.91, Z:26.11 [[ 7.40096675e-01 5.47123616e-01 -3.91040485e-01 9.01196181e+01] [-4.88955770e-01 8.36999253e-01 2.45671539e-01 -4.29110799e+01] [ 4.61713294e-01 9.38081226e-03 8.86979613e-01 2.61142179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36999999999999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:90.14, Y:-42.92, Z:26.13 [[ 7.39204186e-01 5.48124630e-01 -3.91326669e-01 9.01417558e+01] [-4.90039035e-01 8.36335816e-01 2.45772552e-01 -4.29246298e+01] [ 4.61994498e-01 1.00892441e-02 8.86825401e-01 2.61250782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:90.16, Y:-42.94, Z:26.14 [[ 7.38818749e-01 5.48763987e-01 -3.91158461e-01 9.01617664e+01] [-4.90904799e-01 8.35909542e-01 2.45494839e-01 -4.29374340e+01] [ 4.61691817e-01 1.06453762e-02 8.86976517e-01 2.61384807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-42.95, Z:26.15 [[ 7.38316376e-01 5.49479584e-01 -3.91102435e-01 9.01822380e+01] [-4.91772256e-01 8.35432560e-01 2.45382327e-01 -4.29511249e+01] [ 4.61572288e-01 1.11635368e-02 8.87032355e-01 2.61522722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-42.96, Z:26.16 [[ 7.38143570e-01 5.49723642e-01 -3.91085652e-01 9.02020891e+01] [-4.92142569e-01 8.35267747e-01 2.45200902e-01 -4.29644008e+01] [ 4.61453964e-01 1.14764283e-02 8.87089923e-01 2.61643991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.98, Z:26.18 [[ 7.38579211e-01 5.48983074e-01 -3.91303378e-01 9.02237661e+01] [-4.91276846e-01 8.35759836e-01 2.45260184e-01 -4.29796169e+01] [ 4.61679337e-01 1.10942162e-02 8.86977513e-01 2.61752614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.99, Z:26.19 [[ 7.38434421e-01 5.49546936e-01 -3.90784814e-01 9.02440248e+01] [-4.92167083e-01 8.35382425e-01 2.44760630e-01 -4.29934943e+01] [ 4.60962220e-01 1.15917480e-02 8.87344050e-01 2.61896712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:90.27, Y:-43.01, Z:26.20 [[ 7.38435106e-01 5.49350865e-01 -3.91059102e-01 9.02654548e+01] [-4.91951127e-01 8.35510639e-01 2.44757145e-01 -4.30080654e+01] [ 4.61191590e-01 1.16446979e-02 8.87224165e-01 2.62005544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.01, Z:26.19 [[ 7.44431204e-01 5.33911572e-01 -4.00949642e-01 9.03029827e+01] [-4.90159094e-01 8.44747253e-01 2.14816527e-01 -4.30112332e+01] [ 4.53394138e-01 3.66129874e-02 8.90557828e-01 2.61894639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.04, Z:26.24 [[ 7.38303138e-01 5.58020775e-01 -3.78842040e-01 9.02998943e+01] [-4.91578667e-01 8.29779796e-01 2.64226992e-01 -4.30425757e+01] [ 4.61799621e-01 -8.84895232e-03 8.86940137e-01 2.62362475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.05, Z:26.24 [[ 7.38945076e-01 5.48958298e-01 -3.90646850e-01 9.03291608e+01] [-4.91735546e-01 8.35769705e-01 2.44305449e-01 -4.30515459e+01] [ 4.60604306e-01 1.15666331e-02 8.87530217e-01 2.62408120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.07, Z:26.25 [[ 7.40377490e-01 5.47477615e-01 -3.90012095e-01 9.03483847e+01] [-4.90348472e-01 8.36750809e-01 2.43734405e-01 -4.30667670e+01] [ 4.59782066e-01 1.07863680e-02 8.87966275e-01 2.62534280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.7 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:90.37, Y:-43.08, Z:26.27 [[ 7.41213883e-01 5.46357985e-01 -3.89993503e-01 9.03683974e+01] [-4.89151172e-01 8.37489600e-01 2.43602752e-01 -4.30810182e+01] [ 4.59709812e-01 1.02040374e-02 8.88010567e-01 2.62662374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:90.39, Y:-43.10, Z:26.28 [[ 7.42127501e-01 5.45165785e-01 -3.89924402e-01 9.03888256e+01] [-4.87916048e-01 8.38272973e-01 2.43385194e-01 -4.30954137e+01] [ 4.59548368e-01 9.62752753e-03 8.88100562e-01 2.62793599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75999999999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:90.41, Y:-43.11, Z:26.29 [[ 7.43280781e-01 5.43447087e-01 -3.90126831e-01 9.04096288e+01] [-4.86001198e-01 8.39397998e-01 2.43338934e-01 -4.31097655e+01] [ 4.59713515e-01 8.73295425e-03 8.88024335e-01 2.62906046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78999999999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.12, Z:26.30 [[ 7.44058205e-01 5.41842968e-01 -3.90875410e-01 9.04303861e+01] [-4.84044615e-01 8.40442394e-01 2.43633729e-01 -4.31235914e+01] [ 4.60519488e-01 7.92346291e-03 8.87614229e-01 2.63031284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.14, Z:26.32 [[ 7.46066881e-01 5.39394340e-01 -3.90433035e-01 9.04484109e+01] [-4.81507681e-01 8.42027715e-01 2.43186515e-01 -4.31376727e+01] [ 4.59928866e-01 6.56309995e-03 8.87931509e-01 2.63171324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.15, Z:26.33 [[ 7.47420010e-01 5.37600807e-01 -3.90318716e-01 9.04690777e+01] [-4.79559168e-01 8.43181362e-01 2.43039493e-01 -4.31523816e+01] [ 4.59767694e-01 5.52833862e-03 8.88022018e-01 2.63301064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.16, Z:26.32 [[ 7.56072189e-01 5.19460413e-01 -3.98140332e-01 9.05025266e+01] [-4.72732860e-01 8.54146747e-01 2.16695590e-01 -4.31583533e+01] [ 4.52635050e-01 2.43765088e-02 8.91362607e-01 2.63208466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.19, Z:26.36 [[ 7.52459048e-01 5.37698602e-01 -3.80375595e-01 9.05026931e+01] [-4.71517473e-01 8.42995391e-01 2.58901611e-01 -4.31888138e+01] [ 4.59865908e-01 -1.54591203e-02 8.87853796e-01 2.63628125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-43.19, Z:26.35 [[ 7.58940623e-01 5.15442074e-01 -3.97905264e-01 9.05426734e+01] [-4.66998588e-01 8.56700556e-01 2.19035333e-01 -4.31894557e+01] [ 4.53785687e-01 1.95863842e-02 8.90895574e-01 2.63493663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.21, Z:26.37 [[ 7.60461708e-01 5.19369784e-01 -3.89811516e-01 9.05564575e+01] [-4.63824233e-01 8.54544074e-01 2.33712445e-01 -4.32086751e+01] [ 4.54494303e-01 3.07466159e-03 8.90744338e-01 2.63678087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.23, Z:26.38 [[ 7.62055829e-01 5.17733514e-01 -3.88873914e-01 9.05749409e+01] [-4.60302560e-01 8.55540418e-01 2.37006636e-01 -4.32252457e+01] [ 4.55403630e-01 -1.61263067e-03 8.90283625e-01 2.63837840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.24, Z:26.40 [[ 7.61820403e-01 5.18211797e-01 -3.88698093e-01 9.05954125e+01] [-4.59803549e-01 8.55245668e-01 2.39030423e-01 -4.32385012e+01] [ 4.56300745e-01 -3.37349079e-03 8.89819223e-01 2.63983471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.62, Y:-43.25, Z:26.41 [[ 7.62209273e-01 5.14678419e-01 -3.92610683e-01 9.06209180e+01] [-4.59807151e-01 8.57372800e-01 2.31277463e-01 -4.32495152e+01] [ 4.55647240e-01 4.24337252e-03 8.90150317e-01 2.64062279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.26, Z:26.42 [[ 7.62090140e-01 5.16307631e-01 -3.90698156e-01 9.06408716e+01] [-4.59755678e-01 8.56402999e-01 2.34943864e-01 -4.32639688e+01] [ 4.55898383e-01 5.77293461e-04 8.90031646e-01 2.64210338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-43.29, Z:26.45 [[ 7.56974929e-01 5.28548041e-01 -3.84221194e-01 9.06509305e+01] [-4.62292224e-01 8.48738250e-01 2.56766980e-01 -4.32857182e+01] [ 4.61816908e-01 -1.67436960e-02 8.86817226e-01 2.64543566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.29, Z:26.46 [[ 7.56617446e-01 5.22836039e-01 -3.92648083e-01 9.06783400e+01] [-4.62284354e-01 8.52426903e-01 2.44257141e-01 -4.32941426e+01] [ 4.62410225e-01 -3.29414849e-03 8.86659987e-01 2.64591485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17999999999999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.31, Z:26.47 [[ 7.56699201e-01 5.22993119e-01 -3.92281172e-01 9.06996531e+01] [-4.62622023e-01 8.52331193e-01 2.43951636e-01 -4.33062764e+01] [ 4.61938506e-01 -3.12009879e-03 8.86906467e-01 2.64725162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.32, Z:26.48 [[ 7.56686748e-01 5.22873028e-01 -3.92465236e-01 9.07210426e+01] [-4.62515579e-01 8.52405192e-01 2.43894913e-01 -4.33185786e+01] [ 4.62065477e-01 -3.03076321e-03 8.86840634e-01 2.64847370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:90.74, Y:-43.33, Z:26.50 [[ 7.56548988e-01 5.23066162e-01 -3.92473461e-01 9.07412349e+01] [-4.62769339e-01 8.52287344e-01 2.43825391e-01 -4.33304426e+01] [ 4.62036976e-01 -2.84116854e-03 8.86856111e-01 2.64986464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.34, Z:26.51 [[ 7.56878443e-01 5.22354951e-01 -3.92785346e-01 9.07646525e+01] [-4.61904765e-01 8.52722124e-01 2.43944600e-01 -4.33428401e+01] [ 4.62362424e-01 -3.20698569e-03 8.86685234e-01 2.65095712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.3 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:90.80, Y:-43.35, Z:26.51 [[ 7.61516797e-01 5.11355772e-01 -3.98255498e-01 9.07970302e+01] [-4.60153836e-01 8.59268917e-01 2.23417492e-01 -4.33476660e+01] [ 4.56454395e-01 1.31226221e-02 8.89650034e-01 2.65065723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:90.80, Y:-43.37, Z:26.54 [[ 7.57631903e-01 5.27384306e-01 -3.84525283e-01 9.08027522e+01] [-4.61639115e-01 8.49474960e-01 2.55502681e-01 -4.33718249e+01] [ 4.61392704e-01 -1.60650708e-02 8.87050555e-01 2.65419330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.38, Z:26.55 [[ 7.57899437e-01 5.21889098e-01 -3.91433536e-01 9.08288686e+01] [-4.61956297e-01 8.53007235e-01 2.42847765e-01 -4.33800611e+01] [ 4.60635239e-01 -3.22899687e-03 8.87583658e-01 2.65496832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.38, Z:26.54 [[ 7.63362699e-01 5.07387066e-01 -3.99794640e-01 9.08646292e+01] [-4.60350766e-01 8.61475908e-01 2.14327862e-01 -4.33811929e+01] [ 4.53160635e-01 2.04358739e-02 8.91194599e-01 2.65410133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.41, Z:26.58 [[ 7.57560030e-01 5.30249049e-01 -3.80708218e-01 9.08645820e+01] [-4.62380448e-01 8.47575492e-01 2.60422938e-01 -4.34096221e+01] [ 4.60767970e-01 -2.12539724e-02 8.87266108e-01 2.65846568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-43.41, Z:26.57 [[ 7.62613761e-01 5.08356438e-01 -3.99992480e-01 9.09077494e+01] [-4.60895928e-01 8.60912720e-01 2.15416417e-01 -4.34064172e+01] [ 4.53866936e-01 2.00753814e-02 8.90843299e-01 2.65676034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:90.91, Y:-43.43, Z:26.61 [[ 7.56149097e-01 5.31113735e-01 -3.82304516e-01 9.09091441e+01] [-4.63254757e-01 8.47067047e-01 2.60523413e-01 -4.34340626e+01] [ 4.62205120e-01 -1.98901576e-02 8.86549947e-01 2.66098254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:90.94, Y:-43.44, Z:26.61 [[ 7.55529029e-01 5.23876881e-01 -3.93355947e-01 9.09387995e+01] [-4.63727894e-01 8.51792224e-01 2.43734381e-01 -4.34419376e+01] [ 4.62744344e-01 -1.73827497e-03 8.86490074e-01 2.66144290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.45, Z:26.63 [[ 7.54968551e-01 5.24570674e-01 -3.93507426e-01 9.09589001e+01] [-4.64552505e-01 8.51366135e-01 2.43652773e-01 -4.34533195e+01] [ 4.62831996e-01 -1.14532022e-03 8.86445278e-01 2.66284596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:-43.47, Z:26.64 [[ 7.54192479e-01 5.24957809e-01 -3.94478142e-01 9.09804649e+01] [-4.64736170e-01 8.51127878e-01 2.44134443e-01 -4.34652231e+01] [ 4.63911626e-01 -7.96099962e-04 8.85881126e-01 2.66408103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.6 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:91.00, Y:-43.48, Z:26.65 [[ 7.54320576e-01 5.24361055e-01 -3.95026522e-01 9.10032935e+01] [-4.63924550e-01 8.51495328e-01 2.44396641e-01 -4.34784594e+01] [ 4.64515319e-01 -1.09091372e-03 8.85564412e-01 2.66516870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:91.02, Y:-43.49, Z:26.67 [[ 7.54171022e-01 5.24737514e-01 -3.94812120e-01 9.10240214e+01] [-4.64509987e-01 8.51263803e-01 2.44090987e-01 -4.34909752e+01] [ 4.64172965e-01 -6.92176228e-04 8.85744308e-01 2.66658234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:-43.50, Z:26.68 [[ 7.53351287e-01 5.25788923e-01 -3.94978287e-01 9.10440045e+01] [-4.65732567e-01 8.50615068e-01 2.44022912e-01 -4.35032363e+01] [ 4.64279027e-01 1.19275906e-04 8.85688981e-01 2.66795755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:-43.52, Z:26.69 [[ 7.52785639e-01 5.26417159e-01 -3.95219883e-01 9.10652499e+01] [-4.66404193e-01 8.50226227e-01 2.44095251e-01 -4.35159453e+01] [ 4.64522239e-01 5.80811381e-04 8.85561264e-01 2.66927937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:91.09, Y:-43.53, Z:26.70 [[ 7.52339584e-01 5.26749054e-01 -3.95626823e-01 9.10879215e+01] [-4.66740162e-01 8.50020306e-01 2.44170230e-01 -4.35290996e+01] [ 4.64907271e-01 9.55998471e-04 8.85358863e-01 2.67037361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:91.11, Y:-43.54, Z:26.72 [[ 7.51433766e-01 5.27662308e-01 -3.96131019e-01 9.11092108e+01] [-4.67701924e-01 8.49452545e-01 2.44305717e-01 -4.35414069e+01] [ 4.65405421e-01 1.69167499e-03 8.85096002e-01 2.67163523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:91.13, Y:-43.55, Z:26.73 [[ 7.49282314e-01 5.30185058e-01 -3.96837270e-01 9.11314074e+01] [-4.70420734e-01 8.47875006e-01 2.44565547e-01 -4.35535108e+01] [ 4.66133401e-01 3.43184113e-03 8.84707791e-01 2.67292893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:91.15, Y:-43.57, Z:26.74 [[ 7.48219068e-01 5.31380233e-01 -3.97244603e-01 9.11530271e+01] [-4.71735705e-01 8.47122265e-01 2.44641150e-01 -4.35661055e+01] [ 4.66512219e-01 4.34928996e-03 8.84504060e-01 2.67421352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:91.17, Y:-43.58, Z:26.75 [[ 7.47662216e-01 5.32134654e-01 -3.97283175e-01 9.11744308e+01] [-4.72669830e-01 8.46645045e-01 2.44490081e-01 -4.35784086e+01] [ 4.66459476e-01 4.98777488e-03 8.84528507e-01 2.67545966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86999999999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:91.20, Y:-43.59, Z:26.77 [[ 7.46981943e-01 5.32595671e-01 -3.97944503e-01 9.11960120e+01] [-4.73073807e-01 8.46352235e-01 2.44722429e-01 -4.35912621e+01] [ 4.67139326e-01 5.45388530e-03 8.84166899e-01 2.67668981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:91.22, Y:-43.60, Z:26.78 [[ 7.46268912e-01 5.33603550e-01 -3.97932106e-01 9.12167299e+01] [-4.74312176e-01 8.45711635e-01 2.44539955e-01 -4.36041814e+01] [ 4.67023201e-01 6.25147713e-03 8.84222963e-01 2.67808492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:91.24, Y:-43.62, Z:26.79 [[ 7.46159203e-01 5.33712777e-01 -3.97991350e-01 9.12375829e+01] [-4.74508966e-01 8.45640933e-01 2.44402646e-01 -4.36172689e+01] [ 4.66998592e-01 6.48718013e-03 8.84234263e-01 2.67935094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:-43.62, Z:26.79 [[ 7.50949067e-01 5.22879936e-01 -4.03326258e-01 9.12679389e+01] [-4.74009861e-01 8.52056514e-01 2.22068341e-01 -4.36204029e+01] [ 4.59771846e-01 2.44186104e-02 8.87701291e-01 2.67904885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:91.27, Y:-43.65, Z:26.83 [[ 7.45393843e-01 5.39582849e-01 -3.91456725e-01 9.12747003e+01] [-4.74827874e-01 8.41916406e-01 2.56349869e-01 -4.36470629e+01] [ 4.67895832e-01 -5.20704943e-03 8.83768282e-01 2.68255150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:91.30, Y:-43.66, Z:26.83 [[ 7.45340002e-01 5.34366646e-01 -3.98648428e-01 9.13012616e+01] [-4.75171362e-01 8.45222605e-01 2.44562722e-01 -4.36572617e+01] [ 4.67632825e-01 7.14393723e-03 8.83893945e-01 2.68328252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:-43.67, Z:26.85 [[ 7.45467521e-01 5.34204001e-01 -3.98627973e-01 9.13220539e+01] [-4.75085357e-01 8.45324869e-01 2.44376286e-01 -4.36703542e+01] [ 4.67516929e-01 7.20772884e-03 8.83954733e-01 2.68456947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-43.68, Z:26.86 [[ 7.46176538e-01 5.32872798e-01 -3.99082892e-01 9.13423228e+01] [-4.73525527e-01 8.46169994e-01 2.44478868e-01 -4.36849877e+01] [ 4.67968107e-01 6.55154184e-03 8.83721069e-01 2.68586797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:-43.70, Z:26.87 [[ 7.47332764e-01 5.31603376e-01 -3.98612080e-01 9.13625416e+01] [-4.72327403e-01 8.46972771e-01 2.44016290e-01 -4.36988468e+01] [ 4.67333461e-01 5.91403997e-03 8.84061344e-01 2.68717300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:91.38, Y:-43.71, Z:26.88 [[ 7.48143688e-01 5.29908187e-01 -3.99347387e-01 9.13834603e+01] [-4.70265587e-01 8.48040076e-01 2.44291441e-01 -4.37129629e+01] [ 4.68114623e-01 5.03423394e-03 8.83653414e-01 2.68840624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:-43.73, Z:26.90 [[ 7.50070678e-01 5.28531512e-01 -3.97553039e-01 9.14024300e+01] [-4.69365392e-01 8.48902726e-01 2.43023231e-01 -4.37274918e+01] [ 4.65929295e-01 4.31303880e-03 8.84811443e-01 2.68981006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.2 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:91.42, Y:-43.74, Z:26.91 [[ 7.50181200e-01 5.27167716e-01 -3.99152060e-01 9.14238253e+01] [-4.67376306e-01 8.49753639e-01 2.43881409e-01 -4.37415243e+01] [ 4.67747321e-01 3.59896750e-03 8.83854904e-01 2.69094313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:-43.74, Z:26.88 [[ 7.60610915e-01 5.01320697e-01 -4.12490720e-01 9.14701901e+01] [-4.65499316e-01 8.64028687e-01 1.91741533e-01 -4.37360037e+01] [ 4.52527814e-01 4.61734453e-02 8.90554092e-01 2.68840889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:-43.76, Z:26.92 [[ 7.61065193e-01 5.20623499e-01 -3.86950830e-01 9.14726080e+01] [-4.65395813e-01 8.53782786e-01 2.33370290e-01 -4.37630448e+01] [ 4.51870015e-01 2.47529177e-03 8.92080357e-01 2.69176264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:91.51, Y:-43.77, Z:26.92 [[ 7.61986527e-01 5.09178590e-01 -4.00142095e-01 9.15055377e+01] [-4.64102631e-01 8.60298465e-01 2.10939086e-01 -4.37706737e+01] [ 4.51647297e-01 2.49742576e-02 8.91846963e-01 2.69157382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:-43.81, Z:26.98 [[ 7.50902565e-01 5.45315010e-01 -3.72527688e-01 9.14893890e+01] [-4.67839023e-01 8.37368231e-01 2.82738562e-01 -4.38088782e+01] [ 4.66124433e-01 -3.80261217e-02 8.83901594e-01 2.69849821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:-43.81, Z:26.98 [[ 7.50742801e-01 5.27707053e-01 -3.97379559e-01 9.15266051e+01] [-4.68592986e-01 8.49417055e-01 2.42716461e-01 -4.38120742e+01] [ 4.65624163e-01 3.99163779e-03 8.84973562e-01 2.69780797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:91.55, Y:-43.82, Z:26.98 [[ 7.53759446e-01 5.20456011e-01 -4.01213458e-01 9.15539614e+01] [-4.67299072e-01 8.53766601e-01 2.29595662e-01 -4.38196925e+01] [ 4.62037093e-01 1.44267771e-02 8.86743251e-01 2.69797363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:91.57, Y:-43.84, Z:27.01 [[ 7.48894421e-01 5.32284681e-01 -3.94753295e-01 9.15659575e+01] [-4.69995192e-01 8.46563926e-01 2.49868041e-01 -4.38412180e+01] [ 4.67184830e-01 -1.59263154e-03 8.84158243e-01 2.70066622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:91.59, Y:-43.85, Z:27.02 [[ 7.48497397e-01 5.30142855e-01 -3.98371936e-01 9.15903636e+01] [-4.71141744e-01 8.47889103e-01 2.43124507e-01 -4.38522447e+01] [ 4.66665944e-01 5.71158831e-03 8.84415216e-01 2.70158745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:-43.86, Z:27.03 [[ 7.48259903e-01 5.31162202e-01 -3.97459222e-01 9.16107388e+01] [-4.72672963e-01 8.47245273e-01 2.42395786e-01 -4.38641374e+01] [ 4.65496926e-01 6.49318104e-03 8.85025678e-01 2.70286051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.5 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:91.63, Y:-43.88, Z:27.04 [[ 7.47556618e-01 5.30960548e-01 -3.99048869e-01 9.16322370e+01] [-4.71986467e-01 8.47371817e-01 2.43289494e-01 -4.38763232e+01] [ 4.67319888e-01 6.47299476e-03 8.84064603e-01 2.70395349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:91.65, Y:-43.89, Z:27.05 [[ 7.47485137e-01 5.30084019e-01 -4.00345979e-01 9.16539366e+01] [-4.70625203e-01 8.47923722e-01 2.44002624e-01 -4.38894519e+01] [ 4.68804744e-01 6.02457265e-03 8.83281278e-01 2.70518289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-43.90, Z:27.07 [[ 7.48157343e-01 5.29820783e-01 -3.99437764e-01 9.16752136e+01] [-4.70703997e-01 8.48088351e-01 2.43277404e-01 -4.39026869e+01] [ 4.67651940e-01 6.00717577e-03 8.83892288e-01 2.70653887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:91.70, Y:-43.92, Z:27.08 [[ 7.48187363e-01 5.28434583e-01 -4.01213861e-01 9.16953924e+01] [-4.68661371e-01 8.48957263e-01 2.44188626e-01 -4.39154392e+01] [ 4.69651136e-01 5.33459478e-03 8.82835972e-01 2.70771256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61999999999999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:91.71, Y:-43.93, Z:27.09 [[ 7.49728136e-01 5.27094423e-01 -4.00098978e-01 9.17147599e+01] [-4.67534245e-01 8.49794547e-01 2.43435735e-01 -4.39290621e+01] [ 4.68315548e-01 4.54935379e-03 8.83549575e-01 2.70902306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:-43.94, Z:27.10 [[ 7.50855971e-01 5.26418805e-01 -3.98871600e-01 9.17353957e+01] [-4.67196889e-01 8.50215113e-01 2.42613538e-01 -4.39423312e+01] [ 4.66842991e-01 4.18374691e-03 8.84330322e-01 2.71036204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:91.76, Y:-43.96, Z:27.12 [[ 7.51575678e-01 5.24814450e-01 -3.99629570e-01 9.17560466e+01] [-4.65229149e-01 8.51210035e-01 2.42905982e-01 -4.39557582e+01] [ 4.67649270e-01 3.35709675e-03 8.83907739e-01 2.71164269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:-43.97, Z:27.13 [[ 7.53011045e-01 5.24003074e-01 -3.97988875e-01 9.17761245e+01] [-4.64919236e-01 8.51711090e-01 2.41740198e-01 -4.39685089e+01] [ 4.65644145e-01 2.99964470e-03 8.84966967e-01 2.71290284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:91.82, Y:-43.97, Z:27.11 [[ 7.61396975e-01 5.03098097e-01 -4.08860553e-01 9.18152847e+01] [-4.59314609e-01 8.63713467e-01 2.07434657e-01 -4.39689861e+01] [ 4.57498347e-01 2.98555048e-02 8.88709127e-01 2.71110415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:91.83, Y:-43.99, Z:27.13 [[ 7.61482267e-01 5.09327002e-01 -4.00912412e-01 9.18297422e+01] [-4.58279525e-01 8.60456731e-01 2.22697309e-01 -4.39861729e+01] [ 4.58393536e-01 1.41498981e-02 8.88636679e-01 2.71305942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:-44.02, Z:27.18 [[ 7.54423773e-01 5.33408179e-01 -3.82518609e-01 9.18248828e+01] [-4.60308749e-01 8.45381796e-01 2.71008256e-01 -4.40154822e+01] [ 4.67932289e-01 -2.83784085e-02 8.83308575e-01 2.71827838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:-44.00, Z:27.14 [[ 7.63900369e-01 4.96068947e-01 -4.12761221e-01 9.18830858e+01] [-4.56326713e-01 8.67491744e-01 1.98050513e-01 -4.40040705e+01] [ 4.56313661e-01 3.70631114e-02 8.89046775e-01 2.71447299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:91.90, Y:-44.02, Z:27.16 [[ 7.66327475e-01 5.01105672e-01 -4.02038936e-01 9.18985850e+01] [-4.53109958e-01 8.65206804e-01 2.14729021e-01 -4.40207933e+01] [ 4.55448753e-01 1.76150971e-02 8.90087716e-01 2.71616403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:-44.06, Z:27.23 [[ 7.56535893e-01 5.35046701e-01 -3.76003284e-01 9.18843036e+01] [-4.55640033e-01 8.43707344e-01 2.83813457e-01 -4.40572362e+01] [ 4.69090186e-01 -4.33929189e-02 8.82083586e-01 2.72294065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:91.96, Y:-44.04, Z:27.17 [[ 7.68080754e-01 4.81895839e-01 -4.21696995e-01 9.19577355e+01] [-4.48275904e-01 8.74899307e-01 1.83302803e-01 -4.40360144e+01] [ 4.57275266e-01 4.82452460e-02 8.88015612e-01 2.71714353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:91.93, Y:-44.08, Z:27.26 [[ 7.59089080e-01 5.29842822e-01 -3.78219978e-01 9.19280871e+01] [-4.48277854e-01 8.46740700e-01 2.86491103e-01 -4.40832737e+01] [ 4.72049503e-01 -4.79246276e-02 8.80268423e-01 2.72561340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:-44.06, Z:27.20 [[ 7.72227225e-01 4.74969489e-01 -4.21982343e-01 9.20026187e+01] [-4.41621950e-01 8.78766082e-01 1.80942603e-01 -4.40603989e+01] [ 4.56765986e-01 4.66278608e-02 8.88364045e-01 2.71958324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:-44.09, Z:27.23 [[ 7.71784876e-01 4.94091199e-01 -4.00277395e-01 9.20074855e+01] [-4.42433773e-01 8.69379858e-01 2.20070487e-01 -4.40866621e+01] [ 4.56727995e-01 7.24916502e-03 8.89576859e-01 2.72276215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:-44.12, Z:27.30 [[ 7.60433947e-01 5.28018673e-01 -3.78069430e-01 9.19917415e+01] [-4.43855354e-01 8.47549657e-01 2.90950173e-01 -4.41239207e+01] [ 4.74059740e-01 -5.34402475e-02 8.78869446e-01 2.72990639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:-44.10, Z:27.23 [[ 7.75799360e-01 4.65314604e-01 -4.26166250e-01 9.20708482e+01] [-4.32599407e-01 8.83919341e-01 1.77607294e-01 -4.40973643e+01] [ 4.59339858e-01 4.65716423e-02 8.87038881e-01 2.72332917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:-44.12, Z:27.26 [[ 7.77528026e-01 4.82897362e-01 -4.02815474e-01 9.20742975e+01] [-4.30611533e-01 8.75669936e-01 2.18576923e-01 -4.41231480e+01] [ 4.58283620e-01 3.50730553e-03 8.88799090e-01 2.72644113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:-44.14, Z:27.28 [[ 7.78200794e-01 4.85392616e-01 -3.98494082e-01 9.20915122e+01] [-4.28899815e-01 8.74275649e-01 2.27347836e-01 -4.41391981e+01] [ 4.58746633e-01 -6.00822790e-03 8.88546807e-01 2.72842550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:-44.15, Z:27.30 [[ 7.79014113e-01 4.83541196e-01 -3.99155262e-01 9.21139694e+01] [-4.26813655e-01 8.75295629e-01 2.27349213e-01 -4.41509087e+01] [ 4.59311567e-01 -6.74332944e-03 8.88249634e-01 2.72997999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:92.14, Y:-44.16, Z:27.31 [[ 7.78477834e-01 4.81105309e-01 -4.03125221e-01 9.21388099e+01] [-4.26018931e-01 8.76659816e-01 2.23551870e-01 -4.41618275e+01] [ 4.60955673e-01 -2.29120002e-03 8.87420204e-01 2.73115472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:92.16, Y:-44.17, Z:27.33 [[ 7.78256276e-01 4.82834756e-01 -4.01481964e-01 9.21593350e+01] [-4.26410121e-01 8.75696473e-01 2.26561460e-01 -4.41745956e+01] [ 4.60968087e-01 -5.12690536e-03 8.87401903e-01 2.73262579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:-44.21, Z:27.40 [[ 7.65061196e-01 5.20014144e-01 -3.79824507e-01 9.21460754e+01] [-4.33682253e-01 8.52084974e-01 2.93037372e-01 -4.42078255e+01] [ 4.76026333e-01 -5.94683740e-02 8.77418055e-01 2.73978496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:92.19, Y:-44.21, Z:27.39 [[ 7.63979757e-01 5.00457404e-01 -4.07280391e-01 9.21881223e+01] [-4.33671818e-01 8.65639438e-01 2.50194160e-01 -4.42074637e+01] [ 4.77769489e-01 -1.45172462e-02 8.78365280e-01 2.73877815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:-44.22, Z:27.40 [[ 7.62693592e-01 5.02805221e-01 -4.06798960e-01 9.22097230e+01] [-4.36544314e-01 8.64302728e-01 2.49819648e-01 -4.42189806e+01] [ 4.77208074e-01 -1.29500719e-02 8.78694913e-01 2.74022304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:92.23, Y:-44.23, Z:27.41 [[ 7.60854707e-01 5.05682061e-01 -4.06676490e-01 9.22334366e+01] [-4.39942035e-01 8.62650126e-01 2.49571165e-01 -4.42277943e+01] [ 4.77023187e-01 -1.09733126e-02 8.78822204e-01 2.74145821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:92.26, Y:-44.24, Z:27.43 [[ 7.59712178e-01 5.07813431e-01 -4.06156282e-01 9.22553813e+01] [-4.42636916e-01 8.61415325e-01 2.49070668e-01 -4.42385858e+01] [ 4.76350676e-01 -9.44225618e-03 8.79204684e-01 2.74273712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:92.28, Y:-44.25, Z:27.44 [[ 7.58555865e-01 5.09968468e-01 -4.05617013e-01 9.22779805e+01] [-4.45309080e-01 8.60155919e-01 2.48659644e-01 -4.42494836e+01] [ 4.75702452e-01 -7.99729275e-03 8.79569906e-01 2.74410166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:92.30, Y:-44.26, Z:27.45 [[ 7.57656488e-01 5.11352162e-01 -4.05555930e-01 9.23011400e+01] [-4.46996019e-01 8.59343137e-01 2.48443014e-01 -4.42605309e+01] [ 4.75553578e-01 -6.95257547e-03 8.79659284e-01 2.74529041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:-44.26, Z:27.44 [[ 7.59744047e-01 5.01004417e-01 -4.14467800e-01 9.23400840e+01] [-4.51144753e-01 8.65197073e-01 2.18866253e-01 -4.42594828e+01] [ 4.68249287e-01 2.07026402e-02 8.83353840e-01 2.74433483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:-44.29, Z:27.49 [[ 7.52370468e-01 5.27580611e-01 -3.94458335e-01 9.23379990e+01] [-4.55244281e-01 8.49227873e-01 2.67515727e-01 -4.42862637e+01] [ 4.76121124e-01 -2.16960316e-02 8.79112028e-01 2.74887950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:-44.29, Z:27.49 [[ 7.50553827e-01 5.20990348e-01 -4.06494785e-01 9.23685095e+01] [-4.57789011e-01 8.53562366e-01 2.48717729e-01 -4.42927375e+01] [ 4.76548187e-01 -5.87197539e-04 8.79148156e-01 2.74932003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-44.29, Z:27.48 [[ 7.52853487e-01 5.10554517e-01 -4.15386222e-01 9.24072143e+01] [-4.61336846e-01 8.59457278e-01 2.20230564e-01 -4.42924977e+01] [ 4.69446421e-01 2.58316218e-02 8.82583019e-01 2.74832911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-44.32, Z:27.53 [[ 7.45721669e-01 5.36134497e-01 -3.95548977e-01 9.24062661e+01] [-4.65245318e-01 8.43999793e-01 2.66854159e-01 -4.43195079e+01] [ 4.76912976e-01 -1.49716192e-02 8.78822999e-01 2.75269374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.44, Y:-44.33, Z:27.53 [[ 7.44832880e-01 5.29044271e-01 -4.06615471e-01 9.24367368e+01] [-4.67092019e-01 8.48580312e-01 2.48468309e-01 -4.43264887e+01] [ 4.76496618e-01 4.85947549e-03 8.79162874e-01 2.75321349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:92.46, Y:-44.34, Z:27.54 [[ 7.43867739e-01 5.30446377e-01 -4.06555566e-01 9.24582389e+01] [-4.68806658e-01 8.47697753e-01 2.48251559e-01 -4.43379711e+01] [ 4.76320380e-01 5.92963016e-03 8.79251804e-01 2.75440505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:92.48, Y:-44.35, Z:27.55 [[ 7.45943907e-01 5.25527647e-01 -4.09131250e-01 9.24835030e+01] [-4.68273929e-01 8.50671421e-01 2.38909315e-01 -4.43471114e+01] [ 4.73589712e-01 1.33725500e-02 8.80644060e-01 2.75499221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:-44.36, Z:27.57 [[ 7.45090374e-01 5.30266188e-01 -4.04546790e-01 9.25003303e+01] [-4.68965778e-01 8.47814829e-01 2.47550229e-01 -4.43630456e+01] [ 4.74248283e-01 5.27130758e-03 8.80375363e-01 2.75699487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:-44.37, Z:27.58 [[ 7.45510452e-01 5.27691159e-01 -4.07131683e-01 9.25228711e+01] [-4.68632007e-01 8.49379705e-01 2.42771824e-01 -4.43743652e+01] [ 4.73917934e-01 9.80600515e-03 8.80514414e-01 2.75800496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:-44.39, Z:27.59 [[ 7.46618960e-01 5.24744241e-01 -4.08905380e-01 9.25462907e+01] [-4.68436241e-01 8.51133945e-01 2.36935636e-01 -4.43861101e+01] [ 4.72363860e-01 1.46454606e-02 8.81281961e-01 2.75888812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:92.56, Y:-44.40, Z:27.61 [[ 7.45835875e-01 5.28595496e-01 -4.05358668e-01 9.25639387e+01] [-4.68071967e-01 8.48849018e-01 2.45690817e-01 -4.44024148e+01] [ 4.73959367e-01 6.49200390e-03 8.80522784e-01 2.76059045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:-44.42, Z:27.63 [[ 7.43015012e-01 5.34764841e-01 -4.02436650e-01 9.25789633e+01] [-4.69399085e-01 8.44999666e-01 2.56203168e-01 -4.44193821e+01] [ 4.77067281e-01 -1.45940439e-03 8.78865564e-01 2.76284642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:-44.42, Z:27.62 [[ 7.47085693e-01 5.18442750e-01 -4.16028945e-01 9.26155120e+01] [-4.68402461e-01 8.54667533e-01 2.23925306e-01 -4.44231872e+01] [ 4.71658883e-01 2.75775897e-02 8.81349746e-01 2.76203567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:-44.45, Z:27.66 [[ 7.42486088e-01 5.39019389e-01 -3.97709074e-01 9.26156153e+01] [-4.68966926e-01 8.42222108e-01 2.65954776e-01 -4.44499024e+01] [ 4.78314155e-01 -1.09553195e-02 8.78120464e-01 2.76598169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:-44.45, Z:27.65 [[ 7.47366694e-01 5.17148894e-01 -4.17133128e-01 9.26571660e+01] [-4.67196154e-01 8.55442034e-01 2.23487539e-01 -4.44508231e+01] [ 4.72409545e-01 2.78558499e-02 8.80938859e-01 2.76471458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:-44.48, Z:27.69 [[ 7.43344439e-01 5.37620696e-01 -3.97998785e-01 9.26565635e+01] [-4.67140985e-01 8.43100050e-01 2.66386197e-01 -4.44778999e+01] [ 4.78767528e-01 -1.20951539e-02 8.77858395e-01 2.76862109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:-44.49, Z:27.69 [[ 7.45264686e-01 5.26568878e-01 -4.09030274e-01 9.26833810e+01] [-4.64213510e-01 8.50119999e-01 2.48599689e-01 -4.44876599e+01] [ 4.78629675e-01 4.60480995e-03 8.78004801e-01 2.76904449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:-44.50, Z:27.70 [[ 7.46782782e-01 5.24389326e-01 -4.09061500e-01 9.27037959e+01] [-4.61761115e-01 8.51472284e-01 2.48538976e-01 -4.45022634e+01] [ 4.78635716e-01 3.28406602e-03 8.78007441e-01 2.77038819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:92.75, Y:-44.50, Z:27.68 [[ 7.55962116e-01 4.98268254e-01 -4.24558624e-01 9.27477495e+01] [-4.56398533e-01 8.66114406e-01 2.03828888e-01 -4.45021383e+01] [ 4.69277805e-01 3.96810158e-02 8.82158579e-01 2.76845697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:-44.54, Z:27.75 [[ 7.52640798e-01 5.30939690e-01 -3.89403229e-01 9.27286339e+01] [-4.52706885e-01 8.46724467e-01 2.79489093e-01 -4.45426887e+01] [ 4.78109094e-01 -3.40693715e-02 8.77639432e-01 2.77470600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:92.78, Y:-44.54, Z:27.72 [[ 7.60556528e-01 4.94016822e-01 -4.21308850e-01 9.27823482e+01] [-4.47168781e-01 8.69022254e-01 2.11755527e-01 -4.45373074e+01] [ 4.70737559e-01 2.73441164e-02 8.81849449e-01 2.77177744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:-44.56, Z:27.75 [[ 7.62119242e-01 5.04575726e-01 -4.05681645e-01 9.27905545e+01] [-4.45012666e-01 8.63367142e-01 2.37825370e-01 -4.45600695e+01] [ 4.70253111e-01 -7.17820208e-04 8.82531301e-01 2.77452622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:-44.57, Z:27.76 [[ 7.63756129e-01 5.01747643e-01 -4.06110672e-01 9.28114194e+01] [-4.42280215e-01 8.65012994e-01 2.36940354e-01 -4.45748835e+01] [ 4.70175272e-01 -1.34993209e-03 8.82572032e-01 2.77585024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:-44.59, Z:27.78 [[ 7.65139584e-01 5.03355504e-01 -4.01490540e-01 9.28250322e+01] [-4.37423809e-01 8.63943991e-01 2.49521924e-01 -4.45939235e+01] [ 4.72463573e-01 -1.52975796e-02 8.81217428e-01 2.77802712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:-44.61, Z:27.81 [[ 7.61730876e-01 5.11202993e-01 -3.98042174e-01 9.28359022e+01] [-4.37228595e-01 8.58972994e-01 2.66451778e-01 -4.46138853e+01] [ 4.78118424e-01 -2.89291263e-02 8.77818818e-01 2.78103567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-44.62, Z:27.82 [[ 7.62312768e-01 5.01637483e-01 -4.08948749e-01 9.28652741e+01] [-4.36034908e-01 8.65008805e-01 2.48260602e-01 -4.46226476e+01] [ 4.78281093e-01 -1.09362966e-02 8.78138710e-01 2.78155730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:-44.63, Z:27.81 [[ 7.67513009e-01 4.86069381e-01 -4.17923843e-01 9.29023564e+01] [-4.34338518e-01 8.73812603e-01 2.18635740e-01 -4.46254284e+01] [ 4.71459260e-01 1.37146476e-02 8.81781194e-01 2.78055179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:-44.64, Z:27.83 [[ 7.66779543e-01 4.94911492e-01 -4.08793037e-01 9.29157809e+01] [-4.34927017e-01 8.68937077e-01 2.36192393e-01 -4.46429004e+01] [ 4.72109756e-01 -3.31235922e-03 8.81533554e-01 2.78266217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:92.93, Y:-44.66, Z:27.85 [[ 7.65271535e-01 4.99701804e-01 -4.05780216e-01 9.29322216e+01] [-4.35198506e-01 8.66120632e-01 2.45840012e-01 -4.46582701e+01] [ 4.74301315e-01 -1.15394192e-02 8.80286944e-01 2.78455773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:-44.68, Z:27.88 [[ 7.58495508e-01 5.13946809e-01 -4.00678477e-01 9.29428337e+01] [-4.39142997e-01 8.57376169e-01 2.68439066e-01 -4.46761252e+01] [ 4.81495579e-01 -2.76546787e-02 8.76012115e-01 2.78787811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:-44.67, Z:27.86 [[ 7.61393427e-01 4.92597678e-01 -4.21458866e-01 9.29866357e+01] [-4.38430713e-01 8.70152639e-01 2.24973096e-01 -4.46748910e+01] [ 4.77554770e-01 1.34874746e-02 8.78498452e-01 2.78637732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:92.99, Y:-44.70, Z:27.90 [[ 7.56075446e-01 5.15732538e-01 -4.02951448e-01 9.29877413e+01] [-4.40885831e-01 8.56367738e-01 2.68801008e-01 -4.47002429e+01] [ 4.83704046e-01 -2.55782575e-02 8.74857788e-01 2.79045482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.02, Y:-44.71, Z:27.91 [[ 7.55279365e-01 5.08321089e-01 -4.13718202e-01 9.30175000e+01] [-4.42119479e-01 8.61142274e-01 2.50926981e-01 -4.47071607e+01] [ 4.83821709e-01 -6.60709469e-03 8.75141646e-01 2.79098860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:-44.72, Z:27.92 [[ 7.54188682e-01 5.09720723e-01 -4.13985768e-01 9.30387956e+01] [-4.43725572e-01 8.60322126e-01 2.50905272e-01 -4.47185498e+01] [ 4.84052733e-01 -5.53384506e-03 8.75021330e-01 2.79245199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:93.06, Y:-44.73, Z:27.94 [[ 7.54307353e-01 5.09499169e-01 -4.14042286e-01 9.30603443e+01] [-4.43554979e-01 8.60453592e-01 2.50756051e-01 -4.47316665e+01] [ 4.84024172e-01 -5.49661558e-03 8.75037364e-01 2.79377398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:93.08, Y:-44.74, Z:27.95 [[ 7.54324991e-01 5.09386678e-01 -4.14148549e-01 9.30804096e+01] [-4.43491695e-01 8.60520863e-01 2.50637109e-01 -4.47438969e+01] [ 4.84054671e-01 -5.39039271e-03 8.75021154e-01 2.79511728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.10, Y:-44.76, Z:27.97 [[ 7.54745998e-01 5.09231587e-01 -4.13571844e-01 9.31015611e+01] [-4.43556736e-01 8.60612591e-01 2.50206694e-01 -4.47564576e+01] [ 4.83338288e-01 -5.39992378e-03 8.75417009e-01 2.79656326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.6 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:93.13, Y:-44.77, Z:27.97 [[ 7.55571180e-01 5.04735583e-01 -4.17557402e-01 9.31284031e+01] [-4.43024795e-01 8.63271057e-01 2.41851427e-01 -4.47685282e+01] [ 4.82536241e-01 2.25231448e-03 8.75873109e-01 2.79732535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:93.15, Y:-44.78, Z:27.99 [[ 7.55207607e-01 5.09437715e-01 -4.12473859e-01 9.31459278e+01] [-4.43065769e-01 8.60477322e-01 2.51538271e-01 -4.47839199e+01] [ 4.83067484e-01 -7.21056840e-03 8.75553433e-01 2.79926825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.17, Y:-44.79, Z:28.01 [[ 7.55313363e-01 5.09614556e-01 -4.12061560e-01 9.31681500e+01] [-4.44100996e-01 8.60382894e-01 2.50031159e-01 -4.47944612e+01] [ 4.81950235e-01 -5.85492654e-03 8.76179029e-01 2.80065331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:93.19, Y:-44.81, Z:28.02 [[ 7.53995934e-01 5.14198010e-01 -4.08767096e-01 9.31850667e+01] [-4.45239086e-01 8.57585300e-01 2.57506524e-01 -4.48072432e+01] [ 4.82961995e-01 -1.21597840e-02 8.75556881e-01 2.80235477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:-44.82, Z:28.03 [[ 7.53736975e-01 5.11152379e-01 -4.13042151e-01 9.32099440e+01] [-4.46435824e-01 8.59483942e-01 2.48962664e-01 -4.48168630e+01] [ 4.82260954e-01 -3.25555203e-03 8.76021560e-01 2.80335086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:-44.83, Z:28.05 [[ 7.52466247e-01 5.12642726e-01 -4.13511769e-01 9.32317305e+01] [-4.48077271e-01 8.58599385e-01 2.49065964e-01 -4.48282138e+01] [ 4.82722805e-01 -2.12850612e-03 8.75770611e-01 2.80462129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:-44.84, Z:28.06 [[ 7.51963609e-01 5.13204716e-01 -4.13728958e-01 9.32529099e+01] [-4.48745381e-01 8.58264752e-01 2.49016464e-01 -4.48399488e+01] [ 4.82885405e-01 -1.59235967e-03 8.75682106e-01 2.80589642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:93.28, Y:-44.85, Z:28.06 [[ 7.52803967e-01 5.05667454e-01 -4.21410266e-01 9.32838764e+01] [-4.48582101e-01 8.62629608e-01 2.33761113e-01 -4.48494175e+01] [ 4.81726360e-01 1.30608090e-02 8.76224360e-01 2.80610920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:-44.87, Z:28.09 [[ 7.50741861e-01 5.20954136e-01 -4.06193852e-01 9.32903693e+01] [-4.49989610e-01 8.53460048e-01 2.62897885e-01 -4.48678853e+01] [ 4.83627965e-01 -1.45854343e-02 8.75152133e-01 2.80916432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:93.33, Y:-44.87, Z:28.08 [[ 7.50965472e-01 5.06297448e-01 -4.23926591e-01 9.33297052e+01] [-4.50815016e-01 8.62180153e-01 2.31108644e-01 -4.48726312e+01] [ 4.82510809e-01 1.75578611e-02 8.75714017e-01 2.80848188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:93.34, Y:-44.89, Z:28.11 [[ 7.50927245e-01 5.14252249e-01 -4.14310146e-01 9.33444511e+01] [-4.50578735e-01 8.57638803e-01 2.47859812e-01 -4.48905712e+01] [ 4.82790923e-01 5.54655464e-04 8.75735472e-01 2.81063662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:93.36, Y:-44.91, Z:28.13 [[ 7.48028237e-01 5.24232348e-01 -4.06981820e-01 9.33553751e+01] [-4.51158668e-01 8.51415972e-01 2.67482147e-01 -4.49072663e+01] [ 4.86733616e-01 -1.64708230e-02 8.73395156e-01 2.81323132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:93.39, Y:-44.91, Z:28.13 [[ 7.48810151e-01 5.07963711e-01 -4.25741970e-01 9.33945529e+01] [-4.51433487e-01 8.61204195e-01 2.33527601e-01 -4.49120442e+01] [ 4.85274318e-01 1.73263438e-02 8.74190274e-01 2.81261256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:93.40, Y:-44.93, Z:28.16 [[ 7.46791651e-01 5.24383908e-01 -4.09052254e-01 9.33978487e+01] [-4.51768928e-01 8.51361608e-01 2.66623795e-01 -4.49326071e+01] [ 4.88064612e-01 -1.43153257e-02 8.72690097e-01 2.81586908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:-44.94, Z:28.17 [[ 7.47335410e-01 5.16666640e-01 -4.17786271e-01 9.34253392e+01] [-4.51836621e-01 8.56185331e-01 2.50580019e-01 -4.49404849e+01] [ 4.87168813e-01 1.50381556e-03 8.73306525e-01 2.81667541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:93.46, Y:-44.95, Z:28.17 [[ 7.48551689e-01 5.08936614e-01 -4.25033990e-01 9.34557412e+01] [-4.51317323e-01 8.60666696e-01 2.35723382e-01 -4.49517367e+01] [ 4.85780860e-01 1.53740670e-02 8.73945418e-01 2.81702335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:93.46, Y:-44.97, Z:28.20 [[ 7.47978825e-01 5.22794811e-01 -4.08917183e-01 9.34608221e+01] [-4.51091185e-01 8.52352364e-01 2.64598170e-01 -4.49700283e+01] [ 4.86872078e-01 -1.34548916e-02 8.73369650e-01 2.82000946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.50, Y:-44.98, Z:28.20 [[ 7.50329786e-01 5.08717396e-01 -4.22151422e-01 9.34970708e+01] [-4.51077298e-01 8.60825465e-01 2.35603034e-01 -4.49771248e+01] [ 4.83254056e-01 1.36429487e-02 8.75373856e-01 2.81983218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:93.51, Y:-44.99, Z:28.22 [[ 7.49933737e-01 5.15456478e-01 -4.14613083e-01 9.35124506e+01] [-4.50358235e-01 8.56914743e-01 2.50748047e-01 -4.49949878e+01] [ 4.84537769e-01 -1.32000387e-03 8.74769346e-01 2.82191865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:-45.01, Z:28.24 [[ 7.49250066e-01 5.20041663e-01 -4.10098777e-01 9.35266494e+01] [-4.49971691e-01 8.54070371e-01 2.60939224e-01 -4.50083351e+01] [ 4.85952483e-01 -1.09758906e-02 8.73916309e-01 2.82407739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.2 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:93.55, Y:-45.02, Z:28.25 [[ 7.49767736e-01 5.13419349e-01 -4.17431328e-01 9.35522886e+01] [-4.48654787e-01 8.58137842e-01 2.49616359e-01 -4.50191995e+01] [ 4.86371488e-01 1.28271160e-04 8.73752115e-01 2.82478912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:-45.03, Z:28.26 [[ 7.50288620e-01 5.12753199e-01 -4.17314203e-01 9.35726535e+01] [-4.48033121e-01 8.58536045e-01 2.49363553e-01 -4.50319722e+01] [ 4.86141245e-01 -1.24051348e-04 8.73880241e-01 2.82622055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:93.60, Y:-45.04, Z:28.27 [[ 7.51469347e-01 5.07561866e-01 -4.21514856e-01 9.35994192e+01] [-4.46315219e-01 8.61591326e-01 2.41791465e-01 -4.50449599e+01] [ 4.85897671e-01 6.42962077e-03 8.73992056e-01 2.82696338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:-45.06, Z:28.29 [[ 7.51901068e-01 5.11160748e-01 -4.16364592e-01 9.36169827e+01] [-4.45936319e-01 8.59482317e-01 2.49861855e-01 -4.50608079e+01] [ 4.85577577e-01 -2.19930221e-03 8.74190814e-01 2.82886619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:-45.07, Z:28.30 [[ 7.54120791e-01 5.06926540e-01 -4.17525228e-01 9.36395603e+01] [-4.43429031e-01 8.61989253e-01 2.45652646e-01 -4.50732462e+01] [ 4.84430105e-01 -1.08960653e-04 8.74829961e-01 2.82987155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:-45.09, Z:28.31 [[ 7.55762057e-01 5.05733343e-01 -4.16001803e-01 9.36593039e+01] [-4.42028164e-01 8.62687925e-01 2.45724737e-01 -4.50861265e+01] [ 4.83150925e-01 -1.82491961e-03 8.75535181e-01 2.83111885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:93.67, Y:-45.10, Z:28.33 [[ 7.54679218e-01 5.11075107e-01 -4.11414040e-01 9.36731166e+01] [-4.41164226e-01 8.59430297e-01 2.58367356e-01 -4.51036436e+01] [ 4.85626815e-01 -1.34833174e-02 8.74062239e-01 2.83338392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:-45.11, Z:28.33 [[ 7.58300019e-01 4.97340717e-01 -4.21465648e-01 9.37064290e+01] [-4.39771780e-01 8.67507738e-01 2.32445921e-01 -4.51096356e+01] [ 4.81229531e-01 9.08495197e-03 8.76547547e-01 2.83318547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:-45.13, Z:28.36 [[ 7.57458852e-01 5.09119555e-01 -4.08721624e-01 9.37124050e+01] [-4.38731319e-01 8.60532981e-01 2.58839368e-01 -4.51311987e+01] [ 4.83498621e-01 -1.67411936e-02 8.75185018e-01 2.83630683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:-45.14, Z:28.36 [[ 7.61249171e-01 4.93372855e-01 -4.20812221e-01 9.37485543e+01] [-4.37399269e-01 8.69758872e-01 2.28476222e-01 -4.51364246e+01] [ 4.78729129e-01 1.01356232e-02 8.77904146e-01 2.83567957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:-45.16, Z:28.39 [[ 7.58097608e-01 5.09052301e-01 -4.07619641e-01 9.37528280e+01] [-4.37773594e-01 8.60525305e-01 2.60481247e-01 -4.51587779e+01] [ 4.83365595e-01 -1.90250952e-02 8.75211830e-01 2.83918363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:-45.17, Z:28.40 [[ 7.57864310e-01 5.02866338e-01 -4.15652660e-01 9.37797577e+01] [-4.38023785e-01 8.64348732e-01 2.47055528e-01 -4.51686505e+01] [ 4.83504758e-01 -5.16881622e-03 8.75326472e-01 2.83991401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:-45.18, Z:28.41 [[ 7.57524995e-01 5.03157210e-01 -4.15919108e-01 9.38006852e+01] [-4.38366797e-01 8.64181524e-01 2.47032071e-01 -4.51813147e+01] [ 4.83725576e-01 -4.80784097e-03 8.75206520e-01 2.84124369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:-45.19, Z:28.43 [[ 7.57191078e-01 5.03413361e-01 -4.16217082e-01 9.38223065e+01] [-4.38659122e-01 8.64034145e-01 2.47028685e-01 -4.51938252e+01] [ 4.83983311e-01 -4.47049658e-03 8.75065809e-01 2.84259215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:-45.20, Z:28.43 [[ 7.58948560e-01 4.99827989e-01 -4.17335673e-01 9.38478280e+01] [-4.38776454e-01 8.66123501e-01 2.39385263e-01 -4.52036091e+01] [ 4.81115689e-01 1.43596558e-03 8.76655937e-01 2.84320184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:-45.22, Z:28.45 [[ 7.55776757e-01 5.07004010e-01 -4.14425419e-01 9.38631015e+01] [-4.40947742e-01 8.61919596e-01 2.50319194e-01 -4.52205975e+01] [ 4.84114225e-01 -6.44547562e-03 8.74981070e-01 2.84547157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:-45.23, Z:28.47 [[ 7.55456084e-01 5.05738512e-01 -4.16550913e-01 9.38861672e+01] [-4.41434132e-01 8.62682989e-01 2.46807550e-01 -4.52322286e+01] [ 4.84171470e-01 -2.57247413e-03 8.74969354e-01 2.84668264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:-45.24, Z:28.48 [[ 7.55175400e-01 5.06203032e-01 -4.16495624e-01 9.39075629e+01] [-4.42084214e-01 8.62411796e-01 2.46591649e-01 -4.52444491e+01] [ 4.84016180e-01 -2.09380659e-03 8.75056543e-01 2.84802412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:-45.25, Z:28.49 [[ 7.56600462e-01 5.03935698e-01 -4.16658798e-01 9.39331698e+01] [-4.43393314e-01 8.63733964e-01 2.39512022e-01 -4.52543420e+01] [ 4.80581013e-01 3.52881852e-03 8.76943235e-01 2.84873000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:-45.27, Z:28.51 [[ 7.53987888e-01 5.09323977e-01 -4.14838946e-01 9.39487958e+01] [-4.44224448e-01 8.60567354e-01 2.49175577e-01 -4.52698296e+01] [ 4.83907950e-01 -3.59376473e-03 8.75111525e-01 2.85079623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:-45.28, Z:28.52 [[ 7.53666337e-01 5.08050547e-01 -4.16979250e-01 9.39717707e+01] [-4.44273972e-01 8.61327119e-01 2.46447219e-01 -4.52815461e+01] [ 4.84363181e-01 -4.85945096e-04 8.74866889e-01 2.85203644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:-45.29, Z:28.53 [[ 7.53541624e-01 5.08074445e-01 -4.17175477e-01 9.39936648e+01] [-4.44337978e-01 8.61313110e-01 2.46380780e-01 -4.52939278e+01] [ 4.84498485e-01 -2.91265050e-04 8.74792051e-01 2.85335768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:-45.31, Z:28.55 [[ 7.53221352e-01 5.07816408e-01 -4.18067090e-01 9.40139799e+01] [-4.43851124e-01 8.61465274e-01 2.46726087e-01 -4.53056561e+01] [ 4.85441835e-01 -2.79808697e-04 8.74268921e-01 2.85460778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:-45.32, Z:28.56 [[ 7.53370807e-01 5.07260796e-01 -4.18472116e-01 9.40340768e+01] [-4.43126641e-01 8.61792418e-01 2.46885822e-01 -4.53176424e+01] [ 4.85871595e-01 -5.60427413e-04 8.74030022e-01 2.85588652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:-45.33, Z:28.56 [[ 7.55362367e-01 5.00832316e-01 -4.22604645e-01 9.40626385e+01] [-4.43228008e-01 8.65474868e-01 2.33457031e-01 -4.53278167e+01] [ 4.82676525e-01 1.09655590e-02 8.75730055e-01 2.85628195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:-45.35, Z:28.59 [[ 7.53973854e-01 5.10858765e-01 -4.12973063e-01 9.40721895e+01] [-4.41375810e-01 8.59582703e-01 2.57497515e-01 -4.53460098e+01] [ 4.86529364e-01 -1.18700730e-02 8.73583585e-01 2.85913399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:94.10, Y:-45.36, Z:28.60 [[ 7.54158144e-01 5.05128118e-01 -4.19632075e-01 9.40981919e+01] [-4.40483544e-01 8.63042845e-01 2.47247440e-01 -4.53558596e+01] [ 4.87052093e-01 -1.62264687e-03 8.73371413e-01 2.86003375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.14, Y:-45.36, Z:28.59 [[ 7.59998777e-01 4.86416489e-01 -4.31046236e-01 9.41395981e+01] [-4.40224399e-01 8.73184414e-01 2.09168493e-01 -4.53576532e+01] [ 4.78125859e-01 3.07892713e-02 8.77751493e-01 2.85875568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:-45.39, Z:28.64 [[ 7.55050370e-01 5.17433720e-01 -4.02692544e-01 9.41292455e+01] [-4.40086512e-01 8.55215946e-01 2.73732619e-01 -4.53872190e+01] [ 4.86027572e-01 -2.94623585e-02 8.73446718e-01 2.86412213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:-45.39, Z:28.64 [[ 7.55077565e-01 5.04395489e-01 -4.18859239e-01 9.41617625e+01] [-4.40137869e-01 8.63471136e-01 2.46366095e-01 -4.53918520e+01] [ 4.85938810e-01 -1.66969850e-03 8.73991238e-01 2.86411171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:-45.39, Z:28.62 [[ 7.62280074e-01 4.78942178e-01 -4.35365914e-01 9.42099500e+01] [-4.39100425e-01 8.76844866e-01 1.95790443e-01 -4.53894754e+01] [ 4.75520668e-01 4.19222042e-02 8.78705083e-01 2.86188730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:94.19, Y:-45.43, Z:28.69 [[ 7.55332818e-01 5.21517690e-01 -3.96852155e-01 9.41882120e+01] [-4.39234930e-01 8.52291831e-01 2.84026955e-01 -4.54255642e+01] [ 4.86358932e-01 -4.02235518e-02 8.72832776e-01 2.86857343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:-45.43, Z:28.68 [[ 7.54935965e-01 5.03683662e-01 -4.19969592e-01 9.42264325e+01] [-4.39145849e-01 8.63886293e-01 2.46680756e-01 -4.54280913e+01] [ 4.87055041e-01 -1.80027211e-03 8.73369422e-01 2.86813833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:-45.43, Z:28.66 [[ 7.62406696e-01 4.76708621e-01 -4.37589900e-01 9.42768823e+01] [-4.38041962e-01 8.77941291e-01 1.93231281e-01 -4.54252642e+01] [ 4.76293259e-01 4.43619156e-02 8.78166699e-01 2.86566864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:94.25, Y:-45.46, Z:28.73 [[ 7.54473407e-01 5.21936445e-01 -3.97934951e-01 9.42530774e+01] [-4.37814836e-01 8.51922722e-01 2.87307926e-01 -4.54633116e+01] [ 4.88966304e-01 -4.25443649e-02 8.71264558e-01 2.87272901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:94.29, Y:-45.46, Z:28.72 [[ 7.53990980e-01 5.03441130e-01 -4.21953352e-01 9.42912845e+01] [-4.38419915e-01 8.64028048e-01 2.47474263e-01 -4.54649283e+01] [ 4.89168253e-01 -1.60060966e-03 8.72187972e-01 2.87216399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:-45.48, Z:28.74 [[ 7.53994241e-01 5.03569528e-01 -4.21794281e-01 9.43125646e+01] [-4.38688204e-01 8.63953577e-01 2.47258724e-01 -4.54769406e+01] [ 4.88922637e-01 -1.39547822e-03 8.72326033e-01 2.87361600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:94.33, Y:-45.49, Z:28.75 [[ 7.53847021e-01 5.03673778e-01 -4.21932927e-01 9.43333664e+01] [-4.38865193e-01 8.63893172e-01 2.47155680e-01 -4.54889903e+01] [ 4.88990809e-01 -1.14589752e-03 8.72288184e-01 2.87498589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:-45.50, Z:28.76 [[ 7.53759256e-01 5.04340824e-01 -4.21292438e-01 9.43547442e+01] [-4.39942088e-01 8.63504517e-01 2.46598679e-01 -4.55006734e+01] [ 4.88157704e-01 -5.31761771e-04 8.72755277e-01 2.87631147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36999999999999 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:94.40, Y:-45.51, Z:28.76 [[ 7.56460936e-01 4.89309056e-01 -4.33985599e-01 9.43950352e+01] [-4.40931802e-01 8.71616279e-01 2.14159306e-01 -4.55066973e+01] [ 4.83059000e-01 2.93549031e-02 8.75095590e-01 2.87559334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39999999999999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:94.40, Y:-45.53, Z:28.78 [[ 7.55031965e-01 5.05345493e-01 -4.17795003e-01 9.44048185e+01] [-4.42392196e-01 8.62917012e-01 2.44260876e-01 -4.55275105e+01] [ 4.83958549e-01 4.04480157e-04 8.75090829e-01 2.87847514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:94.41, Y:-45.54, Z:28.82 [[ 7.51794839e-01 5.20690557e-01 -4.04581098e-01 9.44085709e+01] [-4.42104601e-01 8.53250092e-01 2.76600437e-01 -4.55446150e+01] [ 4.89232094e-01 -2.90796158e-02 8.71668706e-01 2.88180956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:94.46, Y:-45.54, Z:28.80 [[ 7.53913154e-01 4.92456100e-01 -4.34858536e-01 9.44616595e+01] [-4.44486837e-01 8.69760398e-01 2.14355548e-01 -4.55428504e+01] [ 4.83783430e-01 3.16834277e-02 8.74614059e-01 2.87982454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:94.47, Y:-45.56, Z:28.83 [[ 7.52779213e-01 5.08447608e-01 -4.18096265e-01 9.44694436e+01] [-4.45035658e-01 8.61092387e-01 2.45892585e-01 -4.55638763e+01] [ 4.85043008e-01 9.64920197e-04 8.74489765e-01 2.88255915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:-45.58, Z:28.86 [[ 7.48901747e-01 5.24649134e-01 -4.04832632e-01 9.44736426e+01] [-4.46564284e-01 8.50909177e-01 2.76647633e-01 -4.55795173e+01] [ 4.89618742e-01 -2.63981016e-02 8.71536934e-01 2.88590151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:94.51, Y:-45.58, Z:28.86 [[ 7.48146766e-01 5.10508920e-01 -4.23859716e-01 9.45093162e+01] [-4.46710472e-01 8.59861048e-01 2.47161350e-01 -4.55839517e+01] [ 4.90638534e-01 4.42960888e-03 8.71351943e-01 2.88578813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:-45.60, Z:28.87 [[ 7.47576450e-01 5.11583887e-01 -4.23569803e-01 9.45299640e+01] [-4.48141669e-01 8.59216930e-01 2.46810275e-01 -4.55955970e+01] [ 4.90202506e-01 5.30972945e-03 8.71592399e-01 2.88710157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:-45.61, Z:28.88 [[ 7.47336757e-01 5.11762278e-01 -4.23777232e-01 9.45511784e+01] [-4.48351215e-01 8.59109141e-01 2.46804926e-01 -4.56073041e+01] [ 4.90376345e-01 5.55464400e-03 8.71493079e-01 2.88842717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:94.57, Y:-45.62, Z:28.90 [[ 7.47112628e-01 5.11320386e-01 -4.24704821e-01 9.45718310e+01] [-4.47647295e-01 8.59372835e-01 2.47164379e-01 -4.56190034e+01] [ 4.91359971e-01 5.45833548e-03 8.70939484e-01 2.88973965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:94.61, Y:-45.63, Z:28.90 [[ 7.48372959e-01 5.02564993e-01 -4.32858340e-01 9.46056474e+01] [-4.49573117e-01 8.64165462e-01 2.26057665e-01 -4.56311966e+01] [ 4.87669895e-01 2.54260295e-02 8.72657774e-01 2.88998929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:-45.65, Z:28.94 [[ 7.47351604e-01 5.23085057e-01 -4.09692084e-01 9.46031082e+01] [-4.48021760e-01 8.52075084e-01 2.70637309e-01 -4.56505077e+01] [ 4.90654749e-01 -1.87102586e-02 8.71153169e-01 2.89373606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:94.66, Y:-45.64, Z:28.91 [[ 7.54149256e-01 4.88581403e-01 -4.38801906e-01 9.46600855e+01] [-4.47246207e-01 8.71396847e-01 2.01589597e-01 -4.56449088e+01] [ 4.80863525e-01 4.42238438e-02 8.75679463e-01 2.89081966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:94.64, Y:-45.68, Z:28.97 [[ 7.47373016e-01 5.27817133e-01 -4.03537667e-01 9.46416950e+01] [-4.47363805e-01 8.48827712e-01 2.81703996e-01 -4.56784896e+01] [ 4.91222150e-01 -3.00098195e-02 8.70517208e-01 2.89708920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:94.68, Y:-45.68, Z:28.97 [[ 7.46984586e-01 5.11378831e-01 -4.24859647e-01 9.46785815e+01] [-4.47929158e-01 8.59334713e-01 2.46785980e-01 -4.56821125e+01] [ 4.91297768e-01 5.96170101e-03 8.70971274e-01 2.89683749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:94.70, Y:-45.69, Z:28.98 [[ 7.47121476e-01 5.11111885e-01 -4.24940162e-01 9.47003831e+01] [-4.47700937e-01 8.59493451e-01 2.46647276e-01 -4.56946131e+01] [ 4.91297640e-01 5.97063117e-03 8.70971285e-01 2.89820370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:-45.71, Z:29.00 [[ 7.46726285e-01 5.11224222e-01 -4.25499296e-01 9.47219252e+01] [-4.47749943e-01 8.59424818e-01 2.46797431e-01 -4.57065746e+01] [ 4.91853479e-01 6.22715682e-03 8.70655717e-01 2.89954725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:-45.72, Z:29.01 [[ 7.45301919e-01 5.12342427e-01 -4.26650075e-01 9.47434430e+01] [-4.48776400e-01 8.58751283e-01 2.47277124e-01 -4.57182868e+01] [ 4.93076862e-01 7.17436987e-03 8.69956170e-01 2.90090056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:-45.73, Z:29.02 [[ 7.44640507e-01 5.12707090e-01 -4.27366300e-01 9.47643686e+01] [-4.49073245e-01 8.58529820e-01 2.47507109e-01 -4.57299877e+01] [ 4.93805362e-01 7.61495150e-03 8.69539117e-01 2.90222871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:-45.74, Z:29.04 [[ 7.43860490e-01 5.13056564e-01 -4.28304253e-01 9.47853360e+01] [-4.49250580e-01 8.58317545e-01 2.47921175e-01 -4.57419543e+01] [ 4.94818641e-01 7.99716727e-03 8.68959468e-01 2.90362339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:-45.75, Z:29.05 [[ 7.43361327e-01 5.13484965e-01 -4.28657355e-01 9.48065599e+01] [-4.49738033e-01 8.58056744e-01 2.47940165e-01 -4.57540307e+01] [ 4.95125881e-01 8.47438542e-03 8.68779918e-01 2.90497354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:-45.76, Z:29.05 [[ 7.46081060e-01 5.01252454e-01 -4.38302441e-01 9.48433669e+01] [-4.50866049e-01 8.64693485e-01 2.21415858e-01 -4.57601871e+01] [ 4.89982507e-01 3.24215116e-02 8.71129146e-01 2.90451057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:-45.78, Z:29.09 [[ 7.42463632e-01 5.25472216e-01 -4.15483701e-01 9.48399545e+01] [-4.50924402e-01 8.50708369e-01 2.70115633e-01 -4.57842056e+01] [ 4.95393722e-01 -1.31992942e-02 8.68568270e-01 2.90877805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:94.87, Y:-45.79, Z:29.09 [[ 7.41851666e-01 5.14876377e-01 -4.29602633e-01 9.48704679e+01] [-4.51283503e-01 8.57207930e-01 2.48068066e-01 -4.57894297e+01] [ 4.95983170e-01 9.84287316e-03 8.68276346e-01 2.90908747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:-45.80, Z:29.10 [[ 7.41770210e-01 5.15695396e-01 -4.28760089e-01 9.48916000e+01] [-4.52543665e-01 8.56708313e-01 2.47497672e-01 -4.58025141e+01] [ 4.94955742e-01 1.04462618e-02 8.68855390e-01 2.91046883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:-45.81, Z:29.12 [[ 7.41592450e-01 5.15647008e-01 -4.29125624e-01 9.49125709e+01] [-4.52474079e-01 8.56735534e-01 2.47530671e-01 -4.58141289e+01] [ 4.95285621e-01 1.06013442e-02 8.68665508e-01 2.91181273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:-45.82, Z:29.12 [[ 7.44204695e-01 5.05708750e-01 -4.36369147e-01 9.49462252e+01] [-4.52612182e-01 8.62239464e-01 2.27344055e-01 -4.58231131e+01] [ 4.91224577e-01 2.83154786e-02 8.70572598e-01 2.91176907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17999999999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:94.95, Y:-45.84, Z:29.15 [[ 7.42140604e-01 5.23726706e-01 -4.18255498e-01 9.49465876e+01] [-4.51100953e-01 8.51839823e-01 2.66227059e-01 -4.58433350e+01] [ 4.95716910e-01 -8.90245607e-03 8.68438536e-01 2.91537903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:94.98, Y:-45.85, Z:29.16 [[ 7.42791249e-01 5.13956883e-01 -4.29079810e-01 9.49762340e+01] [-4.50749720e-01 8.57759561e-01 2.47129976e-01 -4.58512287e+01] [ 4.95061462e-01 9.84162101e-03 8.68802217e-01 2.91590477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:-45.86, Z:29.17 [[ 7.44237284e-01 5.13211461e-01 -4.27463287e-01 9.49970941e+01] [-4.50502754e-01 8.58209836e-01 2.46014525e-01 -4.58643570e+01] [ 4.93110671e-01 9.48020625e-03 8.69914934e-01 2.91725843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:95.02, Y:-45.88, Z:29.19 [[ 7.45416993e-01 5.11226613e-01 -4.27785995e-01 9.50180134e+01] [-4.48216784e-01 8.59405335e-01 2.46016636e-01 -4.58759191e+01] [ 4.93411818e-01 8.35588177e-03 8.69755688e-01 2.91859369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:-45.89, Z:29.20 [[ 7.49549975e-01 5.06892492e-01 -4.25716849e-01 9.50398121e+01] [-4.43926589e-01 8.61991486e-01 2.44744480e-01 -4.58885388e+01] [ 4.91023439e-01 5.53880990e-03 8.71128753e-01 2.91986678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:95.06, Y:-45.90, Z:29.21 [[ 7.51374889e-01 5.03893953e-01 -4.26059456e-01 9.50607491e+01] [-4.40472945e-01 8.63757333e-01 2.44758766e-01 -4.59000229e+01] [ 4.91344442e-01 3.76207277e-03 8.70957224e-01 2.92118940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:95.08, Y:-45.91, Z:29.23 [[ 7.54951472e-01 4.99736573e-01 -4.24631172e-01 9.50804706e+01] [-4.36226065e-01 8.66176652e-01 2.43813099e-01 -4.59143276e+01] [ 4.89647930e-01 1.16812698e-03 8.71919457e-01 2.92260369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:-45.93, Z:29.24 [[ 7.56630996e-01 4.98015596e-01 -4.23662604e-01 9.51013614e+01] [-4.34664597e-01 8.67168042e-01 2.43076687e-01 -4.59280865e+01] [ 4.88442652e-01 2.31779465e-04 8.72595967e-01 2.92393507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:-45.94, Z:29.25 [[ 7.57556012e-01 4.95926245e-01 -4.24459714e-01 9.51228290e+01] [-4.32115414e-01 8.68364141e-01 2.43351571e-01 -4.59410151e+01] [ 4.89270026e-01 -9.36860785e-04 8.72131850e-01 2.92524731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:95.14, Y:-45.95, Z:29.26 [[ 7.58788891e-01 4.92265768e-01 -4.26513578e-01 9.51445196e+01] [-4.27351776e-01 8.70439298e-01 2.44347882e-01 -4.59529956e+01] [ 4.91538277e-01 -3.13712305e-03 8.70850320e-01 2.92643083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:-45.97, Z:29.28 [[ 7.59572383e-01 4.90865205e-01 -4.26733108e-01 9.51666039e+01] [-4.25719473e-01 8.71226511e-01 2.44391689e-01 -4.59655785e+01] [ 4.91744573e-01 -3.96458320e-03 8.70730473e-01 2.92772398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:-45.98, Z:29.28 [[ 7.62078256e-01 4.81957398e-01 -4.32381542e-01 9.51976039e+01] [-4.24268271e-01 8.76147786e-01 2.28826334e-01 -4.59751204e+01] [ 4.89114675e-01 9.06219539e-03 8.72172409e-01 2.92790044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:-46.00, Z:29.31 [[ 7.61390102e-01 4.92056331e-01 -4.22096765e-01 9.52099296e+01] [-4.24480148e-01 8.70500242e-01 2.49090210e-01 -4.59961126e+01] [ 4.90001751e-01 -1.04831225e-02 8.71658412e-01 2.93050536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:-46.01, Z:29.32 [[ 7.63655004e-01 4.87131744e-01 -4.23714171e-01 9.52318675e+01] [-4.22036366e-01 8.73300179e-01 2.43376464e-01 -4.60057062e+01] [ 4.88586063e-01 -7.03286557e-03 8.72487363e-01 2.93159969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:-46.02, Z:29.33 [[ 7.65092922e-01 4.83406011e-01 -4.25383884e-01 9.52560746e+01] [-4.20813301e-01 8.75391043e-01 2.37921599e-01 -4.60158005e+01] [ 4.87389973e-01 -3.02493434e-03 8.73179171e-01 2.93262558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:-46.03, Z:29.35 [[ 7.62978574e-01 4.93063223e-01 -4.18033914e-01 9.52667817e+01] [-4.21206781e-01 8.69761683e-01 2.57098158e-01 -4.60323941e+01] [ 4.90355527e-01 -2.00816669e-02 8.71291102e-01 2.93538861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:-46.04, Z:29.36 [[ 7.63029391e-01 4.86768984e-01 -4.25255341e-01 9.52950332e+01] [-4.22055372e-01 8.73512701e-01 2.42579521e-01 -4.60404965e+01] [ 4.89546128e-01 -5.61400239e-03 8.71959329e-01 2.93604570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:-46.05, Z:29.37 [[ 7.62895868e-01 4.87225705e-01 -4.24971771e-01 9.53170055e+01] [-4.22773432e-01 8.73260992e-01 2.42235143e-01 -4.60526690e+01] [ 4.89134459e-01 -5.13341562e-03 8.72193287e-01 2.93735714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:-46.06, Z:29.39 [[ 7.62437312e-01 4.87929570e-01 -4.24987152e-01 9.53387643e+01] [-4.23676052e-01 8.72871400e-01 2.42062228e-01 -4.60647094e+01] [ 4.89068449e-01 -4.50039552e-03 8.72233798e-01 2.93871575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:-46.08, Z:29.40 [[ 7.61610370e-01 4.88925851e-01 -4.25324766e-01 9.53594715e+01] [-4.24808564e-01 8.72317567e-01 2.42073845e-01 -4.60763816e+01] [ 4.89374426e-01 -3.68434763e-03 8.72065993e-01 2.94002880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:-46.09, Z:29.41 [[ 7.59681545e-01 4.91989059e-01 -4.25241951e-01 9.53806100e+01] [-4.28389059e-01 8.70599848e-01 2.41947762e-01 -4.60879419e+01] [ 4.89251229e-01 -1.63425024e-03 8.72141367e-01 2.94127928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:-46.10, Z:29.43 [[ 7.57785515e-01 4.95267474e-01 -4.24819069e-01 9.54028685e+01] [-4.31390310e-01 8.68739840e-01 2.43297124e-01 -4.61026757e+01] [ 4.89554402e-01 -1.10420654e-03 8.71972057e-01 2.94284468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:-46.11, Z:29.44 [[ 7.57203114e-01 4.96737192e-01 -4.24141021e-01 9.54232089e+01] [-4.32627672e-01 8.67899983e-01 2.44096124e-01 -4.61112872e+01] [ 4.89363608e-01 -1.33520288e-03 8.72078824e-01 2.94404036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:-46.12, Z:29.45 [[ 7.55774117e-01 4.97906306e-01 -4.25317287e-01 9.54454400e+01] [-4.35341725e-01 8.67227151e-01 2.41649852e-01 -4.61212780e+01] [ 4.89165684e-01 2.52565818e-03 8.72187224e-01 2.94520577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:-46.13, Z:29.47 [[ 7.52612370e-01 5.02853073e-01 -4.25103996e-01 9.54681981e+01] [-4.41158082e-01 8.64352068e-01 2.41402256e-01 -4.61315647e+01] [ 4.88829384e-01 5.85573956e-03 8.72359756e-01 2.94653806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:95.49, Y:-46.14, Z:29.48 [[ 7.50611243e-01 5.05223377e-01 -4.25831071e-01 9.54894288e+01] [-4.43760241e-01 8.62955174e-01 2.41630328e-01 -4.61425698e+01] [ 4.89550417e-01 7.59645802e-03 8.71941904e-01 2.94792979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:95.51, Y:-46.15, Z:29.49 [[ 7.47617737e-01 5.09587955e-01 -4.25896509e-01 9.55098909e+01] [-4.48863501e-01 8.60352882e-01 2.41483903e-01 -4.61536650e+01] [ 4.89478577e-01 1.06317490e-02 8.71950508e-01 2.94924749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:95.53, Y:-46.17, Z:29.51 [[ 7.46672774e-01 5.11041061e-01 -4.25813107e-01 9.55313218e+01] [-4.50607385e-01 8.59477188e-01 2.41354403e-01 -4.61657426e+01] [ 4.89318662e-01 1.16617690e-02 8.72027093e-01 2.95061291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:95.55, Y:-46.18, Z:29.52 [[ 7.46182098e-01 5.12044391e-01 -4.25467765e-01 9.55529277e+01] [-4.51968772e-01 8.58868234e-01 2.40976318e-01 -4.61780311e+01] [ 4.88811320e-01 1.24859282e-02 8.72300175e-01 2.95194643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:95.57, Y:-46.19, Z:29.53 [[ 7.45876053e-01 5.12626795e-01 -4.25303048e-01 9.55749477e+01] [-4.52791328e-01 8.58512487e-01 2.40699652e-01 -4.61902942e+01] [ 4.88517069e-01 1.30414258e-02 8.72456873e-01 2.95327789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:-46.20, Z:29.55 [[ 7.45481036e-01 5.13507874e-01 -4.24932570e-01 9.55953871e+01] [-4.54018506e-01 8.57974181e-01 2.40307096e-01 -4.62024987e+01] [ 4.87980759e-01 1.37828682e-02 8.72745559e-01 2.95456621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:95.62, Y:-46.21, Z:29.56 [[ 7.45595004e-01 5.12971681e-01 -4.25380000e-01 9.56172734e+01] [-4.53313732e-01 8.58298874e-01 2.40478073e-01 -4.62145024e+01] [ 4.88461616e-01 1.35313450e-02 8.72480460e-01 2.95591151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:-46.23, Z:29.57 [[ 7.45779309e-01 5.12950209e-01 -4.25082705e-01 9.56384863e+01] [-4.53480302e-01 8.58309268e-01 2.40126665e-01 -4.62271134e+01] [ 4.88025448e-01 1.36851351e-02 8.72722109e-01 2.95727385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:95.66, Y:-46.24, Z:29.59 [[ 7.46026026e-01 5.12377430e-01 -4.25340497e-01 9.56592604e+01] [-4.52847976e-01 8.58654193e-01 2.40086833e-01 -4.62385054e+01] [ 4.88235476e-01 1.35035576e-02 8.72607457e-01 2.95856151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:-46.25, Z:29.60 [[ 7.46029329e-01 5.12136688e-01 -4.25624545e-01 9.56794249e+01] [-4.52532577e-01 8.58798810e-01 2.40164258e-01 -4.62517616e+01] [ 4.88522781e-01 1.34393922e-02 8.72447635e-01 2.95998552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:95.70, Y:-46.26, Z:29.61 [[ 7.46336709e-01 5.11399905e-01 -4.25971423e-01 9.56997893e+01] [-4.51682537e-01 8.59242235e-01 2.40178410e-01 -4.62635152e+01] [ 4.88839853e-01 1.31498887e-02 8.72274428e-01 2.96124699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:95.72, Y:-46.28, Z:29.63 [[ 7.46626575e-01 5.10714273e-01 -4.26285924e-01 9.57201882e+01] [-4.50843622e-01 8.59655342e-01 2.40276345e-01 -4.62758016e+01] [ 4.89171531e-01 1.27915861e-02 8.72093796e-01 2.96254779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:95.74, Y:-46.29, Z:29.64 [[ 7.47178995e-01 5.08779484e-01 -4.27629495e-01 9.57405709e+01] [-4.48257035e-01 8.60818002e-01 2.40952272e-01 -4.62892826e+01] [ 4.90702740e-01 1.16534530e-02 8.71249113e-01 2.96390791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:95.76, Y:-46.30, Z:29.65 [[ 7.47829147e-01 5.07418257e-01 -4.28110125e-01 9.57618423e+01] [-4.46648124e-01 8.61630193e-01 2.41037058e-01 -4.63018708e+01] [ 4.91179214e-01 1.09600470e-02 8.70989585e-01 2.96521752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:95.78, Y:-46.31, Z:29.67 [[ 7.48466894e-01 5.05911533e-01 -4.28778299e-01 9.57821025e+01] [-4.44811960e-01 8.62525386e-01 2.41230758e-01 -4.63139141e+01] [ 4.91873590e-01 1.01724799e-02 8.70607197e-01 2.96655285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-46.33, Z:29.68 [[ 7.49214462e-01 5.04656872e-01 -4.28951199e-01 9.58028472e+01] [-4.43359966e-01 8.63268454e-01 2.41245761e-01 -4.63270467e+01] [ 4.92046369e-01 9.43497591e-03 8.70517864e-01 2.96796080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:95.82, Y:-46.34, Z:29.69 [[ 7.51748560e-01 5.00959289e-01 -4.28851832e-01 9.58242937e+01] [-4.39234026e-01 8.65440998e-01 2.41009022e-01 -4.63387871e+01] [ 4.91881666e-01 7.18813111e-03 8.70632390e-01 2.96918263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:-46.35, Z:29.71 [[ 7.53101778e-01 4.98695782e-01 -4.29115635e-01 9.58450863e+01] [-4.36617939e-01 8.66757425e-01 2.41031829e-01 -4.63520297e+01] [ 4.92140719e-01 5.83808531e-03 8.70496082e-01 2.97062521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:-46.36, Z:29.72 [[ 7.55360472e-01 4.95338681e-01 -4.29033971e-01 9.58654322e+01] [-4.32882561e-01 8.68691519e-01 2.40806422e-01 -4.63648782e+01] [ 4.91978907e-01 3.82567155e-03 8.70598713e-01 2.97195787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.5 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:95.89, Y:-46.38, Z:29.73 [[ 7.58660649e-01 4.91220090e-01 -4.27944906e-01 9.58864316e+01] [-4.28536642e-01 8.71034628e-01 2.40114604e-01 -4.63779971e+01] [ 4.90703949e-01 1.22457155e-03 8.71325505e-01 2.97321518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:95.90, Y:-46.39, Z:29.75 [[ 7.63902630e-01 4.83619721e-01 -4.27275949e-01 9.59047326e+01] [-4.20131306e-01 8.75271264e-01 2.39561892e-01 -4.63918939e+01] [ 4.89839216e-01 -3.48995718e-03 8.71805806e-01 2.97462882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-46.40, Z:29.76 [[ 7.66241975e-01 4.80321151e-01 -4.26807718e-01 9.59249876e+01] [-4.16548769e-01 8.77075362e-01 2.39219422e-01 -4.64047984e+01] [ 4.89244682e-01 -5.51373248e-03 8.72129142e-01 2.97603040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-46.42, Z:29.77 [[ 7.68369815e-01 4.77134532e-01 -4.26556521e-01 9.59463467e+01] [-4.13085248e-01 8.78799468e-01 2.38897618e-01 -4.64167605e+01] [ 4.88843948e-01 -7.35751225e-03 8.72340221e-01 2.97736385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61999999999999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:95.99, Y:-46.42, Z:29.76 [[ 7.76085889e-01 4.54974889e-01 -4.36678994e-01 9.59886956e+01] [-4.07968099e-01 8.90256713e-01 2.02496951e-01 -4.64163025e+01] [ 4.80887433e-01 2.09960725e-02 8.76530913e-01 2.97578720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:95.98, Y:-46.45, Z:29.81 [[ 7.72484679e-01 4.82699746e-01 -4.12635887e-01 9.59811662e+01] [-4.05864448e-01 8.75032935e-01 2.63801843e-01 -4.64451261e+01] [ 4.88407074e-01 -3.63086456e-02 8.71860202e-01 2.98133240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:-46.45, Z:29.82 [[ 7.72724563e-01 4.69537400e-01 -4.27119866e-01 9.60139766e+01] [-4.04389559e-01 8.82832585e-01 2.38905234e-01 -4.64501305e+01] [ 4.89250278e-01 -1.18851287e-02 8.72062446e-01 2.98154048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:-46.46, Z:29.83 [[ 7.72846080e-01 4.69267610e-01 -4.27196497e-01 9.60359628e+01] [-4.04157045e-01 8.82976137e-01 2.38768141e-01 -4.64622698e+01] [ 4.89250467e-01 -1.18765475e-02 8.72062456e-01 2.98291004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:-46.47, Z:29.84 [[ 7.73669327e-01 4.67772208e-01 -4.27346387e-01 9.60581753e+01] [-4.02494087e-01 8.83758426e-01 2.38682961e-01 -4.64732421e+01] [ 4.89320225e-01 -1.26572920e-02 8.72012334e-01 2.98419967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:96.10, Y:-46.47, Z:29.83 [[ 7.80051560e-01 4.46320298e-01 -4.38540483e-01 9.61017861e+01] [-3.98507719e-01 8.94704108e-01 2.01732882e-01 -4.64718102e+01] [ 4.82401452e-01 1.73997183e-02 8.75777420e-01 2.98250787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.8 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:96.09, Y:-46.50, Z:29.88 [[ 7.76536249e-01 4.76274018e-01 -4.12497896e-01 9.60919361e+01] [-3.97986274e-01 8.78315563e-01 2.64893750e-01 -4.65008085e+01] [ 4.88465332e-01 -4.15310985e-02 8.71594394e-01 2.98815746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-46.49, Z:29.85 [[ 7.81325445e-01 4.43371924e-01 -4.39262889e-01 9.61464220e+01] [-3.95714013e-01 8.96176240e-01 2.00695209e-01 -4.64936712e+01] [ 4.82639586e-01 1.70142070e-02 8.75653783e-01 2.98532596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:96.14, Y:-46.52, Z:29.91 [[ 7.77395708e-01 4.75390472e-01 -4.11897818e-01 9.61364451e+01] [-3.96622127e-01 8.78717970e-01 2.65604249e-01 -4.65232137e+01] [ 4.88207744e-01 -4.31118145e-02 8.71661959e-01 2.99091455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:96.19, Y:-46.51, Z:29.88 [[ 7.83420733e-01 4.39432510e-01 -4.39489505e-01 9.61943600e+01] [-3.94485904e-01 8.98034169e-01 1.94719035e-01 -4.65128146e+01] [ 4.80242466e-01 2.08254858e-02 8.76888518e-01 2.98760067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:-46.53, Z:29.90 [[ 7.83955903e-01 4.57610477e-01 -4.19530444e-01 9.62030724e+01] [-3.97424708e-01 8.89080578e-01 2.27132840e-01 -4.65320974e+01] [ 4.76934737e-01 -1.13303664e-02 8.78865678e-01 2.99038836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:-46.55, Z:29.93 [[ 7.80413610e-01 4.66408577e-01 -4.16434432e-01 9.62199785e+01] [-4.00941695e-01 8.84351578e-01 2.39098397e-01 -4.65490385e+01] [ 4.79791990e-01 -1.96297161e-02 8.77162654e-01 2.99283541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97999999999999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:96.23, Y:-46.56, Z:29.96 [[ 7.77031160e-01 4.75477457e-01 -4.12484866e-01 9.62331532e+01] [-4.02746222e-01 8.79152827e-01 2.54726889e-01 -4.65619885e+01] [ 4.83754129e-01 -3.18040085e-02 8.74625890e-01 2.99559403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.26, Y:-46.57, Z:29.96 [[ 7.75401049e-01 4.68476766e-01 -4.23417916e-01 9.62630418e+01] [-4.05762826e-01 8.83420157e-01 2.34361592e-01 -4.65669345e+01] [ 4.83848883e-01 -9.91697403e-03 8.75095373e-01 2.99599208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:-46.58, Z:29.97 [[ 7.71818982e-01 4.74092704e-01 -4.23711656e-01 9.62860863e+01] [-4.12112981e-01 8.80452135e-01 2.34450268e-01 -4.65751705e+01] [ 4.84208994e-01 -6.33609395e-03 8.74929428e-01 2.99731377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-46.59, Z:29.99 [[ 7.69872867e-01 4.76997392e-01 -4.23992047e-01 9.63087748e+01] [-4.15381045e-01 8.78893490e-01 2.34531065e-01 -4.65852474e+01] [ 4.84514556e-01 -4.44084426e-03 8.74771927e-01 2.99859707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-46.60, Z:30.00 [[ 7.68185460e-01 4.79543016e-01 -4.24181087e-01 9.63319434e+01] [-4.18320386e-01 8.77514300e-01 2.34471124e-01 -4.65955367e+01] [ 4.84663960e-01 -2.67371232e-03 8.74696346e-01 2.99991295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:-46.60, Z:30.01 [[ 7.64633868e-01 4.84871417e-01 -4.24540642e-01 9.63548903e+01] [-4.24399317e-01 8.74585012e-01 2.34491526e-01 -4.66046724e+01] [ 4.84995121e-01 8.74595627e-04 8.74516419e-01 3.00113801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.38, Y:-46.62, Z:30.02 [[ 7.63361502e-01 4.86704928e-01 -4.24732305e-01 9.63772675e+01] [-4.26483008e-01 8.73563862e-01 2.34517426e-01 -4.66151104e+01] [ 4.85171579e-01 2.11953615e-03 8.74416403e-01 3.00244635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:-46.63, Z:30.04 [[ 7.62180184e-01 4.88983518e-01 -4.24236357e-01 9.63988974e+01] [-4.29338896e-01 8.72285003e-01 2.34066198e-01 -4.66267538e+01] [ 4.84509525e-01 3.74055081e-03 8.74777988e-01 3.00381561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:96.42, Y:-46.64, Z:30.05 [[ 7.61280342e-01 4.90372651e-01 -4.24248635e-01 9.64211094e+01] [-4.31023064e-01 8.71499639e-01 2.33896340e-01 -4.66372081e+01] [ 4.84428900e-01 4.80026073e-03 8.74817465e-01 3.00513603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:96.44, Y:-46.65, Z:30.06 [[ 7.59593768e-01 4.94053277e-01 -4.22999607e-01 9.64430945e+01] [-4.35705321e-01 8.69401021e-01 2.33029476e-01 -4.66467804e+01] [ 4.82885266e-01 7.29544163e-03 8.75653240e-01 3.00643133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:96.47, Y:-46.66, Z:30.08 [[ 7.59068852e-01 4.95400096e-01 -4.22366219e-01 9.64652727e+01] [-4.37476013e-01 8.68626080e-01 2.32601529e-01 -4.66576236e+01] [ 4.82109133e-01 8.21451393e-03 8.76072660e-01 3.00771625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.49, Y:-46.67, Z:30.09 [[ 7.58515539e-01 4.96736332e-01 -4.21790462e-01 9.64871348e+01] [-4.39269906e-01 8.67852500e-01 2.32107708e-01 -4.66687429e+01] [ 4.81348239e-01 9.22255361e-03 8.76480928e-01 3.00902911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.51, Y:-46.68, Z:30.10 [[ 7.57873786e-01 4.97889266e-01 -4.21584633e-01 9.65088989e+01] [-4.40745014e-01 8.67181542e-01 2.31818908e-01 -4.66799319e+01] [ 4.81010558e-01 1.01218519e-02 8.76656370e-01 3.01033162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36999999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:96.53, Y:-46.69, Z:30.12 [[ 7.56639333e-01 4.99350015e-01 -4.22074024e-01 9.65317641e+01] [-4.42373804e-01 8.66327406e-01 2.31909990e-01 -4.66906892e+01] [ 4.81458552e-01 1.12422712e-02 8.76396756e-01 3.01152699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39999999999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:96.55, Y:-46.70, Z:30.13 [[ 7.56101246e-01 4.99887135e-01 -4.22402365e-01 9.65542594e+01] [-4.42993273e-01 8.66010534e-01 2.31911008e-01 -4.67026364e+01] [ 4.81734227e-01 1.17732042e-02 8.76238282e-01 3.01282599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:96.58, Y:-46.71, Z:30.14 [[ 7.55759273e-01 4.99931551e-01 -4.22961423e-01 9.65762035e+01] [-4.42983002e-01 8.65981782e-01 2.32037957e-01 -4.67143131e+01] [ 4.82279983e-01 1.19998834e-02 8.75934941e-01 3.01414368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.60, Y:-46.73, Z:30.15 [[ 7.55570345e-01 4.99854492e-01 -4.23389822e-01 9.65976698e+01] [-4.42871068e-01 8.66024249e-01 2.32093121e-01 -4.67262920e+01] [ 4.82678642e-01 1.21444238e-02 8.75713333e-01 3.01546316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.62, Y:-46.74, Z:30.17 [[ 7.55538788e-01 4.99500032e-01 -4.23864198e-01 9.66190230e+01] [-4.42428271e-01 8.66229168e-01 2.32172894e-01 -4.67386880e+01] [ 4.83133900e-01 1.21138772e-02 8.75462671e-01 3.01675836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.64, Y:-46.75, Z:30.18 [[ 7.55905614e-01 4.98808981e-01 -4.24023941e-01 9.66392070e+01] [-4.41689624e-01 8.66630850e-01 2.32080256e-01 -4.67505320e+01] [ 4.83235944e-01 1.18562068e-02 8.75409877e-01 3.01809365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:-46.76, Z:30.19 [[ 7.56342476e-01 4.98074520e-01 -4.24108278e-01 9.66600794e+01] [-4.40891613e-01 8.67057809e-01 2.32002892e-01 -4.67630058e+01] [ 4.83281123e-01 1.15121413e-02 8.75389529e-01 3.01942932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:96.68, Y:-46.78, Z:30.21 [[ 7.56616256e-01 4.96945001e-01 -4.24944123e-01 9.66819920e+01] [-4.39455845e-01 8.67712348e-01 2.32279663e-01 -4.67750397e+01] [ 4.84159480e-01 1.09976099e-02 8.74910653e-01 3.02072686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-46.79, Z:30.22 [[ 7.57497525e-01 4.95935345e-01 -4.24553453e-01 9.67029974e+01] [-4.38509378e-01 8.68295770e-01 2.31887865e-01 -4.67875603e+01] [ 4.83639355e-01 1.05161868e-02 8.75204196e-01 3.02203599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.72, Y:-46.80, Z:30.23 [[ 7.58650675e-01 4.94168129e-01 -4.24555077e-01 9.67235833e+01] [-4.36581816e-01 8.69313731e-01 2.31710928e-01 -4.67998310e+01] [ 4.83575714e-01 9.56537399e-03 8.75250269e-01 3.02321779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.74, Y:-46.81, Z:30.25 [[ 7.59397113e-01 4.93206524e-01 -4.24338720e-01 9.67449321e+01] [-4.35586467e-01 8.69865430e-01 2.31513634e-01 -4.68122974e+01] [ 4.83301618e-01 9.02541822e-03 8.75407384e-01 3.02455755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.7 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:96.77, Y:-46.82, Z:30.26 [[ 7.60326466e-01 4.92056855e-01 -4.24009100e-01 9.67664749e+01] [-4.34463633e-01 8.70521931e-01 2.31155616e-01 -4.68248867e+01] [ 4.82850926e-01 8.46280165e-03 8.75661672e-01 3.02593907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:96.79, Y:-46.84, Z:30.27 [[ 7.62647515e-01 4.90106574e-01 -4.22095148e-01 9.67861518e+01] [-4.32885484e-01 8.71631431e-01 2.29932177e-01 -4.68375521e+01] [ 4.80602669e-01 7.36165922e-03 8.76907567e-01 3.02724596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:-46.85, Z:30.29 [[ 7.63781661e-01 4.89212839e-01 -4.21080007e-01 9.68075762e+01] [-4.32200869e-01 8.72137487e-01 2.29300267e-01 -4.68504357e+01] [ 4.79416294e-01 6.85580577e-03 8.77560833e-01 3.02863802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:-46.86, Z:30.30 [[ 7.64543988e-01 4.88292898e-01 -4.20764228e-01 9.68284419e+01] [-4.31337883e-01 8.72655990e-01 2.28952298e-01 -4.68623567e+01] [ 4.78978205e-01 6.44744843e-03 8.77803116e-01 3.02997255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:-46.88, Z:30.32 [[ 7.64474927e-01 4.89115522e-01 -4.19933439e-01 9.68485829e+01] [-4.30558614e-01 8.72212461e-01 2.32087705e-01 -4.68753801e+01] [ 4.79788877e-01 3.38072844e-03 8.77377458e-01 3.03158586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:-46.89, Z:30.33 [[ 7.65209570e-01 4.86339076e-01 -4.21815856e-01 9.68722504e+01] [-4.30635588e-01 8.73728016e-01 2.26168840e-01 -4.68858235e+01] [ 4.78547076e-01 8.58235784e-03 8.78019954e-01 3.03251623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:-46.90, Z:30.34 [[ 7.65174923e-01 4.87346481e-01 -4.20714565e-01 9.68930677e+01] [-4.30448774e-01 8.73186844e-01 2.28601376e-01 -4.68982325e+01] [ 4.78770499e-01 6.17602815e-03 8.77918371e-01 3.03393740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.91, Y:-46.91, Z:30.35 [[ 7.64293038e-01 4.88093878e-01 -4.21450493e-01 9.69142947e+01] [-4.31186242e-01 8.72764376e-01 2.28824757e-01 -4.69090269e+01] [ 4.79514940e-01 6.83448563e-03 8.77507101e-01 3.03512201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:96.94, Y:-46.92, Z:30.36 [[ 7.63591251e-01 4.88650084e-01 -4.22077595e-01 9.69363490e+01] [-4.31707177e-01 8.72449167e-01 2.29044461e-01 -4.69205851e+01] [ 4.80163841e-01 7.31758080e-03 8.77148299e-01 3.03641176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:-46.93, Z:30.38 [[ 7.63105353e-01 4.89272005e-01 -4.22235865e-01 9.69580213e+01] [-4.32469323e-01 8.72095566e-01 2.28953291e-01 -4.69326157e+01] [ 4.80250461e-01 7.88857689e-03 8.77095927e-01 3.03773859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:-46.94, Z:30.39 [[ 7.62313291e-01 4.89850250e-01 -4.22995484e-01 9.69789573e+01] [-4.33009634e-01 8.71765660e-01 2.29188329e-01 -4.69441940e+01] [ 4.81020898e-01 8.44780992e-03 8.76668427e-01 3.03899854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:-46.96, Z:30.40 [[ 7.61202323e-01 4.90611202e-01 -4.24112806e-01 9.70006124e+01] [-4.33603538e-01 8.71331727e-01 2.29715028e-01 -4.69566051e+01] [ 4.82243709e-01 9.03720012e-03 8.75990487e-01 3.04029858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:-46.97, Z:30.42 [[ 7.60971555e-01 4.90534507e-01 -4.24615343e-01 9.70220460e+01] [-4.33470044e-01 8.71373413e-01 2.29808827e-01 -4.69688153e+01] [ 4.82727680e-01 9.18005114e-03 8.75722395e-01 3.04160861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:97.04, Y:-46.98, Z:30.43 [[ 7.60754040e-01 4.90372499e-01 -4.25191842e-01 9.70427703e+01] [-4.33217865e-01 8.71463629e-01 2.29942222e-01 -4.69802281e+01] [ 4.83296567e-01 9.27122775e-03 8.75407603e-01 3.04286941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:97.06, Y:-46.99, Z:30.44 [[ 7.60853226e-01 4.89999393e-01 -4.25444431e-01 9.70641534e+01] [-4.32761971e-01 8.71675061e-01 2.29999270e-01 -4.69922142e+01] [ 4.83548804e-01 9.12048406e-03 8.75269885e-01 3.04417213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:-47.01, Z:30.46 [[ 7.62161752e-01 4.89044418e-01 -4.24199270e-01 9.70842032e+01] [-4.32124004e-01 8.72215894e-01 2.29146850e-01 -4.70053829e+01] [ 4.82056334e-01 8.65972215e-03 8.76097426e-01 3.04553696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:97.11, Y:-47.02, Z:30.47 [[ 7.62723313e-01 4.88129079e-01 -4.24244210e-01 9.71050901e+01] [-4.31130692e-01 8.72732895e-01 2.29049384e-01 -4.70176267e+01] [ 4.82057543e-01 8.20339430e-03 8.76101153e-01 3.04684033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:97.13, Y:-47.03, Z:30.48 [[ 7.63788699e-01 4.86893032e-01 -4.23747564e-01 9.71263528e+01] [-4.29901913e-01 8.73429501e-01 2.28703416e-01 -4.70301578e+01] [ 4.81467723e-01 7.48880342e-03 8.76431828e-01 3.04819454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:97.15, Y:-47.04, Z:30.50 [[ 7.64778530e-01 4.85649603e-01 -4.23389022e-01 9.71475102e+01] [-4.28681839e-01 8.74126518e-01 2.28330270e-01 -4.70426327e+01] [ 4.80984076e-01 6.87709596e-03 8.76702358e-01 3.04950300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:-47.06, Z:30.51 [[ 7.65829978e-01 4.84835769e-01 -4.22420077e-01 9.71676349e+01] [-4.28128365e-01 8.74580866e-01 2.27627795e-01 -4.70552411e+01] [ 4.79802614e-01 6.52582743e-03 8.77352190e-01 3.05087325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.3 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:97.19, Y:-47.06, Z:30.52 [[ 7.67904304e-01 4.81850316e-01 -4.22070200e-01 9.71891690e+01] [-4.25649310e-01 8.76231836e-01 2.25921302e-01 -4.70639511e+01] [ 4.78691597e-01 6.16794903e-03 8.77961452e-01 3.05182309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:97.21, Y:-47.08, Z:30.53 [[ 7.66701638e-01 4.81453103e-01 -4.24701669e-01 9.72121655e+01] [-4.26110282e-01 8.76425618e-01 2.24294815e-01 -4.70795919e+01] [ 4.80206857e-01 9.00254633e-03 8.77109074e-01 3.05327621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:97.23, Y:-47.09, Z:30.55 [[ 7.66678726e-01 4.82632554e-01 -4.23402347e-01 9.72323805e+01] [-4.25509465e-01 8.75805730e-01 2.27828925e-01 -4.70929032e+01] [ 4.80775858e-01 5.49011656e-03 8.76826342e-01 3.05475594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:-47.11, Z:30.56 [[ 7.66446673e-01 4.82177918e-01 -4.24339431e-01 9.72531013e+01] [-4.24813299e-01 8.76056733e-01 2.28162797e-01 -4.71061045e+01] [ 4.81760478e-01 5.39041625e-03 8.76286360e-01 3.05606028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:-47.12, Z:30.57 [[ 7.66153580e-01 4.81806206e-01 -4.25289867e-01 9.72742939e+01] [-4.24207812e-01 8.76261509e-01 2.28502736e-01 -4.71187467e+01] [ 4.82759177e-01 5.34309448e-03 8.75736849e-01 3.05737633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:-47.13, Z:30.59 [[ 7.65960663e-01 4.81474938e-01 -4.26011909e-01 9.72945609e+01] [-4.23714584e-01 8.76443726e-01 2.28718924e-01 -4.71310996e+01] [ 4.83497895e-01 5.31776024e-03 8.75329371e-01 3.05865055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:97.32, Y:-47.14, Z:30.60 [[ 7.65870665e-01 4.81097992e-01 -4.26599164e-01 9.73158443e+01] [-4.23155332e-01 8.76651604e-01 2.28957484e-01 -4.71441802e+01] [ 4.84129828e-01 5.16589032e-03 8.74980928e-01 3.06000124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:97.34, Y:-47.16, Z:30.61 [[ 7.65497731e-01 4.80765027e-01 -4.27642623e-01 9.73374747e+01] [-4.22565903e-01 8.76834382e-01 2.29345862e-01 -4.71571023e+01] [ 4.85233225e-01 5.14345412e-03 8.74369637e-01 3.06129358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:97.36, Y:-47.17, Z:30.63 [[ 7.65462756e-01 4.80490766e-01 -4.28013308e-01 9.73584925e+01] [-4.22239205e-01 8.76984678e-01 2.29372901e-01 -4.71696829e+01] [ 4.85572674e-01 5.14758638e-03 8.74181148e-01 3.06261424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:97.38, Y:-47.18, Z:30.64 [[ 7.65092036e-01 4.80571956e-01 -4.28584614e-01 9.73795051e+01] [-4.22264648e-01 8.76938757e-01 2.29501599e-01 -4.71833559e+01] [ 4.86134491e-01 5.38628511e-03 8.73867407e-01 3.06389951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.6 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:97.40, Y:-47.20, Z:30.65 [[ 7.64827844e-01 4.80889237e-01 -4.28700257e-01 9.74001853e+01] [-4.22692064e-01 8.76762397e-01 2.29388574e-01 -4.71952127e+01] [ 4.86178761e-01 5.76542797e-03 8.73840359e-01 3.06519806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:97.42, Y:-47.21, Z:30.67 [[ 7.64948331e-01 4.80668506e-01 -4.28732829e-01 9.74224305e+01] [-4.22473154e-01 8.76883829e-01 2.29327681e-01 -4.72069693e+01] [ 4.86179478e-01 5.70428338e-03 8.73840361e-01 3.06655775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:-47.22, Z:30.68 [[ 7.64901111e-01 4.81090425e-01 -4.28343662e-01 9.74437665e+01] [-4.23156895e-01 8.76649594e-01 2.28962292e-01 -4.72187244e+01] [ 4.85658864e-01 6.12306248e-03 8.74126979e-01 3.06794861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:-47.23, Z:30.69 [[ 7.64985291e-01 4.80855788e-01 -4.28456784e-01 9.74656433e+01] [-4.22953363e-01 8.76778107e-01 2.28846245e-01 -4.72300166e+01] [ 4.85703569e-01 6.15322680e-03 8.74101928e-01 3.06928428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:97.49, Y:-47.24, Z:30.71 [[ 7.65586990e-01 4.80043716e-01 -4.28292647e-01 9.74875840e+01] [-4.22167175e-01 8.77225325e-01 2.28583912e-01 -4.72405988e+01] [ 4.85439427e-01 5.81022765e-03 8.74250996e-01 3.07052009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:-47.25, Z:30.72 [[ 7.65934179e-01 4.79669252e-01 -4.28091395e-01 9.75098951e+01] [-4.21839694e-01 8.77431200e-01 2.28398254e-01 -4.72511984e+01] [ 4.85176366e-01 5.64791414e-03 8.74398076e-01 3.07185815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:97.53, Y:-47.26, Z:30.73 [[ 7.66007077e-01 4.79419999e-01 -4.28240145e-01 9.75321803e+01] [-4.21609452e-01 8.77567270e-01 2.28300584e-01 -4.72616955e+01] [ 4.85261401e-01 5.67022954e-03 8.74350743e-01 3.07312209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:-47.27, Z:30.74 [[ 7.66088064e-01 4.79359270e-01 -4.28163249e-01 9.75544773e+01] [-4.21661056e-01 8.77599533e-01 2.28081156e-01 -4.72721932e+01] [ 4.85088684e-01 5.80951673e-03 8.74445663e-01 3.07447969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:-47.28, Z:30.76 [[ 7.65420701e-01 4.80772635e-01 -4.27771930e-01 9.75763976e+01] [-4.23489450e-01 8.76818364e-01 2.27697697e-01 -4.72821873e+01] [ 4.84549105e-01 6.87236845e-03 8.74737066e-01 3.07578852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:-47.29, Z:30.77 [[ 7.64702020e-01 4.81986567e-01 -4.27691208e-01 9.75987728e+01] [-4.24946777e-01 8.76144611e-01 2.27576047e-01 -4.72930030e+01] [ 4.84407945e-01 7.71813760e-03 8.74808192e-01 3.07715697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:-47.30, Z:30.78 [[ 7.63961313e-01 4.83201172e-01 -4.27644408e-01 9.76209661e+01] [-4.26448235e-01 8.75466513e-01 2.27376973e-01 -4.73035905e+01] [ 4.84257178e-01 8.66099179e-03 8.74882833e-01 3.07844504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:-47.31, Z:30.80 [[ 7.63169074e-01 4.84413614e-01 -4.27687287e-01 9.76432321e+01] [-4.27923966e-01 8.74786331e-01 2.27222258e-01 -4.73142214e+01] [ 4.84204547e-01 9.60863987e-03 8.74902069e-01 3.07971499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:97.67, Y:-47.32, Z:30.81 [[ 7.62051642e-01 4.85463846e-01 -4.28488213e-01 9.76655593e+01] [-4.29002368e-01 8.74193932e-01 2.27468543e-01 -4.73243152e+01] [ 4.85009549e-01 1.04796810e-02 8.74446061e-01 3.08093495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:-47.33, Z:30.82 [[ 7.61727799e-01 4.86565603e-01 -4.27813831e-01 9.76874612e+01] [-4.30498450e-01 8.73571777e-01 2.27031795e-01 -4.73343303e+01] [ 4.84191951e-01 1.12367617e-02 8.74889644e-01 3.08223203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:97.71, Y:-47.34, Z:30.84 [[ 7.60103862e-01 4.89032506e-01 -4.27889387e-01 9.77116293e+01] [-4.33374654e-01 8.72169712e-01 2.26950222e-01 -4.73433592e+01] [ 4.84178200e-01 1.29306749e-02 8.74873859e-01 3.08350150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:97.73, Y:-47.35, Z:30.85 [[ 7.59156499e-01 4.90073460e-01 -4.28379988e-01 9.77335291e+01] [-4.34531484e-01 8.71572050e-01 2.27034253e-01 -4.73529887e+01] [ 4.84627486e-01 1.37900632e-02 8.74611933e-01 3.08476299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:97.76, Y:-47.36, Z:30.86 [[ 7.58339873e-01 4.91168182e-01 -4.28572578e-01 9.77561107e+01] [-4.35779356e-01 8.70942790e-01 2.27057283e-01 -4.73632055e+01] [ 4.84785509e-01 1.45764908e-02 8.74511598e-01 3.08609121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:97.78, Y:-47.37, Z:30.87 [[ 7.57330525e-01 4.93138910e-01 -4.28094021e-01 9.77800522e+01] [-4.38271333e-01 8.69803625e-01 2.26627209e-01 -4.73721338e+01] [ 4.84116426e-01 1.59896336e-02 8.74857484e-01 3.08738519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:-47.38, Z:30.89 [[ 7.57568775e-01 4.94061814e-01 -4.26605760e-01 9.78023471e+01] [-4.39831544e-01 8.69266763e-01 2.25662376e-01 -4.73827588e+01] [ 4.82325371e-01 1.66799004e-02 8.75833328e-01 3.08871374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:97.82, Y:-47.39, Z:30.90 [[ 7.57069779e-01 4.94454537e-01 -4.27036369e-01 9.78243117e+01] [-4.40265369e-01 8.69034663e-01 2.25710347e-01 -4.73927226e+01] [ 4.82712912e-01 1.71308423e-02 8.75611089e-01 3.08995089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:97.85, Y:-47.40, Z:30.91 [[ 7.57484003e-01 4.94581502e-01 -4.26153872e-01 9.78463622e+01] [-4.40690903e-01 8.68960202e-01 2.25165929e-01 -4.74030129e+01] [ 4.81673658e-01 1.72425457e-02 8.76181021e-01 3.09123126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22999999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:97.87, Y:-47.41, Z:30.93 [[ 7.57959960e-01 4.94164390e-01 -4.25791328e-01 9.78691815e+01] [-4.40352778e-01 8.69201540e-01 2.24895784e-01 -4.74137763e+01] [ 4.81233965e-01 1.70363950e-02 8.76426627e-01 3.09255864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:97.89, Y:-47.42, Z:30.94 [[ 7.59395630e-01 4.93064960e-01 -4.24505857e-01 9.78907108e+01] [-4.39533878e-01 8.69836960e-01 2.24039357e-01 -4.74233728e+01] [ 4.79716841e-01 1.64501966e-02 8.77269140e-01 3.09383351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28999999999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:97.91, Y:-47.43, Z:30.95 [[ 7.60365598e-01 4.91886383e-01 -4.24136704e-01 9.79132204e+01] [-4.38349123e-01 8.70515871e-01 2.23723411e-01 -4.74347995e+01] [ 4.79264232e-01 1.58083676e-02 8.77528285e-01 3.09516082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:97.94, Y:-47.45, Z:30.97 [[ 7.61233370e-01 4.90243993e-01 -4.24481548e-01 9.79357186e+01] [-4.36474668e-01 8.71456701e-01 2.23725462e-01 -4.74457146e+01] [ 4.79597353e-01 1.49681555e-02 8.77361005e-01 3.09650770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:-47.46, Z:30.98 [[ 7.62303694e-01 4.89260639e-01 -4.23694589e-01 9.79560628e+01] [-4.35658451e-01 8.72017205e-01 2.23131593e-01 -4.74566143e+01] [ 4.78638477e-01 1.44920904e-02 8.77892469e-01 3.09784904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:97.98, Y:-47.47, Z:30.99 [[ 7.64697622e-01 4.84901790e-01 -4.24391094e-01 9.79794331e+01] [-4.30528115e-01 8.74488131e-01 2.23419003e-01 -4.74678404e+01] [ 4.79461249e-01 1.18643172e-02 8.77482848e-01 3.09902507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.00, Y:-47.48, Z:31.00 [[ 7.66295686e-01 4.82774611e-01 -4.23933483e-01 9.80011942e+01] [-4.28318026e-01 8.75679346e-01 2.23000787e-01 -4.74796840e+01] [ 4.78888913e-01 1.06938117e-02 8.77810373e-01 3.10038147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:98.02, Y:-47.49, Z:31.02 [[ 7.67875706e-01 4.79932176e-01 -4.24301787e-01 9.80230103e+01] [-4.25066480e-01 8.77258319e-01 2.23016432e-01 -4.74910361e+01] [ 4.79255034e-01 9.10756712e-03 8.77628432e-01 3.10160132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:98.05, Y:-47.50, Z:31.03 [[ 7.69709238e-01 4.76973229e-01 -4.24316189e-01 9.80451690e+01] [-4.21725478e-01 8.78887163e-01 2.22946128e-01 -4.75025276e+01] [ 4.79265386e-01 7.34125274e-03 8.77639331e-01 3.10284977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:-47.51, Z:31.04 [[ 7.73188871e-01 4.72501585e-01 -4.22990805e-01 9.80654800e+01] [-4.17088661e-01 8.81317185e-01 2.22074464e-01 -4.75143273e+01] [ 4.77719602e-01 4.71916420e-03 8.78499693e-01 3.10413154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.09, Y:-47.53, Z:31.05 [[ 7.74763386e-01 4.69793151e-01 -4.23126565e-01 9.80879621e+01] [-4.14005626e-01 8.82770992e-01 2.22069170e-01 -4.75261329e+01] [ 4.77850433e-01 3.12571654e-03 8.78435651e-01 3.10538523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:98.11, Y:-47.54, Z:31.07 [[ 7.76208452e-01 4.67454604e-01 -4.23068117e-01 9.81102531e+01] [-4.11452781e-01 8.84015122e-01 2.21864539e-01 -4.75383422e+01] [ 4.77710214e-01 1.85942293e-03 8.78515506e-01 3.10668188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.13, Y:-47.55, Z:31.08 [[ 7.77358873e-01 4.66066451e-01 -4.22486977e-01 9.81310443e+01] [-4.10131173e-01 8.84748933e-01 2.21385968e-01 -4.75502832e+01] [ 4.76975474e-01 1.17873256e-03 8.78915814e-01 3.10808325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:-47.56, Z:31.09 [[ 7.78629413e-01 4.64409766e-01 -4.21971333e-01 9.81518302e+01] [-4.08487584e-01 8.85620378e-01 2.20939901e-01 -4.75618021e+01] [ 4.76313059e-01 3.39744257e-04 8.79275699e-01 3.10936387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.17, Y:-47.57, Z:31.11 [[ 7.80320488e-01 4.61986074e-01 -4.21507774e-01 9.81742435e+01] [-4.05927966e-01 8.86886592e-01 2.20578010e-01 -4.75745003e+01] [ 4.75733563e-01 -1.01974715e-03 8.79588846e-01 3.11060010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:-47.59, Z:31.12 [[ 7.80680082e-01 4.61437784e-01 -4.21442500e-01 9.81947554e+01] [-4.05417973e-01 8.87171790e-01 2.20368968e-01 -4.75859520e+01] [ 4.75578466e-01 -1.17729982e-03 8.79672517e-01 3.11187630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:-47.60, Z:31.13 [[ 7.81172171e-01 4.60893422e-01 -4.21126221e-01 9.82166135e+01] [-4.04930001e-01 8.87454340e-01 2.20128348e-01 -4.75979747e+01] [ 4.75186000e-01 -1.43149841e-03 8.79884206e-01 3.11314050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:-47.61, Z:31.14 [[ 7.81492497e-01 4.60326346e-01 -4.21152149e-01 9.82374462e+01] [-4.04372828e-01 8.87748328e-01 2.19967092e-01 -4.76091190e+01] [ 4.75133764e-01 -1.60014673e-03 8.79912124e-01 3.11437714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:-47.62, Z:31.16 [[ 7.81730935e-01 4.59942351e-01 -4.21129172e-01 9.82596285e+01] [-4.03983817e-01 8.87947040e-01 2.19879808e-01 -4.76211037e+01] [ 4.75072437e-01 -1.75747740e-03 8.79944936e-01 3.11567775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.8 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.28, Y:-47.63, Z:31.17 [[ 7.82076342e-01 4.59287091e-01 -4.21202996e-01 9.82814238e+01] [-4.03308982e-01 8.88285663e-01 2.19750871e-01 -4.76332178e+01] [ 4.75077321e-01 -1.98700588e-03 8.79941811e-01 3.11691681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:-47.65, Z:31.18 [[ 7.82146078e-01 4.59199520e-01 -4.21168984e-01 9.83028758e+01] [-4.03312831e-01 8.88331201e-01 2.19559644e-01 -4.76451273e+01] [ 4.74959232e-01 -1.86485880e-03 8.80005824e-01 3.11828737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:98.32, Y:-47.66, Z:31.19 [[ 7.82898283e-01 4.58002854e-01 -4.21074417e-01 9.83240255e+01] [-4.02075786e-01 8.88947448e-01 2.19334212e-01 -4.76565327e+01] [ 4.74768724e-01 -2.41255041e-03 8.80107288e-01 3.11944459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:98.35, Y:-47.67, Z:31.20 [[ 7.81811957e-01 4.51150489e-01 -4.30387385e-01 9.83526947e+01] [-4.00441467e-01 8.92395145e-01 2.08032536e-01 -4.76658472e+01] [ 4.77929593e-01 9.70263166e-03 8.78344558e-01 3.12032900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:98.38, Y:-47.67, Z:31.20 [[ 7.88484799e-01 4.43956741e-01 -4.25669042e-01 9.83832821e+01] [-3.98619309e-01 8.95920785e-01 1.96032124e-01 -4.76723503e+01] [ 4.68395525e-01 1.51115499e-02 8.83389650e-01 3.12004480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:98.38, Y:-47.70, Z:31.25 [[ 7.83745976e-01 4.69344247e-01 -4.06765562e-01 9.83792120e+01] [-4.00441008e-01 8.82489706e-01 2.46696003e-01 -4.77005597e+01] [ 4.74751772e-01 -3.04613883e-02 8.79592439e-01 3.12476823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:-47.70, Z:31.25 [[ 7.84089290e-01 4.56351204e-01 -4.20651356e-01 9.84110739e+01] [-4.00592237e-01 8.89795012e-01 2.18610831e-01 -4.77042829e+01] [ 4.74056795e-01 -2.90074363e-03 8.80489489e-01 3.12503511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:-47.71, Z:31.24 [[ 7.90250284e-01 4.41083453e-01 -4.25382036e-01 9.84467635e+01] [-3.97104263e-01 8.97312050e-01 1.92715567e-01 -4.77062787e+01] [ 4.66704074e-01 1.66274881e-02 8.84257222e-01 3.12432953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.45, Y:-47.73, Z:31.29 [[ 7.86235061e-01 4.62236538e-01 -4.10087565e-01 9.84482806e+01] [-3.98980398e-01 8.86517192e-01 2.34311568e-01 -4.77320598e+01] [ 4.71857045e-01 -2.06070705e-02 8.81434216e-01 3.12853965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:-47.74, Z:31.29 [[ 7.86949643e-01 4.53840053e-01 -4.18018500e-01 9.84774168e+01] [-3.98710897e-01 8.91074333e-01 2.16832088e-01 -4.77386369e+01] [ 4.70892642e-01 -3.96740350e-03 8.82181602e-01 3.12915949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.1 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:98.50, Y:-47.75, Z:31.30 [[ 7.87729531e-01 4.52800244e-01 -4.17677059e-01 9.84997359e+01] [-3.97722075e-01 8.91601082e-01 2.16482475e-01 -4.77492494e+01] [ 4.70424635e-01 -4.41025200e-03 8.82429154e-01 3.13041917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:98.52, Y:-47.76, Z:31.32 [[ 7.88447039e-01 4.51843347e-01 -4.17359386e-01 9.85214716e+01] [-3.96821712e-01 8.92084383e-01 2.16143431e-01 -4.77598435e+01] [ 4.69982761e-01 -4.80038241e-03 8.82662540e-01 3.13157266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:98.54, Y:-47.77, Z:31.33 [[ 7.88779038e-01 4.50541227e-01 -4.18139010e-01 9.85443800e+01] [-3.95167220e-01 8.92738590e-01 2.16473272e-01 -4.77714007e+01] [ 4.70818964e-01 -5.51474896e-03 8.82212611e-01 3.13281291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:-47.78, Z:31.34 [[ 7.88262888e-01 4.50555377e-01 -4.19096017e-01 9.85656043e+01] [-3.95003971e-01 8.92732464e-01 2.16796242e-01 -4.77828146e+01] [ 4.71819332e-01 -5.34784132e-03 8.81679034e-01 3.13431232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-47.79, Z:31.36 [[ 7.88293681e-01 4.49840037e-01 -4.19805924e-01 9.85883171e+01] [-3.94085002e-01 8.93091508e-01 2.16989791e-01 -4.77943423e+01] [ 4.72535802e-01 -5.61246265e-03 8.81293604e-01 3.13559641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:98.61, Y:-47.81, Z:31.37 [[ 7.88824994e-01 4.48681649e-01 -4.20047506e-01 9.86116913e+01] [-3.92796315e-01 8.93670590e-01 2.16942230e-01 -4.78061070e+01] [ 4.72722100e-01 -6.13634118e-03 8.81190196e-01 3.13676517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:-47.82, Z:31.38 [[ 7.88677204e-01 4.47902880e-01 -4.21154695e-01 9.86334773e+01] [-3.91690368e-01 8.94058951e-01 2.17341315e-01 -4.78178390e+01] [ 4.73884926e-01 -6.44990346e-03 8.80563158e-01 3.13819871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:-47.83, Z:31.39 [[ 7.88975087e-01 4.47284377e-01 -4.21254077e-01 9.86555423e+01] [-3.91054032e-01 8.94367092e-01 2.17219356e-01 -4.78290348e+01] [ 4.73914608e-01 -6.64755481e-03 8.80545714e-01 3.13949673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:98.68, Y:-47.84, Z:31.41 [[ 7.89471973e-01 4.46268915e-01 -4.21400118e-01 9.86776086e+01] [-3.89955747e-01 8.94870886e-01 2.17118892e-01 -4.78397560e+01] [ 4.73992109e-01 -7.08188248e-03 8.80500612e-01 3.14061038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:-47.84, Z:31.40 [[ 7.93159320e-01 4.32808966e-01 -4.28456173e-01 9.87128957e+01] [-3.88241095e-01 9.01373785e-01 1.91818017e-01 -4.78427339e+01] [ 4.69219720e-01 1.42020459e-02 8.82967245e-01 3.14013440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:-47.86, Z:31.42 [[ 7.93041396e-01 4.41989608e-01 -4.19202256e-01 9.87271428e+01] [-3.88400889e-01 8.97008827e-01 2.10997426e-01 -4.78606968e+01] [ 4.69286794e-01 -4.51116473e-03 8.83034289e-01 3.14233995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:-47.88, Z:31.46 [[ 7.88905324e-01 4.55815080e-01 -4.12141968e-01 9.87343424e+01] [-3.90003471e-01 8.89677864e-01 2.37424916e-01 -4.78804130e+01] [ 4.74895443e-01 -2.65689825e-02 8.79641067e-01 3.14577755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:-47.88, Z:31.46 [[ 7.87891131e-01 4.42872889e-01 -4.27891539e-01 9.87683940e+01] [-3.89357690e-01 8.96584350e-01 2.11038131e-01 -4.78842583e+01] [ 4.77103924e-01 3.27789150e-04 8.78846823e-01 3.14592016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-47.90, Z:31.48 [[ 7.88372825e-01 4.50955956e-01 -4.18457900e-01 9.87834614e+01] [-3.90810314e-01 8.92433149e-01 2.25455924e-01 -4.78997648e+01] [ 4.75116393e-01 -1.42056605e-02 8.79808281e-01 3.14798315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-47.91, Z:31.49 [[ 7.88453870e-01 4.46783178e-01 -4.22759135e-01 9.88093285e+01] [-3.90522998e-01 8.94621491e-01 2.17127098e-01 -4.79087663e+01] [ 4.75218142e-01 -6.09753545e-03 8.79846883e-01 3.14898275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:98.84, Y:-47.91, Z:31.48 [[ 7.92269098e-01 4.34680939e-01 -4.28208079e-01 9.88448009e+01] [-3.89014176e-01 9.00496418e-01 1.94355786e-01 -4.79132602e+01] [ 4.70082596e-01 1.25969297e-02 8.82532532e-01 3.14844798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:-47.93, Z:31.51 [[ 7.91408330e-01 4.44097098e-01 -4.20060261e-01 9.88597766e+01] [-3.90822873e-01 8.95974429e-01 2.10920137e-01 -4.79305164e+01] [ 4.70032273e-01 -2.75479539e-03 8.82644931e-01 3.15076241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:98.87, Y:-47.95, Z:31.54 [[ 7.87909955e-01 4.56772381e-01 -4.12985345e-01 9.88689369e+01] [-3.92239572e-01 8.89277024e-01 2.35232850e-01 -4.79484459e+01] [ 4.74706247e-01 -2.33531092e-02 8.79834423e-01 3.15382356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:-47.95, Z:31.55 [[ 7.87084737e-01 4.49129966e-01 -4.22823711e-01 9.88960870e+01] [-3.93316009e-01 8.93455580e-01 2.16886246e-01 -4.79537414e+01] [ 4.75184316e-01 -4.40451900e-03 8.79875256e-01 3.15451802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:-47.96, Z:31.54 [[ 7.90131312e-01 4.39402321e-01 -4.27338402e-01 9.89295695e+01] [-3.92822535e-01 8.98210065e-01 1.97253985e-01 -4.79590676e+01] [ 4.70513513e-01 1.20116047e-02 8.82311031e-01 3.15436246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69999999999999 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:98.93, Y:-47.98, Z:31.58 [[ 7.87182910e-01 4.57518368e-01 -4.13545656e-01 9.89349388e+01] [-3.94989191e-01 8.88996817e-01 2.31663979e-01 -4.79797525e+01] [ 4.73631298e-01 -1.90158612e-02 8.80517911e-01 3.15767751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:98.98, Y:-47.98, Z:31.57 [[ 7.90583937e-01 4.38344983e-01 -4.27587084e-01 9.89769177e+01] [-3.94109142e-01 8.98659685e-01 1.92584410e-01 -4.79788745e+01] [ 4.68673684e-01 1.62618378e-02 8.83221677e-01 3.15660051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:98.98, Y:-48.00, Z:31.61 [[ 7.85227235e-01 4.61096046e-01 -4.13290001e-01 9.89786152e+01] [-3.97573226e-01 8.87130880e-01 2.34380740e-01 -4.80018233e+01] [ 4.74714355e-01 -1.97291008e-02 8.79918771e-01 3.16051880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:99.01, Y:-48.01, Z:31.61 [[ 7.84341897e-01 4.53375649e-01 -4.23389076e-01 9.90075259e+01] [-3.98257155e-01 8.91318562e-01 2.16662085e-01 -4.80075143e+01] [ 4.75603856e-01 -1.31942169e-03 8.79658588e-01 3.16115056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:99.04, Y:-48.01, Z:31.61 [[ 7.87903285e-01 4.40833733e-01 -4.29969804e-01 9.90431492e+01] [-3.96409879e-01 8.97411412e-01 1.93680059e-01 -4.80111349e+01] [ 4.71240512e-01 1.78431232e-02 8.81824247e-01 3.16066912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:-48.04, Z:31.65 [[ 7.81924381e-01 4.63080548e-01 -4.17313634e-01 9.90435307e+01] [-3.99155576e-01 8.86143186e-01 2.35425318e-01 -4.80350181e+01] [ 4.78820518e-01 -1.75117319e-02 8.77738145e-01 3.16470093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:-48.04, Z:31.65 [[ 7.81417111e-01 4.54857871e-01 -4.27190374e-01 9.90729224e+01] [-3.99097045e-01 8.90564044e-01 2.18213731e-01 -4.80412388e+01] [ 4.79696620e-01 -2.55272357e-05 8.77434415e-01 3.16527902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:99.10, Y:-48.05, Z:31.66 [[ 7.81590661e-01 4.54708693e-01 -4.27031665e-01 9.90964950e+01] [-3.99064867e-01 8.90640220e-01 2.17961535e-01 -4.80525794e+01] [ 4.79440581e-01 5.66347533e-05 8.77574342e-01 3.16642059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:99.12, Y:-48.06, Z:31.68 [[ 7.81202807e-01 4.55047382e-01 -4.27380457e-01 9.91175117e+01] [-3.99447635e-01 8.90467117e-01 2.17967658e-01 -4.80633437e+01] [ 4.79753856e-01 4.39165857e-04 8.77403012e-01 3.16768151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:-48.07, Z:31.69 [[ 7.80412962e-01 4.55906465e-01 -4.27907589e-01 9.91378837e+01] [-4.00321396e-01 8.90027081e-01 2.18161810e-01 -4.80744089e+01] [ 4.80310721e-01 1.04425921e-03 8.77097783e-01 3.16917815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:-48.08, Z:31.68 [[ 7.85520334e-01 4.40451273e-01 -4.34695848e-01 9.91763307e+01] [-3.98394738e-01 8.97444908e-01 1.89405040e-01 -4.80756783e+01] [ 4.73539267e-01 2.43990283e-02 8.80434694e-01 3.16821305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:-48.09, Z:31.70 [[ 7.84549726e-01 4.50314729e-01 -4.26260920e-01 9.91899360e+01] [-3.99166377e-01 8.92845993e-01 2.08547923e-01 -4.80932113e+01] [ 4.74497556e-01 6.53281094e-03 8.80232578e-01 3.17043663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:-48.11, Z:31.72 [[ 7.84094707e-01 4.54061514e-01 -4.23111844e-01 9.92085543e+01] [-3.99719875e-01 8.90970306e-01 2.15397157e-01 -4.81072658e+01] [ 4.74783648e-01 2.34442599e-04 8.80102513e-01 3.17221208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:99.22, Y:-48.13, Z:31.75 [[ 7.79174953e-01 4.66775542e-01 -4.18338364e-01 9.92189532e+01] [-4.02422921e-01 8.84224269e-01 2.37072215e-01 -4.81268558e+01] [ 4.80564445e-01 -1.63717856e-02 8.76806580e-01 3.17546466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:-48.13, Z:31.76 [[ 7.78480484e-01 4.58874617e-01 -4.28254856e-01 9.92471927e+01] [-4.03675966e-01 8.88495985e-01 2.18221446e-01 -4.81325228e+01] [ 4.80639002e-01 2.99505590e-03 8.76913439e-01 3.17622311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:-48.14, Z:31.77 [[ 7.76305748e-01 4.61763213e-01 -4.29096866e-01 9.92681887e+01] [-4.06840085e-01 8.86989305e-01 2.18474526e-01 -4.81429341e+01] [ 4.81487830e-01 4.97077449e-03 8.76438681e-01 3.17748497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:99.29, Y:-48.15, Z:31.79 [[ 7.75421876e-01 4.62851591e-01 -4.29522198e-01 9.92922501e+01] [-4.08009972e-01 8.86417262e-01 2.18614502e-01 -4.81543338e+01] [ 4.81921961e-01 5.73087240e-03 8.76195401e-01 3.17850286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:99.31, Y:-48.17, Z:31.80 [[ 7.74200267e-01 4.64305875e-01 -4.30155787e-01 9.93123266e+01] [-4.09598005e-01 8.85648604e-01 2.18760198e-01 -4.81650685e+01] [ 4.82538518e-01 6.82674874e-03 8.75848146e-01 3.17999306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:99.33, Y:-48.18, Z:31.81 [[ 7.73253518e-01 4.65352527e-01 -4.30727318e-01 9.93335200e+01] [-4.10683332e-01 8.85093055e-01 2.18973710e-01 -4.81759855e+01] [ 4.83133727e-01 7.57033899e-03 8.75513845e-01 3.18129734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:-48.19, Z:31.83 [[ 7.71825784e-01 4.67379714e-01 -4.31092984e-01 9.93550608e+01] [-4.12947578e-01 8.84011629e-01 2.19083859e-01 -4.81878440e+01] [ 4.83486563e-01 8.92423230e-03 8.75306290e-01 3.18269823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.3 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:99.38, Y:-48.20, Z:31.84 [[ 7.71109771e-01 4.68026381e-01 -4.31672361e-01 9.93782132e+01] [-4.13631705e-01 8.83663141e-01 2.19199145e-01 -4.81994133e+01] [ 4.84043937e-01 9.52677261e-03 8.74991833e-01 3.18369606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:-48.21, Z:31.85 [[ 7.70561303e-01 4.68223067e-01 -4.32437785e-01 9.93976139e+01] [-4.13694941e-01 8.83556485e-01 2.19509529e-01 -4.82100522e+01] [ 4.84862634e-01 9.75177570e-03 8.74535951e-01 3.18523247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:-48.22, Z:31.87 [[ 7.69724169e-01 4.68166039e-01 -4.33987631e-01 9.94185120e+01] [-4.13255965e-01 8.83585712e-01 2.20217610e-01 -4.82229390e+01] [ 4.86563676e-01 9.84116001e-03 8.73589687e-01 3.18657566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:-48.24, Z:31.88 [[ 7.69750639e-01 4.67671237e-01 -4.34473899e-01 9.94398996e+01] [-4.12650087e-01 8.83849132e-01 2.20296659e-01 -4.82352554e+01] [ 4.87035789e-01 9.71219858e-03 8.73328010e-01 3.18792960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:99.46, Y:-48.25, Z:31.89 [[ 7.70078151e-01 4.66820949e-01 -4.34807822e-01 9.94617139e+01] [-4.11681527e-01 8.84302301e-01 2.20290174e-01 -4.82473976e+01] [ 4.87337626e-01 9.36169796e-03 8.73163442e-01 3.18909018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44999999999999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:99.48, Y:-48.26, Z:31.90 [[ 7.70350024e-01 4.65889743e-01 -4.35324693e-01 9.94843788e+01] [-4.10515746e-01 8.84798365e-01 2.20473753e-01 -4.82604918e+01] [ 4.87891037e-01 8.86568042e-03 8.72859517e-01 3.19025796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:99.50, Y:-48.27, Z:31.92 [[ 7.71641570e-01 4.64252824e-01 -4.34785698e-01 9.95032907e+01] [-4.08880450e-01 8.85666646e-01 2.20025841e-01 -4.82739552e+01] [ 4.87222809e-01 7.99428595e-03 8.73241104e-01 3.19179051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50999999999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:99.53, Y:-48.29, Z:31.93 [[ 7.72685202e-01 4.62826613e-01 -4.34452649e-01 9.95255249e+01] [-4.07401445e-01 8.86419516e-01 2.19737352e-01 -4.82868514e+01] [ 4.86807602e-01 7.20883710e-03 8.73479474e-01 3.19304872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:99.55, Y:-48.30, Z:31.94 [[ 7.73824422e-01 4.61388761e-01 -4.33954116e-01 9.95455161e+01] [-4.05987509e-01 8.87174441e-01 2.19307212e-01 -4.82989395e+01] [ 4.86178883e-01 6.47467379e-03 8.73835323e-01 3.19435023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:-48.30, Z:31.94 [[ 7.79913259e-01 4.45525962e-01 -4.39592910e-01 9.95793636e+01] [-4.02014618e-01 8.94902236e-01 1.93737540e-01 -4.83012336e+01] [ 4.79707782e-01 2.56242995e-02 8.77054069e-01 3.19384241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:-48.33, Z:31.98 [[ 7.76463513e-01 4.65814054e-01 -4.24407445e-01 9.95791559e+01] [-4.01599248e-01 8.84785755e-01 2.36373036e-01 -4.83289986e+01] [ 4.85615544e-01 -1.30933267e-02 8.74074430e-01 3.19821288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:99.61, Y:-48.34, Z:31.99 [[ 7.78861488e-01 4.53384734e-01 -4.33378664e-01 9.96085599e+01] [-3.97099005e-01 8.91313334e-01 2.18798811e-01 -4.83384487e+01] [ 4.85476223e-01 1.68026879e-03 8.74248256e-01 3.19857731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:-48.34, Z:31.98 [[ 7.84760731e-01 4.35555565e-01 -4.40955718e-01 9.96463332e+01] [-3.93392006e-01 8.99803231e-01 1.88671339e-01 -4.83388097e+01] [ 4.78950232e-01 2.54065967e-02 8.77474319e-01 3.19757565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:99.64, Y:-48.37, Z:32.02 [[ 7.79017604e-01 4.62089185e-01 -4.23798488e-01 9.96447615e+01] [-3.95233776e-01 8.86616173e-01 2.40212455e-01 -4.83675218e+01] [ 4.86746171e-01 -1.96302547e-02 8.73322860e-01 3.20240428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:-48.37, Z:32.03 [[ 7.78621095e-01 4.52755301e-01 -4.34467291e-01 9.96753711e+01] [-3.96196768e-01 8.91633523e-01 2.19129599e-01 -4.83719094e+01] [ 4.86597689e-01 1.51560839e-03 8.73624858e-01 3.20294433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:-48.38, Z:32.04 [[ 7.77752202e-01 4.53725809e-01 -4.35010807e-01 9.96980598e+01] [-3.97256525e-01 8.91138353e-01 2.19225203e-01 -4.83821300e+01] [ 4.87122946e-01 2.30799692e-03 8.73330355e-01 3.20429951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:-48.39, Z:32.06 [[ 7.75065360e-01 4.57281724e-01 -4.36081543e-01 9.97209472e+01] [-4.01137144e-01 8.89309285e-01 2.19585945e-01 -4.83904857e+01] [ 4.88224005e-01 4.73504495e-03 8.72705506e-01 3.20558888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:99.74, Y:-48.40, Z:32.07 [[ 7.73863636e-01 4.58820413e-01 -4.36599245e-01 9.97439765e+01] [-4.02804527e-01 8.88510139e-01 2.19768619e-01 -4.83996724e+01] [ 4.88757184e-01 5.79320988e-03 8.72400627e-01 3.20661864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:99.77, Y:-48.41, Z:32.08 [[ 7.72841716e-01 4.60353440e-01 -4.36795596e-01 9.97665811e+01] [-4.04555149e-01 8.87709326e-01 2.19789182e-01 -4.84093499e+01] [ 4.88928230e-01 6.84565860e-03 8.72297153e-01 3.20789685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:-48.42, Z:32.09 [[ 7.71416662e-01 4.62831828e-01 -4.36695584e-01 9.97873827e+01] [-4.07528462e-01 8.86404468e-01 2.19562454e-01 -4.84179272e+01] [ 4.88709409e-01 8.59174415e-03 8.72404319e-01 3.20946766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:99.81, Y:-48.43, Z:32.11 [[ 7.71208652e-01 4.63048044e-01 -4.36833748e-01 9.98112173e+01] [-4.07783594e-01 8.86289374e-01 2.19553378e-01 -4.84282519e+01] [ 4.88824872e-01 8.81217066e-03 8.72337429e-01 3.21053823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:-48.44, Z:32.12 [[ 7.71276468e-01 4.63586102e-01 -4.36142794e-01 9.98318696e+01] [-4.08686463e-01 8.86002932e-01 2.19030087e-01 -4.84381809e+01] [ 4.87963098e-01 9.31290419e-03 8.72814576e-01 3.21212380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:99.86, Y:-48.45, Z:32.13 [[ 7.71192121e-01 4.63512775e-01 -4.36369819e-01 9.98559285e+01] [-4.08640119e-01 8.86039819e-01 2.18967332e-01 -4.84487431e+01] [ 4.88135191e-01 9.45233388e-03 8.72716843e-01 3.21316735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:99.88, Y:-48.46, Z:32.14 [[ 7.71265992e-01 4.63533518e-01 -4.36217202e-01 9.98789147e+01] [-4.08804607e-01 8.86026921e-01 2.18712341e-01 -4.84592836e+01] [ 4.87880686e-01 9.64221094e-03 8.72857070e-01 3.21447987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:99.90, Y:-48.47, Z:32.16 [[ 7.71104640e-01 4.64053006e-01 -4.35950045e-01 9.99003430e+01] [-4.09571922e-01 8.85749359e-01 2.18400809e-01 -4.84683927e+01] [ 4.87492025e-01 1.01430203e-02 8.73068522e-01 3.21589485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:99.92, Y:-48.48, Z:32.17 [[ 7.70953672e-01 4.64142239e-01 -4.36122022e-01 9.99228631e+01] [-4.09672710e-01 8.85700968e-01 2.18408026e-01 -4.84786877e+01] [ 4.87646088e-01 1.02848210e-02 8.72980822e-01 3.21716901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:99.94, Y:-48.49, Z:32.19 [[ 7.70601147e-01 4.64512964e-01 -4.36350293e-01 9.99435930e+01] [-4.10135935e-01 8.85501620e-01 2.18346960e-01 -4.84887147e+01] [ 4.87813885e-01 1.07045177e-02 8.72882023e-01 3.21863480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:-48.50, Z:32.20 [[ 7.70427020e-01 4.64776354e-01 -4.36377300e-01 9.99647611e+01] [-4.10474775e-01 8.85360390e-01 2.18282932e-01 -4.84988253e+01] [ 4.87803922e-01 1.09508057e-02 8.72884536e-01 3.22010047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:-48.51, Z:32.21 [[ 7.70309008e-01 4.64771663e-01 -4.36590579e-01 9.99874438e+01] [-4.10510759e-01 8.85360586e-01 2.18214458e-01 -4.85087668e+01] [ 4.87959988e-01 1.11325672e-02 8.72795003e-01 3.22136423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:100.01, Y:-48.52, Z:32.22 [[ 7.70595279e-01 4.63858070e-01 -4.37056755e-01 1.00011045e+02] [-4.09434043e-01 8.85844363e-01 2.18273975e-01 -4.85193174e+01] [ 4.88412407e-01 1.07450193e-02 8.72546770e-01 3.22223203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:100.03, Y:-48.53, Z:32.24 [[ 7.70861856e-01 4.63378437e-01 -4.37095441e-01 1.00032216e+02] [-4.08915834e-01 8.86098037e-01 2.18215739e-01 -4.85299469e+01] [ 4.88425880e-01 1.05210567e-02 8.72541957e-01 3.22375077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:-48.54, Z:32.25 [[ 7.71650879e-01 4.62303377e-01 -4.36841514e-01 1.00052907e+02] [-4.07846850e-01 8.86665290e-01 2.17911931e-01 -4.85405402e+01] [ 4.88073630e-01 1.00125020e-02 8.72745027e-01 3.22530482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:100.08, Y:-48.55, Z:32.26 [[ 7.72535461e-01 4.60728742e-01 -4.36941629e-01 1.00076118e+02] [-4.06110051e-01 8.87493317e-01 2.17784844e-01 -4.85518601e+01] [ 4.88122513e-01 9.19987251e-03 8.72726632e-01 3.22638170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:-48.56, Z:32.28 [[ 7.73540842e-01 4.59301954e-01 -4.36664953e-01 1.00096332e+02] [-4.04643821e-01 8.88239804e-01 2.17470523e-01 -4.85626026e+01] [ 4.87747829e-01 8.47144381e-03 8.72943463e-01 3.22806710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:-48.57, Z:32.29 [[ 7.75839957e-01 4.55788336e-01 -4.36267526e-01 1.00116787e+02] [-4.00815757e-01 8.90064966e-01 2.17096951e-01 -4.85734450e+01] [ 4.87256699e-01 6.43040988e-03 8.73235111e-01 3.22940269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:100.14, Y:-48.59, Z:32.30 [[ 7.77135601e-01 4.53149748e-01 -4.36709931e-01 1.00140598e+02] [-3.97712810e-01 8.91421156e-01 2.17239138e-01 -4.85851524e+01] [ 4.87734332e-01 4.86086617e-03 8.72978575e-01 3.23039913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:100.16, Y:-48.60, Z:32.32 [[ 7.78449209e-01 4.50906415e-01 -4.36692379e-01 1.00161315e+02] [-3.95243043e-01 8.92563836e-01 2.17054682e-01 -4.85958685e+01] [ 4.87647174e-01 3.63357943e-03 8.73033236e-01 3.23175941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:100.18, Y:-48.61, Z:32.33 [[ 7.81737970e-01 4.46083849e-01 -4.35769373e-01 1.00183432e+02] [-3.90014075e-01 8.94990903e-01 2.16518602e-01 -4.86071554e+01] [ 4.86595075e-01 6.95376862e-04 8.73627351e-01 3.23303980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:100.21, Y:-48.62, Z:32.34 [[ 7.81817792e-01 4.45874665e-01 -4.35840250e-01 1.00205955e+02] [-3.89854162e-01 8.95095092e-01 2.16375850e-01 -4.86181762e+01] [ 4.86594978e-01 7.47645509e-04 8.73627362e-01 3.23440955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:-48.63, Z:32.36 [[ 7.83100542e-01 4.43581342e-01 -4.35877430e-01 1.00225499e+02] [-3.87280843e-01 8.96233940e-01 2.16282857e-01 -4.86283751e+01] [ 4.86587186e-01 -5.64244623e-04 8.73631840e-01 3.23594460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:-48.64, Z:32.37 [[ 7.84289859e-01 4.41424837e-01 -4.35928355e-01 1.00246746e+02] [-3.84866363e-01 8.97296466e-01 2.16187269e-01 -4.86395025e+01] [ 4.86587403e-01 -1.77932212e-03 8.73630090e-01 3.23723087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:-48.65, Z:32.39 [[ 7.85038995e-01 4.39525529e-01 -4.36498666e-01 1.00268395e+02] [-3.82577235e-01 8.98225475e-01 2.16392366e-01 -4.86506553e+01] [ 4.87184191e-01 -2.88199308e-03 8.73294485e-01 3.23862362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:100.29, Y:-48.66, Z:32.40 [[ 7.85963426e-01 4.36744850e-01 -4.37624757e-01 1.00291729e+02] [-3.79177274e-01 8.99574477e-01 2.16772588e-01 -4.86629705e+01] [ 4.88350374e-01 -4.43796342e-03 8.72636360e-01 3.23976355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:-48.67, Z:32.41 [[ 7.86406332e-01 4.35587660e-01 -4.37982272e-01 1.00313088e+02] [-3.77850142e-01 9.00132539e-01 2.16773345e-01 -4.86737358e+01] [ 4.88665889e-01 -4.98026703e-03 8.72456788e-01 3.24134627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:-48.68, Z:32.41 [[ 7.88872358e-01 4.21753454e-01 -4.46994886e-01 1.00347433e+02] [-3.75713356e-01 9.06565070e-01 1.92299892e-01 -4.86753337e+01] [ 4.86333093e-01 1.62418798e-02 8.73622529e-01 3.24069993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:100.36, Y:-48.70, Z:32.44 [[ 7.88445203e-01 4.35976014e-01 -4.33911371e-01 1.00356755e+02] [-3.74355607e-01 8.99847877e-01 2.23901042e-01 -4.86967434e+01] [ 4.88069710e-01 -1.40965481e-02 8.72690808e-01 3.24367018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:-48.71, Z:32.46 [[ 7.86068342e-01 4.37254386e-01 -4.36926955e-01 1.00376391e+02] [-3.75301772e-01 8.99248641e-01 2.24723079e-01 -4.87092828e+01] [ 4.91167123e-01 -1.26682379e-02 8.70973233e-01 3.24573578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:-48.72, Z:32.47 [[ 7.86709199e-01 4.32502243e-01 -4.40488871e-01 1.00401238e+02] [-3.73540210e-01 9.01605251e-01 2.18118506e-01 -4.87185303e+01] [ 4.91483822e-01 -7.05552951e-03 8.70858124e-01 3.24673870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:-48.72, Z:32.46 [[ 7.91192166e-01 4.20490517e-01 -4.44075085e-01 1.00433657e+02] [-3.70902226e-01 9.07262974e-01 1.98255981e-01 -4.87218380e+01] [ 4.86257642e-01 7.84985793e-03 8.73780227e-01 3.24639838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:100.44, Y:-48.74, Z:32.50 [[ 7.87696502e-01 4.37417935e-01 -4.33819975e-01 1.00439663e+02] [-3.72230793e-01 8.99031927e-01 2.30620537e-01 -4.87444258e+01] [ 4.90895567e-01 -2.01778368e-02 8.70984728e-01 3.25000938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.8 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:100.47, Y:-48.75, Z:32.51 [[ 7.87942808e-01 4.30697207e-01 -4.40052322e-01 1.00467142e+02] [-3.71817645e-01 9.02463052e-01 2.17513399e-01 -4.87513290e+01] [ 4.90813375e-01 -7.76890042e-03 8.71230093e-01 3.25057430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:-48.76, Z:32.52 [[ 7.88838785e-01 4.30618606e-01 -4.38521365e-01 1.00487473e+02] [-3.72235370e-01 9.02501499e-01 2.16637655e-01 -4.87613417e+01] [ 4.89054394e-01 -7.65902158e-03 8.72219662e-01 3.25222951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:100.51, Y:-48.77, Z:32.53 [[ 7.89052824e-01 4.30377970e-01 -4.38372495e-01 1.00510090e+02] [-3.72101275e-01 9.02616582e-01 2.16388417e-01 -4.87724401e+01] [ 4.88811091e-01 -7.62292673e-03 8.72356354e-01 3.25328349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:100.53, Y:-48.78, Z:32.55 [[ 7.89311398e-01 4.30575703e-01 -4.37712327e-01 1.00530264e+02] [-3.72559051e-01 9.02524074e-01 2.15986224e-01 -4.87825358e+01] [ 4.88044333e-01 -7.40669899e-03 8.72787414e-01 3.25469602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:-48.79, Z:32.56 [[ 7.89155184e-01 4.31601911e-01 -4.36982708e-01 1.00551162e+02] [-3.73982584e-01 9.02039460e-01 2.15550085e-01 -4.87927034e+01] [ 4.87207475e-01 -6.67854514e-03 8.73260714e-01 3.25630436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:100.57, Y:-48.80, Z:32.57 [[ 7.88783526e-01 4.31911494e-01 -4.37347700e-01 1.00574795e+02] [-3.74331563e-01 9.01893908e-01 2.15553380e-01 -4.88040432e+01] [ 4.87541209e-01 -6.31190692e-03 8.73077161e-01 3.25742893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97999999999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:100.60, Y:-48.82, Z:32.59 [[ 7.87924286e-01 4.32559827e-01 -4.38254853e-01 1.00597799e+02] [-3.74914705e-01 9.01586931e-01 2.15823933e-01 -4.88151368e+01] [ 4.88481611e-01 -5.74472912e-03 8.72555278e-01 3.25870975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:100.62, Y:-48.83, Z:32.60 [[ 7.86798966e-01 4.33819861e-01 -4.39030426e-01 1.00619611e+02] [-3.76235628e-01 9.00986872e-01 2.16031035e-01 -4.88255239e+01] [ 4.89279204e-01 -4.79410711e-03 8.72114028e-01 3.26000108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03999999999999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:100.64, Y:-48.84, Z:32.61 [[ 7.85732786e-01 4.34680897e-01 -4.40086931e-01 1.00642274e+02] [-3.76967453e-01 9.00574788e-01 2.16473070e-01 -4.88362995e+01] [ 4.90427903e-01 -4.19153894e-03 8.71471688e-01 3.26124248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:100.66, Y:-48.85, Z:32.63 [[ 7.84165794e-01 4.37267514e-01 -4.40319349e-01 1.00662964e+02] [-3.79966059e-01 8.99328291e-01 2.16412611e-01 -4.88459128e+01] [ 4.90621852e-01 -2.39695964e-03 8.71369298e-01 3.26285679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.1 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:100.69, Y:-48.86, Z:32.64 [[ 7.83481110e-01 4.37718505e-01 -4.41089403e-01 1.00686166e+02] [-3.80367982e-01 8.99109983e-01 2.16613566e-01 -4.88564455e+01] [ 4.91403651e-01 -1.93635061e-03 8.70929792e-01 3.26402283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:-48.87, Z:32.66 [[ 7.83079489e-01 4.38608889e-01 -4.40918083e-01 1.00707267e+02] [-3.81536815e-01 8.98677257e-01 2.16353520e-01 -4.88665924e+01] [ 4.91137631e-01 -1.19552297e-03 8.71081166e-01 3.26559450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:-48.88, Z:32.67 [[ 7.82699272e-01 4.39511181e-01 -4.40694647e-01 1.00728927e+02] [-3.82732556e-01 8.98237007e-01 2.16069597e-01 -4.88769044e+01] [ 4.90813244e-01 -4.49326963e-04 8.71264688e-01 3.26697038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:-48.89, Z:32.68 [[ 7.82714979e-01 4.39774924e-01 -4.40403540e-01 1.00750274e+02] [-3.83213565e-01 8.98108014e-01 2.15753004e-01 -4.88875575e+01] [ 4.90412710e-01 -1.04497546e-04 8.71490312e-01 3.26832211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:100.77, Y:-48.90, Z:32.69 [[ 7.82920052e-01 4.39252688e-01 -4.40560176e-01 1.00773997e+02] [-3.82638475e-01 8.98363502e-01 2.15710028e-01 -4.88989706e+01] [ 4.90534392e-01 -3.08431913e-04 8.71421778e-01 3.26945906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:-48.91, Z:32.71 [[ 7.83209582e-01 4.39909582e-01 -4.39388565e-01 1.00794522e+02] [-3.83811158e-01 8.98042026e-01 2.14963983e-01 -4.89099619e+01] [ 4.89154113e-01 2.80382547e-04 8.72197326e-01 3.27112513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:100.82, Y:-48.92, Z:32.72 [[ 7.82830357e-01 4.40555354e-01 -4.39417356e-01 1.00815464e+02] [-3.84643350e-01 8.97725030e-01 2.14800521e-01 -4.89209340e+01] [ 4.89107479e-01 8.66595597e-04 8.72223093e-01 3.27236778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:100.84, Y:-48.93, Z:32.74 [[ 7.82875552e-01 4.40749079e-01 -4.39142481e-01 1.00837826e+02] [-3.84984406e-01 8.97629717e-01 2.14587739e-01 -4.89319296e+01] [ 4.88766690e-01 1.06751214e-03 8.72413883e-01 3.27372217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33999999999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:100.86, Y:-48.94, Z:32.75 [[ 7.82372783e-01 4.40843118e-01 -4.39943375e-01 1.00860809e+02] [-3.84972609e-01 8.97583216e-01 2.14803306e-01 -4.89430672e+01] [ 4.89580349e-01 1.30988860e-03 8.71957204e-01 3.27492875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36999999999999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:100.88, Y:-48.95, Z:32.76 [[ 7.81969128e-01 4.41451119e-01 -4.40051352e-01 1.00882773e+02] [-3.85739650e-01 8.97283347e-01 2.14680035e-01 -4.89534624e+01] [ 4.89621492e-01 1.87209505e-03 8.71933077e-01 3.27628528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:100.90, Y:-48.96, Z:32.78 [[ 7.81275915e-01 4.42150823e-01 -4.40579839e-01 1.00904627e+02] [-3.86498565e-01 8.96937245e-01 2.14761349e-01 -4.89637849e+01] [ 4.90129374e-01 2.49560571e-03 8.71646126e-01 3.27757051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42999999999999 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:100.93, Y:-48.97, Z:32.79 [[ 7.80409702e-01 4.43191702e-01 -4.41068942e-01 1.00926970e+02] [-3.87605514e-01 8.96421027e-01 2.14921633e-01 -4.89745728e+01] [ 4.90634958e-01 3.23382672e-03 8.71359214e-01 3.27887420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:-48.99, Z:32.80 [[ 7.79883732e-01 4.44045000e-01 -4.41141023e-01 1.00947215e+02] [-3.88665753e-01 8.95995766e-01 2.14780166e-01 -4.89851540e+01] [ 4.90632547e-01 3.95285020e-03 8.71357606e-01 3.28046223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:100.97, Y:-49.00, Z:32.81 [[ 7.79379436e-01 4.43604519e-01 -4.42473417e-01 1.00971230e+02] [-3.87900006e-01 8.96214280e-01 2.15252292e-01 -4.89961815e+01] [ 4.92037884e-01 3.87223124e-03 8.70565176e-01 3.28147919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:100.99, Y:-49.01, Z:32.83 [[ 7.79327818e-01 4.43877338e-01 -4.42290697e-01 1.00992430e+02] [-3.88362034e-01 8.96077607e-01 2.14988030e-01 -4.90068503e+01] [ 4.91755104e-01 4.22276260e-03 8.70723312e-01 3.28282683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:101.01, Y:-49.02, Z:32.84 [[ 7.79381026e-01 4.43728920e-01 -4.42345862e-01 1.01013765e+02] [-3.88220891e-01 8.96151168e-01 2.14936325e-01 -4.90177427e+01] [ 4.91782225e-01 4.21061099e-03 8.70708053e-01 3.28430833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:101.04, Y:-49.03, Z:32.86 [[ 7.79766134e-01 4.43015149e-01 -4.42382587e-01 1.01035132e+02] [-3.87491143e-01 8.96505448e-01 2.14775687e-01 -4.90284236e+01] [ 4.91747283e-01 3.94452672e-03 8.70729034e-01 3.28579476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:101.06, Y:-49.04, Z:32.87 [[ 7.80393711e-01 4.41134438e-01 -4.43154673e-01 1.01058571e+02] [-3.85221654e-01 8.97436182e-01 2.14971105e-01 -4.90394548e+01] [ 4.92534195e-01 2.95067783e-03 8.70288090e-01 3.28700854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:101.08, Y:-49.05, Z:32.88 [[ 7.82662111e-01 4.37794535e-01 -4.42465779e-01 1.01080832e+02] [-3.81671063e-01 8.99074462e-01 2.14458182e-01 -4.90504859e+01] [ 4.91698302e-01 1.02809063e-03 8.70765022e-01 3.28826662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:-49.06, Z:32.90 [[ 7.83676712e-01 4.36818439e-01 -4.41633856e-01 1.01101127e+02] [-3.80877120e-01 8.99549495e-01 2.13876893e-01 -4.90609117e+01] [ 4.90696883e-01 5.97891512e-04 8.71330139e-01 3.28993176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:-49.07, Z:32.91 [[ 7.84763949e-01 4.35340200e-01 -4.41162617e-01 1.01121868e+02] [-3.79408889e-01 9.00266010e-01 2.13471323e-01 -4.90711887e+01] [ 4.90096358e-01 -1.43580170e-04 8.71668251e-01 3.29125325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:101.14, Y:-49.08, Z:32.92 [[ 7.85720318e-01 4.34050688e-01 -4.40730736e-01 1.01144470e+02] [-3.78091801e-01 9.00888034e-01 2.13183816e-01 -4.90822258e+01] [ 4.89581629e-01 -8.66177761e-04 8.71957039e-01 3.29247475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75999999999999 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:101.17, Y:-49.09, Z:32.94 [[ 7.86469114e-01 4.32829484e-01 -4.40596153e-01 1.01166894e+02] [-3.76826800e-01 9.01474653e-01 2.12943687e-01 -4.90929511e+01] [ 4.89354571e-01 -1.44519454e-03 8.72083721e-01 3.29386699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:-49.10, Z:32.95 [[ 7.86514777e-01 4.32643444e-01 -4.40697352e-01 1.01188928e+02] [-3.76683852e-01 9.01564054e-01 2.12818073e-01 -4.91030932e+01] [ 4.89391235e-01 -1.38098329e-03 8.72063250e-01 3.29536704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:101.21, Y:-49.11, Z:32.97 [[ 7.86579791e-01 4.32006806e-01 -4.41205567e-01 1.01212597e+02] [-3.75913685e-01 9.01868929e-01 2.12888084e-01 -4.91131991e+01] [ 4.89878694e-01 -1.59825346e-03 8.71789144e-01 3.29650678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:-49.12, Z:32.98 [[ 7.86644029e-01 4.32328534e-01 -4.40775692e-01 1.01234005e+02] [-3.76497467e-01 9.01715343e-01 2.12506699e-01 -4.91225877e+01] [ 4.89326914e-01 -1.21619378e-03 8.72099588e-01 3.29798916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:101.26, Y:-49.13, Z:32.99 [[ 7.86325802e-01 4.32710312e-01 -4.40968842e-01 1.01255820e+02] [-3.76980441e-01 9.01532666e-01 2.12425516e-01 -4.91320097e+01] [ 4.89466527e-01 -7.99035942e-04 8.72021720e-01 3.29922374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:-49.14, Z:33.01 [[ 7.85746525e-01 4.33547855e-01 -4.41178712e-01 1.01277431e+02] [-3.77950420e-01 9.01130531e-01 2.12408208e-01 -4.91413347e+01] [ 4.89648730e-01 -1.55332346e-04 8.71919777e-01 3.30066214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:-49.15, Z:33.02 [[ 7.84672559e-01 4.35650956e-01 -4.41018389e-01 1.01299970e+02] [-3.80448675e-01 9.00114837e-01 2.12254765e-01 -4.91503029e+01] [ 4.89436187e-01 1.23437235e-03 8.72038242e-01 3.30205736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:-49.16, Z:33.03 [[ 7.84412924e-01 4.36404125e-01 -4.40735526e-01 1.01322240e+02] [-3.81485850e-01 8.99748797e-01 2.11944919e-01 -4.91600967e+01] [ 4.89044896e-01 1.88203334e-03 8.72256584e-01 3.30336817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.0 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:101.35, Y:-49.17, Z:33.04 [[ 7.83865945e-01 4.36576641e-01 -4.41537107e-01 1.01345946e+02] [-3.81566651e-01 8.99664446e-01 2.12157429e-01 -4.91702541e+01] [ 4.89858215e-01 2.17285161e-03 8.71799408e-01 3.30448488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:101.37, Y:-49.18, Z:33.06 [[ 7.83430744e-01 4.37614490e-01 -4.41282028e-01 1.01368599e+02] [-3.82923597e-01 8.99157697e-01 2.11860697e-01 -4.91798305e+01] [ 4.89495442e-01 2.99911780e-03 8.72000698e-01 3.30589855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:101.39, Y:-49.19, Z:33.07 [[ 7.83793918e-01 4.37412811e-01 -4.40836847e-01 1.01391460e+02] [-3.82907111e-01 8.99255663e-01 2.11474342e-01 -4.91897477e+01] [ 4.88926618e-01 3.04726021e-03 8.72319595e-01 3.30716910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:-49.19, Z:33.07 [[ 7.86208975e-01 4.27217192e-01 -4.46498509e-01 1.01425232e+02] [-3.82976222e-01 9.03900034e-01 1.90509689e-01 -4.91949973e+01] [ 4.84979032e-01 2.12178844e-02 8.74268345e-01 3.30734837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:101.43, Y:-49.22, Z:33.11 [[ 7.84600963e-01 4.45560850e-01 -4.31134386e-01 1.01428456e+02] [-3.81554713e-01 8.95099797e-01 2.30678032e-01 -4.92156466e+01] [ 4.88689401e-01 -1.64888493e-02 8.72302004e-01 3.31063733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14999999999999 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:101.46, Y:-49.22, Z:33.11 [[ 7.84872066e-01 4.35268220e-01 -4.41041287e-01 1.01458794e+02] [-3.80641939e-01 9.00298209e-01 2.11127567e-01 -4.92202834e+01] [ 4.88965801e-01 2.17068100e-03 8.72300254e-01 3.31113869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:-49.23, Z:33.13 [[ 7.85268419e-01 4.34979645e-01 -4.40620265e-01 1.01478475e+02] [-3.80520270e-01 9.00437675e-01 2.10751791e-01 -4.92301041e+01] [ 4.88423826e-01 2.16821583e-03 8.72603842e-01 3.31277466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:101.50, Y:-49.24, Z:33.14 [[ 7.85536344e-01 4.33881335e-01 -4.41225157e-01 1.01501907e+02] [-3.79167228e-01 9.00968584e-01 2.10921368e-01 -4.92413159e+01] [ 4.89044850e-01 1.61171892e-03 8.72257151e-01 3.31397665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:-49.25, Z:33.16 [[ 7.85732088e-01 4.33202009e-01 -4.41544002e-01 1.01522645e+02] [-3.78399177e-01 9.01295818e-01 2.10902613e-01 -4.92518612e+01] [ 4.89325198e-01 1.36693645e-03 8.72100328e-01 3.31555973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:101.55, Y:-49.26, Z:33.17 [[ 7.86629196e-01 4.30983429e-01 -4.42117396e-01 1.01546446e+02] [-3.75799531e-01 9.02359826e-01 2.11001082e-01 -4.92628865e+01] [ 4.89886946e-01 1.67898747e-04 8.71785955e-01 3.31661645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:-49.27, Z:33.18 [[ 7.86778998e-01 4.30658099e-01 -4.42167853e-01 1.01566451e+02] [-3.75511619e-01 9.02515141e-01 2.10849340e-01 -4.92726969e+01] [ 4.89867158e-01 1.47334226e-04 8.71797078e-01 3.31816918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:-49.28, Z:33.20 [[ 7.86893098e-01 4.30418529e-01 -4.42198080e-01 1.01589109e+02] [-3.75272445e-01 9.02629428e-01 2.10785930e-01 -4.92833853e+01] [ 4.89867170e-01 7.87607979e-05 8.71797081e-01 3.31954992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:101.61, Y:-49.29, Z:33.20 [[ 7.87866895e-01 4.28623943e-01 -4.42207273e-01 1.01613710e+02] [-3.73304300e-01 9.03482575e-01 2.10625582e-01 -4.92938684e+01] [ 4.89805733e-01 -8.67046653e-04 8.71831172e-01 3.32044840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:-49.30, Z:33.22 [[ 7.88218755e-01 4.28510161e-01 -4.41690205e-01 1.01633422e+02] [-3.73411429e-01 9.03536648e-01 2.10203308e-01 -4.93037173e+01] [ 4.89157541e-01 -7.54019201e-04 8.72195123e-01 3.32214073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:-49.31, Z:33.23 [[ 7.88752490e-01 4.27771592e-01 -4.41453253e-01 1.01655569e+02] [-3.72672070e-01 9.03886158e-01 2.10012718e-01 -4.93139216e+01] [ 4.88860959e-01 -1.13075701e-03 8.72360982e-01 3.32344212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:101.68, Y:-49.32, Z:33.24 [[ 7.89131721e-01 4.26126073e-01 -4.42366021e-01 1.01678777e+02] [-3.70637816e-01 9.04661630e-01 2.10273498e-01 -4.93246386e+01] [ 4.89794586e-01 -1.97591144e-03 8.71835627e-01 3.32435299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:-49.34, Z:33.26 [[ 7.89401495e-01 4.26382901e-01 -4.41636617e-01 1.01698791e+02] [-3.71171446e-01 9.04541109e-01 2.09850279e-01 -4.93350695e+01] [ 4.88955046e-01 -1.73322216e-03 8.72307262e-01 3.32606082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:-49.35, Z:33.27 [[ 7.89746681e-01 4.25953073e-01 -4.41434207e-01 1.01721483e+02] [-3.70830478e-01 9.04743429e-01 2.09580733e-01 -4.93456062e+01] [ 4.88656256e-01 -1.81843052e-03 8.72474502e-01 3.32743613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:101.75, Y:-49.36, Z:33.28 [[ 7.90348775e-01 4.25213613e-01 -4.41069379e-01 1.01745794e+02] [-3.70179290e-01 9.05090607e-01 2.09232613e-01 -4.93561652e+01] [ 4.88176307e-01 -2.09198945e-03 8.72742526e-01 3.32849526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:101.77, Y:-49.37, Z:33.30 [[ 7.90855498e-01 4.25068467e-01 -4.40300328e-01 1.01768197e+02] [-3.70315816e-01 9.05158997e-01 2.08694481e-01 -4.93667650e+01] [ 4.87251247e-01 -1.99700240e-03 8.73259546e-01 3.32986827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.6 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:101.79, Y:-49.37, Z:33.31 [[ 7.89845668e-01 4.20306878e-01 -4.46638499e-01 1.01794310e+02] [-3.69548122e-01 9.07356448e-01 2.00345856e-01 -4.93742846e+01] [ 4.89467063e-01 6.81211183e-03 8.71995177e-01 3.33079171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:101.81, Y:-49.39, Z:33.33 [[ 7.90927946e-01 4.29870664e-01 -4.35481569e-01 1.01807484e+02] [-3.70550341e-01 9.02820951e-01 2.18189767e-01 -4.93896943e+01] [ 4.86955264e-01 -1.12045398e-02 8.73355042e-01 3.33291672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:101.83, Y:-49.40, Z:33.34 [[ 7.90362445e-01 4.25867660e-01 -4.40413376e-01 1.01834104e+02] [-3.71436741e-01 9.04784836e-01 2.08324621e-01 -4.93971578e+01] [ 4.87198063e-01 -1.06624800e-03 8.73290851e-01 3.33363898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:101.86, Y:-49.41, Z:33.35 [[ 7.89915027e-01 4.26379411e-01 -4.40720827e-01 1.01855970e+02] [-3.71982413e-01 9.04544163e-01 2.08396118e-01 -4.94076748e+01] [ 4.87507265e-01 -6.74828181e-04 8.73118669e-01 3.33500177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:101.88, Y:-49.42, Z:33.36 [[ 7.89727247e-01 4.26766616e-01 -4.40682575e-01 1.01878865e+02] [-3.72533608e-01 9.04361759e-01 2.08203073e-01 -4.94182033e+01] [ 4.87390590e-01 -2.54570129e-04 8.73184029e-01 3.33626245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:101.90, Y:-49.43, Z:33.38 [[ 7.89639710e-01 4.27039235e-01 -4.40575328e-01 1.01900896e+02] [-3.72972093e-01 9.04233091e-01 2.07976766e-01 -4.94282383e+01] [ 4.87197030e-01 9.55886780e-05 8.73292073e-01 3.33766907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:101.92, Y:-49.44, Z:33.39 [[ 7.89884221e-01 4.27922963e-01 -4.39277651e-01 1.01922553e+02] [-3.74421576e-01 9.03814840e-01 2.07188844e-01 -4.94379937e+01] [ 4.85686524e-01 8.19831520e-04 8.74132672e-01 3.33906516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:101.96, Y:-49.44, Z:33.39 [[ 7.91769733e-01 4.18856010e-01 -4.44590073e-01 1.01955841e+02] [-3.75051424e-01 9.07866719e-01 1.87388499e-01 -4.94447063e+01] [ 4.82117330e-01 1.83755985e-02 8.75913933e-01 3.33944158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:101.96, Y:-49.46, Z:33.43 [[ 7.90923818e-01 4.37127310e-01 -4.28204657e-01 1.01959289e+02] [-3.74507569e-01 8.99208444e-01 2.26204014e-01 -4.94649708e+01] [ 4.83925196e-01 -1.85442572e-02 8.74912862e-01 3.34273499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86999999999999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:101.99, Y:-49.47, Z:33.43 [[ 7.91364800e-01 4.27020926e-01 -4.37487009e-01 1.01990375e+02] [-3.74044041e-01 9.04241534e-01 2.06005590e-01 -4.94701359e+01] [ 4.83562622e-01 6.13836485e-04 8.75309553e-01 3.34313740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:-49.47, Z:33.43 [[ 7.95954088e-01 4.11935295e-01 -4.43583592e-01 1.02027265e+02] [-3.71934498e-01 9.10926052e-01 1.78545395e-01 -4.94731424e+01] [ 4.77621000e-01 2.28701034e-02 8.78268261e-01 3.34259549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:-49.50, Z:33.47 [[ 7.91574604e-01 4.36761650e-01 -4.27374434e-01 1.02025115e+02] [-3.72927836e-01 8.99323309e-01 2.28347137e-01 -4.94991501e+01] [ 4.84081062e-01 -2.13739724e-02 8.74762070e-01 3.34699750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:-49.50, Z:33.47 [[ 7.91626140e-01 4.25678054e-01 -4.38322084e-01 1.02056745e+02] [-3.72450004e-01 9.04874680e-01 2.06113581e-01 -4.95034876e+01] [ 4.84364583e-01 8.81634440e-05 8.74866243e-01 3.34730577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:-49.51, Z:33.47 [[ 7.94318094e-01 4.16240250e-01 -4.42496124e-01 1.02089438e+02] [-3.71253769e-01 9.09141600e-01 1.88764908e-01 -4.95092807e+01] [ 4.80863187e-01 1.43389717e-02 8.76678384e-01 3.34728748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:-49.53, Z:33.51 [[ 7.91562949e-01 4.32304419e-01 -4.31903909e-01 1.02095208e+02] [-3.71761334e-01 9.01611821e-01 2.21110007e-01 -4.95286220e+01] [ 4.84996503e-01 -1.44573155e-02 8.74396579e-01 3.35060282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:-49.53, Z:33.51 [[ 7.91482229e-01 4.25017125e-01 -4.39222410e-01 1.02122985e+02] [-3.71689864e-01 9.05185302e-01 2.06121842e-01 -4.95334360e+01] [ 4.85182982e-01 1.12743180e-04 8.74412638e-01 3.35121102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:-49.54, Z:33.53 [[ 7.91860945e-01 4.24525175e-01 -4.39015512e-01 1.02146160e+02] [-3.71223023e-01 9.05416127e-01 2.05949274e-01 -4.95430993e+01] [ 4.84922377e-01 -1.10521176e-04 8.74557189e-01 3.35254872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:102.17, Y:-49.55, Z:33.54 [[ 7.92266288e-01 4.23287764e-01 -4.39478780e-01 1.02169766e+02] [-3.69783480e-01 9.05995030e-01 2.05993166e-01 -4.95525555e+01] [ 4.85359977e-01 -6.89448004e-04 8.74314141e-01 3.35354631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:-49.56, Z:33.54 [[ 7.95971793e-01 4.12731659e-01 -4.42810889e-01 1.02202324e+02] [-3.67694035e-01 9.10756723e-01 1.87944909e-01 -4.95567089e+01] [ 4.80863808e-01 1.32200761e-02 8.76695630e-01 3.35399543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.21, Y:-49.58, Z:33.57 [[ 7.95053536e-01 4.27909374e-01 -4.29864447e-01 1.02207819e+02] [-3.66672182e-01 9.03635052e-01 2.21348604e-01 -4.95750096e+01] [ 4.83157724e-01 -1.83646555e-02 8.75340707e-01 3.35722707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:102.24, Y:-49.58, Z:33.58 [[ 7.96129133e-01 4.17864956e-01 -4.37683998e-01 1.02237303e+02] [-3.64296035e-01 9.08502253e-01 2.04724339e-01 -4.95800679e+01] [ 4.83184025e-01 -3.54046529e-03 8.75511658e-01 3.35760054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:102.26, Y:-49.59, Z:33.59 [[ 7.97466108e-01 4.15436185e-01 -4.37562091e-01 1.02258899e+02] [-3.61596248e-01 9.09608922e-01 2.04596583e-01 -4.95903469e+01] [ 4.83007206e-01 -4.93803051e-03 8.75602453e-01 3.35910308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:-49.59, Z:33.58 [[ 8.04634785e-01 3.95347511e-01 -4.43016037e-01 1.02295874e+02] [-3.54278906e-01 9.18405208e-01 1.76120220e-01 -4.95914888e+01] [ 4.76496926e-01 1.52387820e-02 8.79044060e-01 3.35841275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:-49.62, Z:33.63 [[ 8.01138137e-01 4.19035558e-01 -4.27301870e-01 1.02294808e+02] [-3.54231152e-01 9.07489534e-01 2.25794234e-01 -4.96178592e+01] [ 4.82387787e-01 -2.95287384e-02 8.75459923e-01 3.36292046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:-49.62, Z:33.63 [[ 8.01803871e-01 4.07178649e-01 -4.37396960e-01 1.02325584e+02] [-3.52376588e-01 9.13297660e-01 2.04250153e-01 -4.96207152e+01] [ 4.82639921e-01 -9.64011461e-03 8.75765822e-01 3.36324887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:-49.63, Z:33.65 [[ 8.02185628e-01 4.06129755e-01 -4.37672071e-01 1.02348430e+02] [-3.51149175e-01 9.13758485e-01 2.04302933e-01 -4.96303357e+01] [ 4.82900068e-01 -1.02006895e-02 8.75616052e-01 3.36458347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:-49.64, Z:33.66 [[ 8.01691797e-01 4.06082360e-01 -4.38619858e-01 1.02372040e+02] [-3.50933959e-01 9.13780918e-01 2.04572215e-01 -4.96395430e+01] [ 4.83875624e-01 -1.00772635e-02 8.75078756e-01 3.36589587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:-49.65, Z:33.67 [[ 8.01061437e-01 4.06633994e-01 -4.39260024e-01 1.02394136e+02] [-3.51485473e-01 9.13540907e-01 2.04697275e-01 -4.96491092e+01] [ 4.84518871e-01 -9.58157608e-03 8.74728334e-01 3.36720359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:-49.66, Z:33.69 [[ 8.00217070e-01 4.07556302e-01 -4.39943748e-01 1.02416278e+02] [-3.52394538e-01 9.13136093e-01 2.04940394e-01 -4.96589106e+01] [ 4.85253265e-01 -8.96302776e-03 8.74327704e-01 3.36856124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:-49.67, Z:33.70 [[ 7.98112395e-01 4.10604920e-01 -4.40931066e-01 1.02439631e+02] [-3.55705470e-01 9.11786847e-01 2.05227592e-01 -4.96679680e+01] [ 4.86302606e-01 -6.95309305e-03 8.73762800e-01 3.36990888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:-49.68, Z:33.71 [[ 7.97220414e-01 4.12354774e-01 -4.40911727e-01 1.02462740e+02] [-3.57805935e-01 9.11005477e-01 2.05046173e-01 -4.96771672e+01] [ 4.86224767e-01 -5.70616166e-03 8.73815150e-01 3.37122247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:-49.69, Z:33.73 [[ 7.96060735e-01 4.14358495e-01 -4.41128490e-01 1.02486065e+02] [-3.60134412e-01 9.10103559e-01 2.04974920e-01 -4.96863359e+01] [ 4.86405708e-01 -4.30693598e-03 8.73722460e-01 3.37259614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:-49.70, Z:33.74 [[ 7.94929943e-01 4.16786123e-01 -4.40880611e-01 1.02508345e+02] [-3.63072488e-01 9.09000751e-01 2.04685133e-01 -4.96950116e+01] [ 4.86070730e-01 -2.63872056e-03 8.73915490e-01 3.37389003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:-49.70, Z:33.75 [[ 7.93835602e-01 4.18991220e-01 -4.40762288e-01 1.02531062e+02] [-3.65667498e-01 9.07989479e-01 2.04554118e-01 -4.97038246e+01] [ 4.85913899e-01 -1.20989810e-03 8.74005846e-01 3.37525291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61999999999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:102.56, Y:-49.71, Z:33.76 [[ 7.91233236e-01 4.23635607e-01 -4.41002085e-01 1.02555941e+02] [-3.71014627e-01 9.05830879e-01 2.04495882e-01 -4.97126131e+01] [ 4.86105043e-01 1.81428521e-03 8.73898504e-01 3.37639999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:-49.72, Z:33.78 [[ 7.90356660e-01 4.26675626e-01 -4.39641059e-01 1.02576542e+02] [-3.74935210e-01 9.04396543e-01 2.03692123e-01 -4.97214532e+01] [ 4.84520318e-01 3.84748733e-03 8.74771546e-01 3.37803500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67999999999999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:102.60, Y:-49.73, Z:33.79 [[ 7.88993801e-01 4.28195147e-01 -4.40610596e-01 1.02601077e+02] [-3.76473269e-01 9.03673161e-01 2.04065422e-01 -4.97308840e+01] [ 4.85547793e-01 4.87175860e-03 8.74196549e-01 3.37901540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.62, Y:-49.74, Z:33.81 [[ 7.88191537e-01 4.30793418e-01 -4.39512380e-01 1.02621579e+02] [-3.79818179e-01 9.02426221e-01 2.03384036e-01 -4.97395633e+01] [ 4.84244001e-01 6.62921601e-03 8.74907882e-01 3.38054955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:102.65, Y:-49.75, Z:33.82 [[ 7.86429148e-01 4.34256298e-01 -4.39261497e-01 1.02645400e+02] [-3.83886945e-01 9.00746079e-01 2.03192801e-01 -4.97486591e+01] [ 4.83900825e-01 8.83001267e-03 8.75078295e-01 3.38177807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:102.67, Y:-49.76, Z:33.83 [[ 7.85861313e-01 4.35558603e-01 -4.38988268e-01 1.02666993e+02] [-3.85541459e-01 9.00106994e-01 2.02892045e-01 -4.97582372e+01] [ 4.83507786e-01 9.80316806e-03 8.75285164e-01 3.38322825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:-49.77, Z:33.85 [[ 7.85510448e-01 4.36394771e-01 -4.38785757e-01 1.02688782e+02] [-3.86645866e-01 8.99694111e-01 2.02621522e-01 -4.97679924e+01] [ 4.83195934e-01 1.04933770e-02 8.75449358e-01 3.38469784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:102.71, Y:-49.78, Z:33.86 [[ 7.84935582e-01 4.36438830e-01 -4.39769577e-01 1.02711934e+02] [-3.86556619e-01 8.99669910e-01 2.02899070e-01 -4.97778844e+01] [ 4.84200488e-01 1.07331416e-02 8.74891243e-01 3.38566456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:-49.79, Z:33.87 [[ 7.84938724e-01 4.37377893e-01 -4.38830011e-01 1.02732675e+02] [-3.87900312e-01 8.99206075e-01 2.02390174e-01 -4.97873830e+01] [ 4.83119600e-01 1.13584136e-02 8.75480690e-01 3.38735443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:-49.80, Z:33.89 [[ 7.84297974e-01 4.37930568e-01 -4.39424062e-01 1.02756150e+02] [-3.88486940e-01 8.98930072e-01 2.02491043e-01 -4.97966798e+01] [ 4.83688521e-01 1.18971942e-02 8.75159341e-01 3.38868485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:102.78, Y:-49.81, Z:33.90 [[ 7.83360463e-01 4.37483670e-01 -4.41536435e-01 1.02780603e+02] [-3.87564945e-01 8.99147936e-01 2.03288963e-01 -4.98067096e+01] [ 4.85942176e-01 1.18755077e-02 8.73910278e-01 3.38972588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:-49.82, Z:33.91 [[ 7.82778977e-01 4.37316351e-01 -4.42731840e-01 1.02801110e+02] [-3.87182696e-01 8.99227751e-01 2.03663968e-01 -4.98157797e+01] [ 4.87182340e-01 1.19942348e-02 8.73217903e-01 3.39116200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:102.83, Y:-49.83, Z:33.92 [[ 7.82558480e-01 4.36018892e-01 -4.44398190e-01 1.02825120e+02] [-3.85331816e-01 8.99866280e-01 2.04352809e-01 -4.98270487e+01] [ 4.89000631e-01 1.13227384e-02 8.72209939e-01 3.39225482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:-49.84, Z:33.94 [[ 7.83067984e-01 4.35224813e-01 -4.44279073e-01 1.02845475e+02] [-3.84544005e-01 9.00254609e-01 2.04126303e-01 -4.98372957e+01] [ 4.88805115e-01 1.10000815e-02 8.72323654e-01 3.39387738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:102.87, Y:-49.85, Z:33.95 [[ 7.83368195e-01 4.33460509e-01 -4.45473072e-01 1.02868510e+02] [-3.82324507e-01 9.01115738e-01 2.04495473e-01 -4.98481546e+01] [ 4.90063508e-01 1.01200232e-02 8.71627985e-01 3.39503960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:102.89, Y:-49.86, Z:33.96 [[ 7.83949125e-01 4.31682207e-01 -4.46177365e-01 1.02890170e+02] [-3.80205661e-01 9.01978731e-01 2.04641205e-01 -4.98584922e+01] [ 4.90782461e-01 9.21086623e-03 8.71233457e-01 3.39625834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:-49.87, Z:33.98 [[ 7.85303626e-01 4.30506499e-01 -4.44929622e-01 1.02909664e+02] [-3.79203945e-01 9.02547234e-01 2.03992301e-01 -4.98685572e+01] [ 4.89390011e-01 8.52317440e-03 8.72023378e-01 3.39786096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:-49.88, Z:33.99 [[ 7.87724198e-01 4.26931183e-01 -4.44094981e-01 1.02930973e+02] [-3.75346574e-01 9.04261740e-01 2.03532936e-01 -4.98806390e+01] [ 4.88472657e-01 6.36171103e-03 8.72556011e-01 3.39935348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:-49.89, Z:34.01 [[ 7.89265934e-01 4.24936930e-01 -4.43269547e-01 1.02952694e+02] [-3.73362221e-01 9.05207464e-01 2.02978074e-01 -4.98915193e+01] [ 4.87503782e-01 5.29642377e-03 8.73104811e-01 3.40075333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:102.97, Y:-49.90, Z:34.02 [[ 7.90370118e-01 4.22684804e-01 -4.43455335e-01 1.02974480e+02] [-3.70831738e-01 9.06267518e-01 2.02886687e-01 -4.99023837e+01] [ 4.87646285e-01 4.09173751e-03 8.73031705e-01 3.40193910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:-49.91, Z:34.04 [[ 7.91972646e-01 4.20971418e-01 -4.42224370e-01 1.02995482e+02] [-3.69219184e-01 9.07068593e-01 2.02246785e-01 -4.99132459e+01] [ 4.86267952e-01 3.10379977e-03 8.73804237e-01 3.40353137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:-49.92, Z:34.05 [[ 7.92083830e-01 4.20693995e-01 -4.42289236e-01 1.03018333e+02] [-3.68980698e-01 9.07197264e-01 2.02104844e-01 -4.99235327e+01] [ 4.86267879e-01 3.11221251e-03 8.73804248e-01 3.40490958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:103.04, Y:-49.94, Z:34.06 [[ 7.94134491e-01 4.16502608e-01 -4.42578793e-01 1.03041097e+02] [-3.64198096e-01 9.09134243e-01 2.02075913e-01 -4.99350220e+01] [ 4.86528681e-01 7.10901144e-04 8.73664316e-01 3.40604329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:103.06, Y:-49.95, Z:34.07 [[ 7.95058451e-01 4.14604777e-01 -4.42701863e-01 1.03063179e+02] [-3.62091090e-01 9.10001542e-01 2.01958501e-01 -4.99456693e+01] [ 4.86592337e-01 -2.70412750e-04 8.73629112e-01 3.40738652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:-49.96, Z:34.09 [[ 7.96350297e-01 4.12981784e-01 -4.41896199e-01 1.03084431e+02] [-3.60535483e-01 9.10738645e-01 2.01418188e-01 -4.99560729e+01] [ 4.85633988e-01 -1.08017425e-03 8.74161577e-01 3.40899671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:-49.97, Z:34.10 [[ 7.97349549e-01 4.11119782e-01 -4.41830535e-01 1.03106155e+02] [-3.58519588e-01 9.11579064e-01 2.01214599e-01 -4.99664405e+01] [ 4.85486768e-01 -2.03346824e-03 8.74241650e-01 3.41032714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.13, Y:-49.98, Z:34.12 [[ 7.99090077e-01 4.07630363e-01 -4.41919151e-01 1.03129176e+02] [-3.54550516e-01 9.13137919e-01 2.01179204e-01 -4.99769560e+01] [ 4.85539886e-01 -4.07764222e-03 8.74205006e-01 3.41157817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:-49.99, Z:34.13 [[ 7.99940413e-01 4.06377005e-01 -4.41534897e-01 1.03150750e+02] [-3.53313778e-01 9.13693647e-01 2.00831505e-01 -4.99868265e+01] [ 4.85040936e-01 -4.65287395e-03 8.74479068e-01 3.41300808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:-50.00, Z:34.14 [[ 8.00607237e-01 4.05200644e-01 -4.41407397e-01 1.03173654e+02] [-3.52098602e-01 9.14213084e-01 2.00601626e-01 -4.99969897e+01] [ 4.84824325e-01 -5.18418577e-03 8.74596191e-01 3.41436823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:-50.01, Z:34.16 [[ 8.00804695e-01 4.04278300e-01 -4.41894666e-01 1.03195950e+02] [-3.51015198e-01 9.14619067e-01 2.00649679e-01 -5.00069052e+01] [ 4.85283599e-01 -5.56946107e-03 8.74339070e-01 3.41571367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:-50.02, Z:34.17 [[ 8.00910571e-01 4.03705676e-01 -4.42226168e-01 1.03217650e+02] [-3.50371845e-01 9.14870909e-01 2.00625995e-01 -5.00163335e+01] [ 4.85573709e-01 -5.73988185e-03 8.74176885e-01 3.41701087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:-50.03, Z:34.18 [[ 8.00722226e-01 4.03511301e-01 -4.42744336e-01 1.03239604e+02] [-3.50081059e-01 9.14956639e-01 2.00742622e-01 -5.00260641e+01] [ 4.86093786e-01 -5.74267338e-03 8.73887781e-01 3.41832407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:-50.04, Z:34.20 [[ 8.00080729e-01 4.04396616e-01 -4.43096156e-01 1.03262118e+02] [-3.51043449e-01 9.14569320e-01 2.00826928e-01 -5.00359900e+01] [ 4.86455880e-01 -5.13175247e-03 8.73690072e-01 3.41969111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:-50.05, Z:34.21 [[ 7.99652671e-01 4.05398154e-01 -4.42953657e-01 1.03284181e+02] [-3.52322802e-01 9.14129928e-01 2.00586933e-01 -5.00456759e+01] [ 4.86234767e-01 -4.33720345e-03 8.73817452e-01 3.42102365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:103.31, Y:-50.05, Z:34.22 [[ 7.97330783e-01 4.08315577e-01 -4.44456986e-01 1.03308004e+02] [-3.55340972e-01 9.12837554e-01 2.01147692e-01 -5.00546613e+01] [ 4.87848763e-01 -2.44746901e-03 8.72924736e-01 3.42203543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.33, Y:-50.06, Z:34.23 [[ 7.96135629e-01 4.10854862e-01 -4.44259319e-01 1.03329949e+02] [-3.58364412e-01 9.11700439e-01 2.00940930e-01 -5.00637496e+01] [ 4.87588975e-01 -7.69503920e-04 8.73072964e-01 3.42348928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:-50.07, Z:34.25 [[ 7.94847649e-01 4.13550742e-01 -4.44064183e-01 1.03352488e+02] [-3.61596908e-01 9.10480455e-01 2.00681384e-01 -5.00733295e+01] [ 4.87303694e-01 1.06110914e-03 8.73231919e-01 3.42490067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:-50.08, Z:34.26 [[ 7.93295217e-01 4.16169234e-01 -4.44393821e-01 1.03374942e+02] [-3.64612441e-01 9.09282703e-01 2.00655761e-01 -5.00824783e+01] [ 4.87586369e-01 2.85226068e-03 8.73070099e-01 3.42620616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:-50.09, Z:34.28 [[ 7.90151185e-01 4.21796745e-01 -4.44689342e-01 1.03398215e+02] [-3.71060206e-01 9.06667492e-01 2.00669833e-01 -5.00915363e+01] [ 4.87827253e-01 6.44701221e-03 8.72916381e-01 3.42750378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:-50.10, Z:34.29 [[ 7.88650381e-01 4.24324504e-01 -4.44948639e-01 1.03420678e+02] [-3.73996437e-01 9.05473098e-01 2.00611898e-01 -5.01008481e+01] [ 4.88013567e-01 8.19655639e-03 8.72797557e-01 3.42883957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:-50.11, Z:34.30 [[ 7.87421978e-01 4.26597681e-01 -4.44950612e-01 1.03443772e+02] [-3.76705778e-01 9.04388524e-01 2.00434915e-01 -5.01105258e+01] [ 4.87913297e-01 9.78860898e-03 8.72837212e-01 3.43019541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:103.47, Y:-50.12, Z:34.31 [[ 7.86445443e-01 4.28018229e-01 -4.45313328e-01 1.03467853e+02] [-3.78349981e-01 9.03704808e-01 2.00421832e-01 -5.01200351e+01] [ 4.88215994e-01 1.08634527e-02 8.72655218e-01 3.43117097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:103.49, Y:-50.13, Z:34.33 [[ 7.85636479e-01 4.29843329e-01 -4.44983186e-01 1.03490496e+02] [-3.80568626e-01 9.02822871e-01 2.00195863e-01 -5.01299648e+01] [ 4.87793854e-01 1.20654668e-02 8.72875467e-01 3.43258729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:103.51, Y:-50.14, Z:34.34 [[ 7.85144775e-01 4.31383135e-01 -4.44360521e-01 1.03511294e+02] [-3.82583712e-01 9.02072508e-01 1.99737059e-01 -5.01389957e+01] [ 4.87008609e-01 1.31825893e-02 8.73297678e-01 3.43400326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:-50.15, Z:34.36 [[ 7.84648074e-01 4.33386106e-01 -4.43287584e-01 1.03532586e+02] [-3.85200975e-01 9.01091607e-01 1.99133436e-01 -5.01482623e+01] [ 4.85744386e-01 1.45051425e-02 8.73980545e-01 3.43551513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:-50.16, Z:34.37 [[ 7.84627222e-01 4.33516878e-01 -4.43196615e-01 1.03554381e+02] [-3.85470180e-01 9.01024493e-01 1.98916070e-01 -5.01573460e+01] [ 4.85564479e-01 1.47641158e-02 8.74076174e-01 3.43677577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:-50.17, Z:34.38 [[ 7.84743656e-01 4.33448636e-01 -4.43057191e-01 1.03576720e+02] [-3.85466549e-01 9.01056817e-01 1.98776640e-01 -5.01672667e+01] [ 4.85379166e-01 1.47950195e-02 8.74178570e-01 3.43811331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:-50.16, Z:34.37 [[ 7.92886032e-01 4.12296977e-01 -4.48712540e-01 1.03617933e+02] [-3.81544131e-01 9.10045379e-01 1.61992235e-01 -5.01618054e+01] [ 4.75137682e-01 4.27622554e-02 8.78871761e-01 3.43656689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:103.61, Y:-50.20, Z:34.42 [[ 7.85559651e-01 4.42163243e-01 -4.32883010e-01 1.03614721e+02] [-3.82043633e-01 8.96882681e-01 2.22809604e-01 -5.01965578e+01] [ 4.86763492e-01 -9.65003694e-03 8.73480498e-01 3.44159484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:-50.20, Z:34.42 [[ 7.86228885e-01 4.29783077e-01 -4.43993972e-01 1.03644780e+02] [-3.81184234e-01 9.02840988e-01 1.98939013e-01 -5.01994149e+01] [ 4.86356578e-01 1.28319036e-02 8.73666196e-01 3.44213247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11999999999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:103.67, Y:-50.21, Z:34.43 [[ 7.86620797e-01 4.27735668e-01 -4.45275106e-01 1.03668067e+02] [-3.78632048e-01 9.03826920e-01 1.99335573e-01 -5.02097311e+01] [ 4.87714562e-01 1.17939180e-02 8.72923484e-01 3.44311501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:-50.22, Z:34.45 [[ 7.87683136e-01 4.25431350e-01 -4.45604583e-01 1.03688463e+02] [-3.75974540e-01 9.04929765e-01 1.99362148e-01 -5.02206803e+01] [ 4.88055758e-01 1.05017764e-02 8.72749271e-01 3.44473369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:-50.23, Z:34.46 [[ 7.88094426e-01 4.24054119e-01 -4.46189734e-01 1.03709950e+02] [-3.74352219e-01 9.05583297e-01 1.99447506e-01 -5.02307134e+01] [ 4.88638507e-01 9.84864931e-03 8.72430750e-01 3.44600188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:-50.24, Z:34.47 [[ 7.88813381e-01 4.22290832e-01 -4.46591428e-01 1.03732252e+02] [-3.72298006e-01 9.06416786e-01 1.99506405e-01 -5.02409593e+01] [ 4.89047692e-01 8.89177629e-03 8.72211724e-01 3.44729763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:-50.25, Z:34.49 [[ 7.89355585e-01 4.20720642e-01 -4.47115088e-01 1.03753624e+02] [-3.70466861e-01 9.07153959e-01 1.99564526e-01 -5.02506892e+01] [ 4.89563138e-01 8.11395003e-03 8.71930099e-01 3.44856064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:103.78, Y:-50.26, Z:34.50 [[ 7.90021963e-01 4.18799835e-01 -4.47740992e-01 1.03777156e+02] [-3.68176244e-01 9.08051116e-01 1.99723367e-01 -5.02612969e+01] [ 4.90215821e-01 7.06175008e-03 8.71572476e-01 3.44976930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.3 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:103.80, Y:-50.27, Z:34.51 [[ 7.90784084e-01 4.16994163e-01 -4.48080797e-01 1.03798867e+02] [-3.66117967e-01 9.08888477e-01 1.99698200e-01 -5.02715982e+01] [ 4.90528457e-01 6.13227261e-03 8.71403597e-01 3.45108774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:-50.28, Z:34.53 [[ 7.92920598e-01 4.13389641e-01 -4.47644870e-01 1.03819898e+02] [-3.62151184e-01 9.10545355e-01 1.99383239e-01 -5.02824882e+01] [ 4.90023923e-01 4.02004278e-03 8.71699716e-01 3.45256893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:-50.27, Z:34.51 [[ 8.01847664e-01 3.88338571e-01 -4.54129364e-01 1.03861060e+02] [-3.55579755e-01 9.20909079e-01 1.59654331e-01 -5.02747183e+01] [ 4.80211789e-01 3.34607559e-02 8.76514127e-01 3.45079543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:-50.30, Z:34.53 [[ 8.02059008e-01 4.00163513e-01 -4.43362730e-01 1.03872788e+02] [-3.53523359e-01 9.16422257e-01 1.87593926e-01 -5.02953125e+01] [ 4.81375718e-01 6.27768384e-03 8.76491876e-01 3.45343505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:-50.30, Z:34.55 [[ 8.03871553e-01 3.94304842e-01 -4.45324846e-01 1.03896949e+02] [-3.48608978e-01 9.18952863e-01 1.84383880e-01 -5.03048274e+01] [ 4.81935999e-01 7.02328331e-03 8.76178273e-01 3.45462075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:-50.32, Z:34.56 [[ 8.04917761e-01 3.94667763e-01 -4.43108061e-01 1.03917211e+02] [-3.46347286e-01 9.18823172e-01 1.89228794e-01 -5.03165106e+01] [ 4.81820459e-01 1.15565705e-03 8.76269199e-01 3.45624736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:-50.34, Z:34.61 [[ 7.98815954e-01 4.12209421e-01 -4.38151189e-01 1.03923153e+02] [-3.48019686e-01 9.10742937e-01 2.22327689e-01 -5.03417654e+01] [ 4.90688669e-01 -2.51136654e-02 8.70972981e-01 3.46056541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:103.95, Y:-50.34, Z:34.61 [[ 8.00012437e-01 3.99074868e-01 -4.48017131e-01 1.03954586e+02] [-3.45779666e-01 9.16907196e-01 1.99292793e-01 -5.03442852e+01] [ 4.90322876e-01 -4.52149935e-03 8.71529135e-01 3.46067814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:-50.34, Z:34.60 [[ 8.07445174e-01 3.79691299e-01 -4.51516123e-01 1.03990731e+02] [-3.40921947e-01 9.24934690e-01 1.68131035e-01 -5.03395526e+01] [ 4.81460816e-01 1.81751633e-02 8.76279149e-01 3.45976139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:-50.37, Z:34.65 [[ 8.02335225e-01 4.04715689e-01 -4.38706505e-01 1.03990748e+02] [-3.42313916e-01 9.14124053e-01 2.17251925e-01 -5.03691685e+01] [ 4.88957431e-01 -2.41335304e-02 8.71973740e-01 3.46461794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:-50.37, Z:34.65 [[ 8.02704470e-01 3.95126374e-01 -4.46699767e-01 1.04020173e+02] [-3.41674475e-01 9.18601861e-01 1.98567809e-01 -5.03721975e+01] [ 4.88798616e-01 -6.76535955e-03 8.72370416e-01 3.46513207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:-50.38, Z:34.66 [[ 8.01817287e-01 3.91880803e-01 -4.51130219e-01 1.04045932e+02] [-3.41299540e-01 9.20015893e-01 1.92575650e-01 -5.03794312e+01] [ 4.90513672e-01 -4.39948972e-04 8.71433385e-01 3.46621925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:-50.38, Z:34.66 [[ 8.07952332e-01 3.78740849e-01 -4.51407131e-01 1.04081550e+02] [-3.38123337e-01 9.25392561e-01 1.71234393e-01 -5.03786303e+01] [ 4.82582260e-01 1.42820582e-02 8.75734198e-01 3.46557068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:104.08, Y:-50.41, Z:34.70 [[ 8.00859775e-01 4.07158529e-01 -4.39141838e-01 1.04081661e+02] [-3.41414594e-01 9.12888199e-01 2.23765975e-01 -5.04086118e+01] [ 4.91995627e-01 -2.92757358e-02 8.70105301e-01 3.47033229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:-50.41, Z:34.71 [[ 7.99494793e-01 3.97747995e-01 -4.50116217e-01 1.04114110e+02] [-3.43592962e-01 9.17477620e-01 2.00446233e-01 -5.04086428e+01] [ 4.92698643e-01 -5.59895537e-03 8.70181992e-01 3.47080961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:-50.40, Z:34.69 [[ 8.05435795e-01 3.77217891e-01 -4.57143131e-01 1.04156113e+02] [-3.41469439e-01 9.25776442e-01 1.62285557e-01 -5.04018003e+01] [ 4.84429357e-01 2.53898115e-02 8.74461866e-01 3.46920603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:104.17, Y:-50.42, Z:34.71 [[ 8.04986400e-01 3.88307314e-01 -4.48569198e-01 1.04172510e+02] [-3.42286679e-01 9.21511318e-01 1.83457678e-01 -5.04183911e+01] [ 4.84599551e-01 5.85832503e-03 8.74716500e-01 3.47114095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:-50.45, Z:34.76 [[ 7.96904531e-01 4.15855211e-01 -4.38186732e-01 1.04170946e+02] [-3.46464179e-01 9.08817659e-01 2.32407048e-01 -5.04464134e+01] [ 4.94879522e-01 -3.33902230e-02 8.68319844e-01 3.47623473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:-50.45, Z:34.76 [[ 7.95905720e-01 4.02655798e-01 -4.52108829e-01 1.04206344e+02] [-3.48938779e-01 9.15348887e-01 2.00943136e-01 -5.04457163e+01] [ 4.94748232e-01 -2.17348844e-03 8.69033637e-01 3.47635762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:-50.45, Z:34.78 [[ 7.95744229e-01 4.03451209e-01 -4.51683787e-01 1.04228436e+02] [-3.50062415e-01 9.14999945e-01 2.00577683e-01 -5.04549092e+01] [ 4.94213949e-01 -1.49101630e-03 8.69339030e-01 3.47775289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:-50.46, Z:34.79 [[ 7.95555132e-01 4.04489714e-01 -4.51087690e-01 1.04251264e+02] [-3.51507059e-01 9.14542309e-01 2.00137832e-01 -5.04644133e+01] [ 4.93492472e-01 -6.60172036e-04 8.69749817e-01 3.47918310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:-50.47, Z:34.81 [[ 7.95323518e-01 4.05752783e-01 -4.50361167e-01 1.04272803e+02] [-3.53240437e-01 9.13982815e-01 1.99641198e-01 -5.04731246e+01] [ 4.92627339e-01 3.06435828e-04 8.70240318e-01 3.48052579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:-50.48, Z:34.82 [[ 7.95146474e-01 4.07023082e-01 -4.49526746e-01 1.04295836e+02] [-3.54951441e-01 9.13417122e-01 1.99194968e-01 -5.04826299e+01] [ 4.91682377e-01 1.17099017e-03 8.70773834e-01 3.48190100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:-50.48, Z:34.81 [[ 7.99349313e-01 3.91539277e-01 -4.55782481e-01 1.04336934e+02] [-3.57339566e-01 9.19592338e-01 1.63273900e-01 -5.04794672e+01] [ 4.83062222e-01 3.23562343e-02 8.74987979e-01 3.48081542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:-50.51, Z:34.86 [[ 7.93337670e-01 4.25000710e-01 -4.35878122e-01 1.04330716e+02] [-3.60524867e-01 9.04919089e-01 2.26148763e-01 -5.05092669e+01] [ 4.90547818e-01 -2.22674307e-02 8.71129726e-01 3.48578728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:-50.49, Z:34.83 [[ 8.00437578e-01 3.89182024e-01 -4.55891474e-01 1.04386512e+02] [-3.59375770e-01 9.20289780e-01 1.54647263e-01 -5.04924040e+01] [ 4.79738199e-01 4.00508684e-02 8.76497112e-01 3.48278636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:-50.53, Z:34.89 [[ 7.90177186e-01 4.31723486e-01 -4.35011318e-01 1.04376657e+02] [-3.66473269e-01 9.01744308e-01 2.29247782e-01 -5.05282393e+01] [ 4.91240632e-01 -2.17263468e-02 8.70752897e-01 3.48869396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:-50.53, Z:34.89 [[ 7.89600339e-01 4.18369174e-01 -4.48885886e-01 1.04410827e+02] [-3.68401926e-01 9.08235751e-01 1.98463703e-01 -5.05272600e+01] [ 4.90725305e-01 8.66341786e-03 8.71271267e-01 3.48868503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:-50.54, Z:34.90 [[ 7.89711607e-01 4.18128464e-01 -4.48914430e-01 1.04433698e+02] [-3.68161753e-01 9.08347243e-01 1.98399119e-01 -5.05372496e+01] [ 4.90726504e-01 8.59503682e-03 8.71271269e-01 3.49008095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:-50.53, Z:34.88 [[ 7.97326496e-01 3.95149602e-01 -4.56209656e-01 1.04478504e+02] [-3.66422772e-01 9.17557529e-01 1.54345500e-01 -5.05286497e+01] [ 4.79588168e-01 4.41018501e-02 8.76384742e-01 3.48820746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:-50.57, Z:34.94 [[ 7.87352736e-01 4.35927699e-01 -4.35938884e-01 1.04468297e+02] [-3.71391844e-01 8.99793637e-01 2.28996746e-01 -5.05658591e+01] [ 4.92081058e-01 -1.83970686e-02 8.70354974e-01 3.49414728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:-50.57, Z:34.94 [[ 7.86645731e-01 4.22483882e-01 -4.50217574e-01 1.04502617e+02] [-3.72949102e-01 9.06297497e-01 1.98831122e-01 -5.05654892e+01] [ 4.92034005e-01 1.14985863e-02 8.70500041e-01 3.49425668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:-50.57, Z:34.96 [[ 7.85402701e-01 4.23975380e-01 -4.50985004e-01 1.04526137e+02] [-3.74588622e-01 9.05585451e-01 1.98993358e-01 -5.05743016e+01] [ 4.92773742e-01 1.26439304e-02 8.70065612e-01 3.49554048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:-50.58, Z:34.97 [[ 7.85038702e-01 4.24394143e-01 -4.51224831e-01 1.04548179e+02] [-3.75117087e-01 9.05382762e-01 1.98920148e-01 -5.05832932e+01] [ 4.92951730e-01 1.31021296e-02 8.69958003e-01 3.49683063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:-50.59, Z:34.98 [[ 7.84466631e-01 4.24601807e-01 -4.52023683e-01 1.04570845e+02] [-3.75215663e-01 9.05281832e-01 1.99193402e-01 -5.05929813e+01] [ 4.93786707e-01 1.33457890e-02 8.69480637e-01 3.49820002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:-50.60, Z:35.00 [[ 7.84243824e-01 4.24548696e-01 -4.52459976e-01 1.04593460e+02] [-3.75153510e-01 9.05304248e-01 1.99208590e-01 -5.06025508e+01] [ 4.94187686e-01 1.35138418e-02 8.69250198e-01 3.49950286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:-50.60, Z:34.98 [[ 7.90776684e-01 4.02190493e-01 -4.61427182e-01 1.04636067e+02] [-3.71897871e-01 9.14433682e-01 1.59696636e-01 -5.05969670e+01] [ 4.86173025e-01 4.53194101e-02 8.72686622e-01 3.49797158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:-50.63, Z:35.03 [[ 7.83491489e-01 4.37172721e-01 -4.41611932e-01 1.04627376e+02] [-3.73049487e-01 8.99265666e-01 2.28375441e-01 -5.06322895e+01] [ 4.96965961e-01 -1.41871092e-02 8.67654055e-01 3.50334787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:-50.63, Z:35.04 [[ 7.84184124e-01 4.22299231e-01 -4.54663193e-01 1.04661219e+02] [-3.72293254e-01 9.06368367e-01 1.99735115e-01 -5.06336438e+01] [ 4.96440321e-01 1.26389329e-02 8.67978839e-01 3.50353778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:-50.64, Z:35.05 [[ 7.84489097e-01 4.21347822e-01 -4.55019636e-01 1.04682820e+02] [-3.71211984e-01 9.06816572e-01 1.99713212e-01 -5.06437629e+01] [ 4.96768074e-01 1.22359044e-02 8.67797075e-01 3.50483698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:-50.65, Z:35.06 [[ 7.85246286e-01 4.20055765e-01 -4.54908150e-01 1.04704972e+02] [-3.69790310e-01 9.07425461e-01 1.99584968e-01 -5.06545009e+01] [ 4.96632054e-01 1.14972706e-02 8.67885024e-01 3.50623479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:-50.67, Z:35.08 [[ 7.86942659e-01 4.17444832e-01 -4.54379867e-01 1.04725741e+02] [-3.67000964e-01 9.08647042e-01 1.99175412e-01 -5.06655695e+01] [ 4.96015669e-01 1.00182207e-02 8.68255776e-01 3.50759730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:-50.68, Z:35.09 [[ 7.87805036e-01 4.16238550e-01 -4.53991954e-01 1.04747080e+02] [-3.65770138e-01 9.09207112e-01 1.98883465e-01 -5.06762228e+01] [ 4.95555679e-01 9.37530442e-03 8.68525574e-01 3.50901176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:-50.69, Z:35.10 [[ 7.88885701e-01 4.14809074e-01 -4.53423403e-01 1.04769231e+02] [-3.64357324e-01 9.09867374e-01 1.98456804e-01 -5.06870855e+01] [ 4.94876844e-01 8.64840310e-03 8.68920085e-01 3.51045982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:-50.70, Z:35.12 [[ 7.90600318e-01 4.12907151e-01 -4.52171231e-01 1.04789974e+02] [-3.62562914e-01 9.10741309e-01 1.97733155e-01 -5.06984364e+01] [ 4.93456453e-01 7.61262473e-03 8.69737189e-01 3.51190354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.81, Y:-50.71, Z:35.13 [[ 7.91267368e-01 4.11945218e-01 -4.51881721e-01 1.04813101e+02] [-3.61623471e-01 9.11180244e-01 1.97431071e-01 -5.07085989e+01] [ 4.93076482e-01 7.19027206e-03 8.69956253e-01 3.51310507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:-50.72, Z:35.15 [[ 7.91787641e-01 4.11463209e-01 -4.51409304e-01 1.04834502e+02] [-3.61280503e-01 9.11398991e-01 1.97048921e-01 -5.07181213e+01] [ 4.92492365e-01 7.06447982e-03 8.70288092e-01 3.51459114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:104.86, Y:-50.73, Z:35.16 [[ 7.91606373e-01 4.11148307e-01 -4.52013737e-01 1.04857637e+02] [-3.60874562e-01 9.11541076e-01 1.97135529e-01 -5.07279888e+01] [ 4.93081028e-01 7.06651788e-03 8.69954691e-01 3.51571608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:-50.74, Z:35.17 [[ 7.91377898e-01 4.11433308e-01 -4.52154460e-01 1.04878793e+02] [-3.61213556e-01 9.11410402e-01 1.97118860e-01 -5.07377611e+01] [ 4.93199542e-01 7.32881148e-03 8.69885337e-01 3.51722104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:104.90, Y:-50.75, Z:35.18 [[ 7.90042065e-01 4.11999765e-01 -4.53971065e-01 1.04901356e+02] [-3.61533380e-01 9.11149659e-01 1.97736980e-01 -5.07477047e+01] [ 4.95103171e-01 7.90516193e-03 8.68798227e-01 3.51833800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:-50.76, Z:35.20 [[ 7.89743058e-01 4.12458986e-01 -4.54074319e-01 1.04923039e+02] [-3.62082125e-01 9.10938580e-01 1.97705431e-01 -5.07576806e+01] [ 4.95179197e-01 8.27570282e-03 8.68751446e-01 3.51984075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:-50.77, Z:35.21 [[ 7.89433140e-01 4.12784895e-01 -4.54317012e-01 1.04945622e+02] [-3.62500564e-01 9.10787276e-01 1.97635723e-01 -5.07679999e+01] [ 4.95367195e-01 8.66998367e-03 8.68640417e-01 3.52117579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:-50.78, Z:35.23 [[ 7.88987954e-01 4.12723697e-01 -4.55145205e-01 1.04966628e+02] [-3.62335120e-01 9.10813389e-01 1.97818681e-01 -5.07776305e+01] [ 4.96196804e-01 8.83853646e-03 8.68165083e-01 3.52251516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:-50.79, Z:35.24 [[ 7.89319807e-01 4.12486657e-01 -4.54784565e-01 1.04988910e+02] [-3.62191841e-01 9.10921494e-01 1.97583152e-01 -5.07878164e+01] [ 4.95773449e-01 8.76296334e-03 8.68407680e-01 3.52389713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:-50.80, Z:35.25 [[ 7.89610591e-01 4.11975778e-01 -4.54742865e-01 1.05010713e+02] [-3.61714354e-01 9.11153938e-01 1.97385984e-01 -5.07982081e+01] [ 4.95658997e-01 8.62895822e-03 8.68474352e-01 3.52531072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:-50.81, Z:35.27 [[ 7.89555951e-01 4.11629098e-01 -4.55151497e-01 1.05032199e+02] [-3.61320313e-01 9.11310788e-01 1.97383586e-01 -5.08078817e+01] [ 4.96033297e-01 8.61009610e-03 8.68260810e-01 3.52664676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:-50.82, Z:35.28 [[ 7.89808839e-01 4.11210242e-01 -4.55091347e-01 1.05054789e+02] [-3.60921596e-01 9.11501130e-01 1.97234102e-01 -5.08180922e+01] [ 4.95920960e-01 8.47505850e-03 8.68326307e-01 3.52804816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:-50.83, Z:35.29 [[ 7.90144765e-01 4.10570591e-01 -4.55085750e-01 1.05076691e+02] [-3.60286056e-01 9.11791406e-01 1.97054281e-01 -5.08279432e+01] [ 4.95847968e-01 8.25964155e-03 8.68370066e-01 3.52942877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:-50.84, Z:35.31 [[ 7.90778934e-01 4.09576007e-01 -4.54880393e-01 1.05098959e+02] [-3.59288905e-01 9.12242493e-01 1.96786984e-01 -5.08387205e+01] [ 4.95560451e-01 7.81847669e-03 8.68538261e-01 3.53081493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:-50.85, Z:35.32 [[ 7.91278395e-01 4.08854787e-01 -4.54660604e-01 1.05120380e+02] [-3.58609318e-01 9.12568250e-01 1.96516021e-01 -5.08482040e+01] [ 4.95255348e-01 7.54664760e-03 8.68714676e-01 3.53209767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:-50.86, Z:35.33 [[ 7.91788856e-01 4.07992972e-01 -4.54546083e-01 1.05143288e+02] [-3.57686948e-01 9.12957563e-01 1.96388736e-01 -5.08583148e+01] [ 4.95106509e-01 7.08678861e-03 8.68803385e-01 3.53346941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:-50.85, Z:35.32 [[ 7.99894592e-01 3.85651958e-01 -4.59827368e-01 1.05184443e+02] [-3.53272309e-01 9.21961148e-01 1.58701977e-01 -5.08522916e+01] [ 4.85146696e-01 3.54994231e-02 8.73711894e-01 3.53191063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:-50.89, Z:35.37 [[ 7.92633220e-01 4.18213249e-01 -4.43655562e-01 1.05177749e+02] [-3.55488570e-01 9.08181325e-01 2.20985424e-01 -5.08866759e+01] [ 4.95338729e-01 -1.74459072e-02 8.68524717e-01 3.53733925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:-50.89, Z:35.38 [[ 7.94472417e-01 4.03756352e-01 -4.53645663e-01 1.05209556e+02] [-3.53167266e-01 9.14854466e-01 1.95740105e-01 -5.08894695e+01] [ 4.94051071e-01 4.70268418e-03 8.69420165e-01 3.53769875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:-50.88, Z:35.36 [[ 8.03735991e-01 3.77672407e-01 -4.59752117e-01 1.05254039e+02] [-3.47546804e-01 9.25188997e-01 1.52435360e-01 -5.08812358e+01] [ 4.82928230e-01 3.72675941e-02 8.74866534e-01 3.53574795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:-50.92, Z:35.42 [[ 7.96164687e-01 4.15010587e-01 -4.40327155e-01 1.05242803e+02] [-3.50005259e-01 9.09486702e-01 2.24344062e-01 -5.09193635e+01] [ 4.93576852e-01 -2.44980002e-02 8.69357084e-01 3.54180734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:-50.92, Z:35.42 [[ 7.97158291e-01 3.99403026e-01 -4.52786796e-01 1.05276026e+02] [-3.48528224e-01 9.16772565e-01 1.95079834e-01 -5.09200605e+01] [ 4.93017988e-01 2.29947085e-03 8.70016078e-01 3.54190903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:-50.92, Z:35.41 [[ 8.04585918e-01 3.77544240e-01 -4.58368681e-01 1.05316094e+02] [-3.42203113e-01 9.25605338e-01 1.61715145e-01 -5.09170650e+01] [ 4.85323119e-01 2.67414610e-02 8.73925834e-01 3.54068074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:-50.95, Z:35.46 [[ 7.99534324e-01 4.05973766e-01 -4.42639996e-01 1.05312206e+02] [-3.43112130e-01 9.13606274e-01 2.18168841e-01 -5.09485989e+01] [ 4.92969503e-01 -2.25583245e-02 8.69754098e-01 3.54564387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:-50.94, Z:35.43 [[ 8.05853467e-01 3.72935934e-01 -4.59911925e-01 1.05363767e+02] [-3.38556429e-01 9.27443275e-01 1.58834872e-01 -5.09374955e+01] [ 4.85777453e-01 2.77085064e-02 8.73643236e-01 3.54331027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:-50.97, Z:35.48 [[ 8.01349527e-01 4.02610259e-01 -4.42429559e-01 1.05357446e+02] [-3.37515611e-01 9.14943462e-01 2.21272850e-01 -5.09707676e+01] [ 4.93884752e-01 -2.79900107e-02 8.69076758e-01 3.54847756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:-50.97, Z:35.49 [[ 8.01990905e-01 3.88521908e-01 -4.53719424e-01 1.05390289e+02] [-3.36078851e-01 9.21431305e-01 1.94975268e-01 -5.09726113e+01] [ 4.93823444e-01 -3.88288874e-03 8.69553523e-01 3.54869514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:-50.98, Z:35.50 [[ 8.02911393e-01 3.87149094e-01 -4.53264685e-01 1.05412157e+02] [-3.34713733e-01 9.22005958e-01 1.94606605e-01 -5.09824362e+01] [ 4.93254510e-01 -4.53794504e-03 8.69873206e-01 3.55000936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:-50.98, Z:35.49 [[ 8.10462496e-01 3.65567797e-01 -4.57723418e-01 1.05452473e+02] [-3.29157057e-01 9.30555005e-01 1.60383958e-01 -5.09772313e+01] [ 4.84568028e-01 2.06777100e-02 8.74509153e-01 3.54857338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:-51.01, Z:35.54 [[ 8.04641079e-01 3.95279453e-01 -4.43065331e-01 1.05448425e+02] [-3.31722682e-01 9.18152602e-01 2.16693014e-01 -5.10098605e+01] [ 4.92455882e-01 -2.73852812e-02 8.69906461e-01 3.55376220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.48, Y:-51.01, Z:35.54 [[ 8.05271321e-01 3.82804234e-01 -4.52768172e-01 1.05480019e+02] [-3.29981890e-01 9.23803353e-01 1.94163122e-01 -5.10124978e+01] [ 4.92595220e-01 -6.94869614e-03 8.70230811e-01 3.55406734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:-51.01, Z:35.53 [[ 8.11118339e-01 3.65407271e-01 -4.56688697e-01 1.05514895e+02] [-3.23812044e-01 9.30790850e-01 1.69629460e-01 -5.10122480e+01] [ 4.87065498e-01 1.02917345e-02 8.73304804e-01 3.55347962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:-51.03, Z:35.56 [[ 8.11357871e-01 3.72762816e-01 -4.50273570e-01 1.05529655e+02] [-3.22520793e-01 9.27903793e-01 1.87015744e-01 -5.10283492e+01] [ 4.87523069e-01 -6.51410680e-03 8.73085805e-01 3.55562543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:-51.05, Z:35.59 [[ 8.07398044e-01 3.84871150e-01 -4.47194138e-01 1.05539682e+02] [-3.23961419e-01 9.22658014e-01 2.09167847e-01 -5.10482283e+01] [ 4.93109925e-01 -2.40080628e-02 8.69635680e-01 3.55900399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:-51.05, Z:35.60 [[ 8.08496848e-01 3.75086834e-01 -4.53478461e-01 1.05567076e+02] [-3.21153068e-01 9.26920791e-01 1.94109643e-01 -5.10534115e+01] [ 4.93146585e-01 -1.13010351e-02 8.69872825e-01 3.55974968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:105.59, Y:-51.06, Z:35.61 [[ 8.09309254e-01 3.73479555e-01 -4.53355879e-01 1.05590433e+02] [-3.19385623e-01 9.27558248e-01 1.93980724e-01 -5.10629589e+01] [ 4.92961819e-01 -1.21950454e-02 8.69965474e-01 3.56099585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:-51.07, Z:35.62 [[ 8.09788977e-01 3.72528260e-01 -4.53281930e-01 1.05611832e+02] [-3.18413312e-01 9.27935502e-01 1.93774784e-01 -5.10717614e+01] [ 4.92802978e-01 -1.25856834e-02 8.70049898e-01 3.56242818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:-51.08, Z:35.64 [[ 8.10513430e-01 3.71415116e-01 -4.52900422e-01 1.05634882e+02] [-3.17279725e-01 9.28373542e-01 1.93535895e-01 -5.10811547e+01] [ 4.92342926e-01 -1.31673214e-02 8.70301709e-01 3.56376513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:-51.09, Z:35.65 [[ 8.10784042e-01 3.70414113e-01 -4.53235724e-01 1.05656841e+02] [-3.16143362e-01 9.28767077e-01 1.93507342e-01 -5.10901601e+01] [ 4.92628269e-01 -1.36051992e-02 8.70133488e-01 3.56510700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:-51.09, Z:35.64 [[ 8.16127131e-01 3.53200025e-01 -4.57368833e-01 1.05693419e+02] [-3.10786043e-01 9.35533816e-01 1.67894355e-01 -5.10877234e+01] [ 4.87184300e-01 5.12071192e-03 8.73284167e-01 3.56432124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:-51.11, Z:35.69 [[ 8.12036901e-01 3.75742332e-01 -4.46557691e-01 1.05695573e+02] [-3.13024718e-01 9.26210928e-01 2.10116261e-01 -5.11145139e+01] [ 4.92556187e-01 -3.08385626e-02 8.69734089e-01 3.56873403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:-51.12, Z:35.69 [[ 8.12050413e-01 3.66768196e-01 -4.53933053e-01 1.05723931e+02] [-3.11883515e-01 9.30180485e-01 1.93630934e-01 -5.11181131e+01] [ 4.93257336e-01 -1.56638439e-02 8.69742401e-01 3.56940537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:-51.13, Z:35.71 [[ 8.12342872e-01 3.65219750e-01 -4.54657665e-01 1.05746939e+02] [-3.09961352e-01 9.30774060e-01 1.93864926e-01 -5.11261948e+01] [ 4.93986860e-01 -1.65584865e-02 8.69311681e-01 3.57078331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:-51.13, Z:35.72 [[ 8.12420643e-01 3.64544278e-01 -4.55060620e-01 1.05769926e+02] [-3.09179189e-01 9.31034430e-01 1.93863662e-01 -5.11344355e+01] [ 4.94348994e-01 -1.68035675e-02 8.69101094e-01 3.57213187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:-51.14, Z:35.73 [[ 8.12493473e-01 3.63972151e-01 -4.55388438e-01 1.05793364e+02] [-3.08535387e-01 9.31255004e-01 1.93829906e-01 -5.11427629e+01] [ 4.94631449e-01 -1.69820856e-02 8.68936901e-01 3.57349669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:-51.15, Z:35.75 [[ 8.12503325e-01 3.63677518e-01 -4.55606200e-01 1.05816087e+02] [-3.08238901e-01 9.31370032e-01 1.93748921e-01 -5.11505090e+01] [ 4.94800087e-01 -1.69860883e-02 8.68840806e-01 3.57477890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:-51.16, Z:35.76 [[ 8.12422741e-01 3.63451335e-01 -4.55930276e-01 1.05839589e+02] [-3.07937406e-01 9.31457008e-01 1.93810208e-01 -5.11588248e+01] [ 4.95120030e-01 -1.70578341e-02 8.68657117e-01 3.57614297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:-51.17, Z:35.78 [[ 8.12518097e-01 3.63157827e-01 -4.55994226e-01 1.05862605e+02] [-3.07685270e-01 9.31571637e-01 1.93659648e-01 -5.11684578e+01] [ 4.95120305e-01 -1.70492622e-02 8.68657128e-01 3.57754161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:-51.18, Z:35.79 [[ 8.12065326e-01 3.63459547e-01 -4.56560034e-01 1.05886597e+02] [-3.07977133e-01 9.31460048e-01 1.93732454e-01 -5.11754764e+01] [ 4.95681341e-01 -1.67133582e-02 8.68343637e-01 3.57895884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:-51.18, Z:35.80 [[ 8.11711746e-01 3.63743516e-01 -4.56962466e-01 1.05908952e+02] [-3.08297428e-01 9.31355294e-01 1.93726645e-01 -5.11830315e+01] [ 4.96061223e-01 -1.63698405e-02 8.68133222e-01 3.58031718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:-51.19, Z:35.82 [[ 8.11476916e-01 3.64370465e-01 -4.56880049e-01 1.05932098e+02] [-3.09082920e-01 9.31118345e-01 1.93613990e-01 -5.11911712e+01] [ 4.95956615e-01 -1.58994643e-02 8.68201730e-01 3.58176646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:-51.20, Z:35.83 [[ 8.11264874e-01 3.65052369e-01 -4.56712242e-01 1.05955182e+02] [-3.10008222e-01 9.30861426e-01 1.93369872e-01 -5.11987013e+01] [ 4.95725939e-01 -1.52896351e-02 8.68344414e-01 3.58315851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:-51.19, Z:35.83 [[ 8.15593026e-01 3.51773200e-01 -4.59416622e-01 1.05991737e+02] [-3.09152031e-01 9.36071478e-01 1.67914295e-01 -5.11921448e+01] [ 4.89114545e-01 5.07985353e-03 8.72204768e-01 3.58251723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:106.00, Y:-51.22, Z:35.86 [[ 8.10165413e-01 3.75257586e-01 -4.50348475e-01 1.05999049e+02] [-3.13820055e-01 9.26533847e-01 2.07489767e-01 -5.12165998e+01] [ 4.95125214e-01 -2.67726495e-02 8.68409033e-01 3.58634186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:-51.21, Z:35.86 [[ 8.13765377e-01 3.57069081e-01 -4.58571239e-01 1.06037938e+02] [-3.13119028e-01 9.34069880e-01 1.71668093e-01 -5.12087547e+01] [ 4.89634951e-01 3.88982982e-03 8.71918852e-01 3.58558058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:-51.23, Z:35.89 [[ 8.08091091e-01 3.78268923e-01 -4.51554437e-01 1.06046585e+02] [-3.18819916e-01 9.25447194e-01 2.04698198e-01 -5.12307504e+01] [ 4.95320754e-01 -2.14502427e-02 8.68445299e-01 3.58932599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:-51.22, Z:35.88 [[ 8.10404393e-01 3.63219012e-01 -4.59691928e-01 1.06086549e+02] [-3.20605083e-01 9.31661727e-01 1.70935097e-01 -5.12205716e+01] [ 4.90364252e-01 8.85301497e-03 8.71472618e-01 3.58830821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:106.10, Y:-51.24, Z:35.92 [[ 8.04301894e-01 3.85095725e-01 -4.52548059e-01 1.06096311e+02] [-3.26310651e-01 9.22712540e-01 2.05238709e-01 -5.12441162e+01] [ 4.96608319e-01 -1.74026310e-02 8.67800280e-01 3.59200084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:106.12, Y:-51.25, Z:35.93 [[ 8.03243513e-01 3.81021996e-01 -4.57845057e-01 1.06124554e+02] [-3.28419885e-01 9.24553234e-01 1.93239994e-01 -5.12479284e+01] [ 4.96930817e-01 -4.85335079e-03 8.67776589e-01 3.59285502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:-51.26, Z:35.95 [[ 8.02832094e-01 3.82891391e-01 -4.57006359e-01 1.06146144e+02] [-3.30879881e-01 9.23786742e-01 1.92708486e-01 -5.12552812e+01] [ 4.95962836e-01 -3.49834774e-03 8.68336702e-01 3.59454922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:-51.26, Z:35.96 [[ 8.02172600e-01 3.84559135e-01 -4.56764044e-01 1.06168869e+02] [-3.32958718e-01 9.23097546e-01 1.92430280e-01 -5.12627057e+01] [ 4.95638590e-01 -2.27872759e-03 8.68525875e-01 3.59587951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.19, Y:-51.27, Z:35.97 [[ 8.00834896e-01 3.87605502e-01 -4.56536355e-01 1.06192390e+02] [-3.36564010e-01 9.21825296e-01 1.92257095e-01 -5.12689849e+01] [ 4.95366669e-01 -3.12484005e-04 8.68683928e-01 3.59722759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50999999999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:106.22, Y:-51.28, Z:35.98 [[ 8.00239935e-01 3.88655881e-01 -4.56686602e-01 1.06216512e+02] [-3.37836382e-01 9.21382838e-01 1.92146416e-01 -5.12776644e+01] [ 4.95462032e-01 5.22114066e-04 8.68629439e-01 3.59843898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:-51.29, Z:36.00 [[ 7.99574267e-01 3.89730596e-01 -4.56936599e-01 1.06238468e+02] [-3.39113364e-01 9.20927890e-01 1.92077973e-01 -5.12862545e+01] [ 4.95664321e-01 1.37270231e-03 8.68513096e-01 3.60005426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:-51.29, Z:36.01 [[ 7.99196537e-01 3.90347678e-01 -4.57070656e-01 1.06261453e+02] [-3.39892171e-01 9.20665477e-01 1.91959347e-01 -5.12948196e+01] [ 4.95740059e-01 1.94149214e-03 8.68468781e-01 3.60135439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:-51.30, Z:36.03 [[ 7.97852145e-01 3.91603485e-01 -4.58343393e-01 1.06285123e+02] [-3.41138297e-01 9.20129450e-01 1.92318638e-01 -5.13028220e+01] [ 4.97047903e-01 2.91664691e-03 8.67718200e-01 3.60266575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:106.31, Y:-51.31, Z:36.04 [[ 7.97373412e-01 3.91696223e-01 -4.59096624e-01 1.06309866e+02] [-3.41167496e-01 9.20089148e-01 1.92459603e-01 -5.13117945e+01] [ 4.97795521e-01 3.16667560e-03 8.67288644e-01 3.60368837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:-51.32, Z:36.05 [[ 7.97133430e-01 3.92138770e-01 -4.59135579e-01 1.06331408e+02] [-3.41769565e-01 9.19898915e-01 1.92300679e-01 -5.13208118e+01] [ 4.97766872e-01 3.62926759e-03 8.67303274e-01 3.60535086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:-51.33, Z:36.07 [[ 7.96578155e-01 3.92583093e-01 -4.59719216e-01 1.06354368e+02] [-3.42246113e-01 9.19707401e-01 1.92369160e-01 -5.13305668e+01] [ 4.98328046e-01 4.10004387e-03 8.66978863e-01 3.60674557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:-51.34, Z:36.08 [[ 7.95937401e-01 3.93567266e-01 -4.59987457e-01 1.06377264e+02] [-3.43420327e-01 9.19282734e-01 1.92306353e-01 -5.13401019e+01] [ 4.98544013e-01 4.90522416e-03 8.66850510e-01 3.60815133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:-51.35, Z:36.09 [[ 7.95560698e-01 3.93725049e-01 -4.60503814e-01 1.06399942e+02] [-3.43584618e-01 9.19213542e-01 1.92343637e-01 -5.13495328e+01] [ 4.99031850e-01 5.20098929e-03 8.66568037e-01 3.60946826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:-51.36, Z:36.11 [[ 7.95296712e-01 3.93887397e-01 -4.60820852e-01 1.06421753e+02] [-3.43800973e-01 9.19142264e-01 1.92297657e-01 -5.13588527e+01] [ 4.99303545e-01 5.49696263e-03 8.66409691e-01 3.61076912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:-51.37, Z:36.12 [[ 7.95011728e-01 3.94064085e-01 -4.61161414e-01 1.06443180e+02] [-3.43970789e-01 9.19065313e-01 1.92361759e-01 -5.13682891e+01] [ 4.99640320e-01 5.69620136e-03 8.66214237e-01 3.61211615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:-51.38, Z:36.13 [[ 7.95167366e-01 3.93964007e-01 -4.60978546e-01 1.06464871e+02] [-3.43941989e-01 9.19108120e-01 1.92208669e-01 -5.13778848e+01] [ 4.99412422e-01 5.71181727e-03 8.66345547e-01 3.61344099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:-51.39, Z:36.15 [[ 7.95473706e-01 3.93698493e-01 -4.60676763e-01 1.06486716e+02] [-3.43750147e-01 9.19222433e-01 1.92005090e-01 -5.13885759e+01] [ 4.99056530e-01 5.62270449e-03 8.66551190e-01 3.61488996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89999999999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:106.51, Y:-51.40, Z:36.16 [[ 7.95659088e-01 3.93043285e-01 -4.60916036e-01 1.06509720e+02] [-3.43039016e-01 9.19504098e-01 1.91928233e-01 -5.13987392e+01] [ 4.99250287e-01 5.40274072e-03 8.66440974e-01 3.61613335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:-51.41, Z:36.18 [[ 7.96412402e-01 3.92151947e-01 -4.60373909e-01 1.06530637e+02] [-3.42236875e-01 9.19886743e-01 1.91526244e-01 -5.14082063e+01] [ 4.98599245e-01 5.02305214e-03 8.66818067e-01 3.61764859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:-51.42, Z:36.19 [[ 7.98183052e-01 3.89337355e-01 -4.59695812e-01 1.06552603e+02] [-3.39215061e-01 9.21089014e-01 1.91123444e-01 -5.14193668e+01] [ 4.97832258e-01 3.38424903e-03 8.67266735e-01 3.61910628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:106.58, Y:-51.43, Z:36.20 [[ 7.99234199e-01 3.87396701e-01 -4.59508968e-01 1.06575114e+02] [-3.37121670e-01 9.21910092e-01 1.90868442e-01 -5.14297115e+01] [ 4.97567759e-01 2.36184449e-03 8.67421897e-01 3.62025031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:-51.44, Z:36.22 [[ 8.00625192e-01 3.85410368e-01 -4.58757181e-01 1.06595921e+02] [-3.35053265e-01 9.22744489e-01 1.90478127e-01 -5.14398091e+01] [ 4.96727906e-01 1.20650415e-03 8.67905486e-01 3.62183602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:-51.45, Z:36.23 [[ 8.01942978e-01 3.83175662e-01 -4.58327255e-01 1.06618048e+02] [-3.32681468e-01 9.23675491e-01 1.90122667e-01 -5.14502192e+01] [ 4.96196031e-01 9.44625561e-06 8.68210515e-01 3.62322948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:-51.46, Z:36.25 [[ 8.03217735e-01 3.80547748e-01 -4.58284498e-01 1.06639979e+02] [-3.29766276e-01 9.24760171e-01 1.89928483e-01 -5.14601229e+01] [ 4.96080108e-01 -1.42715415e-03 8.68275584e-01 3.62459575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:-51.47, Z:36.26 [[ 8.05310727e-01 3.76233603e-01 -4.58173449e-01 1.06661666e+02] [-3.24928326e-01 9.26516634e-01 1.89706377e-01 -5.14715344e+01] [ 4.95879235e-01 -3.89904839e-03 8.68382739e-01 3.62594639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:-51.48, Z:36.27 [[ 8.06238681e-01 3.74064560e-01 -4.58317460e-01 1.06683758e+02] [-3.22498267e-01 9.27388923e-01 1.89590752e-01 -5.14816128e+01] [ 4.95957717e-01 -5.04881173e-03 8.68331995e-01 3.62732890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.71, Y:-51.49, Z:36.29 [[ 8.06777985e-01 3.72305215e-01 -4.58800730e-01 1.06705987e+02] [-3.20457233e-01 9.28091274e-01 1.89614739e-01 -5.14911411e+01] [ 4.96403510e-01 -5.95098484e-03 8.68071507e-01 3.62862604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19999999999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:106.73, Y:-51.50, Z:36.30 [[ 8.07388410e-01 3.69975970e-01 -4.59610419e-01 1.06729734e+02] [-3.17623252e-01 9.29012508e-01 1.89871613e-01 -5.15016199e+01] [ 4.97231763e-01 -7.31718392e-03 8.67586902e-01 3.62978041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:-51.51, Z:36.31 [[ 8.07512801e-01 3.69648812e-01 -4.59655124e-01 1.06750613e+02] [-3.17335735e-01 9.29142608e-01 1.89715699e-01 -5.15111158e+01] [ 4.97213343e-01 -7.33285903e-03 8.67597326e-01 3.63139481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:-51.52, Z:36.33 [[ 8.07534459e-01 3.69168068e-01 -4.60003299e-01 1.06772911e+02] [-3.16797328e-01 9.29332802e-01 1.89683934e-01 -5.15205644e+01] [ 4.97521406e-01 -7.44849717e-03 8.67419720e-01 3.63273710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:-51.53, Z:36.34 [[ 8.07467746e-01 3.68888412e-01 -4.60344630e-01 1.06795362e+02] [-3.16491779e-01 9.29443907e-01 1.89649619e-01 -5.15300317e+01] [ 4.97824059e-01 -7.44065982e-03 8.67246126e-01 3.63411267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:-51.54, Z:36.36 [[ 8.07412746e-01 3.69024877e-01 -4.60331726e-01 1.06817897e+02] [-3.16751696e-01 9.29391860e-01 1.89470668e-01 -5.15398977e+01] [ 4.97747949e-01 -7.17017741e-03 8.67292089e-01 3.63553777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:-51.55, Z:36.37 [[ 8.07295104e-01 3.69473540e-01 -4.60178137e-01 1.06839490e+02] [-3.17407520e-01 9.29217093e-01 1.89230181e-01 -5.15489275e+01] [ 4.97520935e-01 -6.70059733e-03 8.67426090e-01 3.63688711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:106.86, Y:-51.56, Z:36.38 [[ 8.06965978e-01 3.70083487e-01 -4.60265274e-01 1.06863236e+02] [-3.18132658e-01 9.28977519e-01 1.89188743e-01 -5.15580815e+01] [ 4.97591722e-01 -6.24346370e-03 8.67388896e-01 3.63794662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:-51.57, Z:36.40 [[ 8.07020849e-01 3.71458875e-01 -4.59059532e-01 1.06884858e+02] [-3.20052032e-01 9.28434309e-01 1.88617152e-01 -5.15670538e+01] [ 4.96270134e-01 -5.29503852e-03 8.68152012e-01 3.63958819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:106.91, Y:-51.58, Z:36.41 [[ 8.05802049e-01 3.74359179e-01 -4.58844487e-01 1.06909365e+02] [-3.23540038e-01 9.27277826e-01 1.88355189e-01 -5.15759649e+01] [ 4.95988813e-01 -3.32243464e-03 8.68322555e-01 3.64063910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:-51.59, Z:36.42 [[ 8.05145979e-01 3.76822155e-01 -4.57979275e-01 1.06930719e+02] [-3.26677983e-01 9.26284217e-01 1.87827168e-01 -5.15850699e+01] [ 4.94996413e-01 -1.61654266e-03 8.68893514e-01 3.64234255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:-51.59, Z:36.44 [[ 8.03993396e-01 3.79111457e-01 -4.58114748e-01 1.06953646e+02] [-3.29380158e-01 9.25351016e-01 1.87707776e-01 -5.15938047e+01] [ 4.95079115e-01 -2.19042072e-05 8.68847897e-01 3.64371123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:-51.60, Z:36.45 [[ 8.02645789e-01 3.81665435e-01 -4.58357103e-01 1.06976154e+02] [-3.32363402e-01 9.24298909e-01 1.87632872e-01 -5.16025250e+01] [ 4.95271952e-01 1.73839121e-03 8.68736250e-01 3.64506602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:107.00, Y:-51.61, Z:36.46 [[ 8.00001256e-01 3.86727569e-01 -4.58737156e-01 1.07001351e+02] [-3.38208338e-01 9.22180139e-01 1.87613728e-01 -5.16111059e+01] [ 4.95593695e-01 5.05751288e-03 8.68539758e-01 3.64612958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:-51.62, Z:36.48 [[ 7.98712641e-01 3.89667252e-01 -4.58494875e-01 1.07022386e+02] [-3.41751630e-01 9.20928651e-01 1.87339913e-01 -5.16198261e+01] [ 4.95241296e-01 7.06061384e-03 8.68726773e-01 3.64778786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:-51.63, Z:36.49 [[ 7.97435838e-01 3.91746559e-01 -4.58945222e-01 1.07045176e+02] [-3.44149067e-01 9.20033474e-01 1.87349477e-01 -5.16289051e+01] [ 4.95638480e-01 8.54638291e-03 8.68486877e-01 3.64914015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64999999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:107.07, Y:-51.64, Z:36.50 [[ 7.96330073e-01 3.93339304e-01 -4.59502564e-01 1.07067810e+02] [-3.45962968e-01 9.19341836e-01 1.87403878e-01 -5.16380873e+01] [ 4.96153242e-01 9.73552681e-03 8.68180385e-01 3.65026780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:107.09, Y:-51.65, Z:36.51 [[ 7.94622244e-01 3.94763872e-01 -4.61234187e-01 1.07091481e+02] [-3.47271970e-01 9.18719621e-01 1.88033075e-01 -5.16497632e+01] [ 4.97973562e-01 1.07584412e-02 8.67125474e-01 3.65140668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:107.11, Y:-51.66, Z:36.53 [[ 7.94444670e-01 3.94899606e-01 -4.61423848e-01 1.07113728e+02] [-3.47487395e-01 9.18658015e-01 1.87936059e-01 -5.16604480e+01] [ 4.98106592e-01 1.10341711e-02 8.67045599e-01 3.65283873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:107.14, Y:-51.67, Z:36.54 [[ 7.94436223e-01 3.94654940e-01 -4.61647664e-01 1.07135278e+02] [-3.47255227e-01 9.18762695e-01 1.87853447e-01 -5.16708864e+01] [ 4.98281943e-01 1.10719810e-02 8.66944356e-01 3.65422415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:107.16, Y:-51.68, Z:36.56 [[ 7.94424126e-01 3.94005717e-01 -4.62222677e-01 1.07157691e+02] [-3.46479685e-01 9.19043710e-01 1.87910847e-01 -5.16819863e+01] [ 4.98840792e-01 1.08698574e-02 8.66625473e-01 3.65555329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.18, Y:-51.69, Z:36.57 [[ 7.94672258e-01 3.92801089e-01 -4.62821032e-01 1.07175948e+02] [-3.45054565e-01 9.19565595e-01 1.87979956e-01 -5.16948524e+01] [ 4.99433029e-01 1.03160541e-02 8.66291076e-01 3.65713025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:-51.71, Z:36.59 [[ 7.95175191e-01 3.91868890e-01 -4.62747435e-01 1.07198040e+02] [-3.44036903e-01 9.19968763e-01 1.87872521e-01 -5.17067424e+01] [ 4.99334582e-01 9.81062648e-03 8.66353696e-01 3.65852367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:107.22, Y:-51.72, Z:36.60 [[ 7.95541179e-01 3.90331103e-01 -4.63417590e-01 1.07221633e+02] [-3.42209324e-01 9.20630097e-01 1.87970749e-01 -5.17184706e+01] [ 5.00007011e-01 9.04734854e-03 8.65974096e-01 3.65958145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:-51.72, Z:36.59 [[ 8.02379425e-01 3.72458732e-01 -4.66327945e-01 1.07256610e+02] [-3.38389460e-01 9.27545800e-01 1.58591808e-01 -5.17165705e+01] [ 4.91609430e-01 3.05496574e-02 8.70279775e-01 3.65903826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:-51.75, Z:36.64 [[ 7.97301280e-01 3.96304450e-01 -4.55250977e-01 1.07257543e+02] [-3.38590119e-01 9.18061807e-01 2.06201962e-01 -5.17467489e+01] [ 4.99667290e-01 -1.02616061e-02 8.66156625e-01 3.66351848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:-51.75, Z:36.64 [[ 7.97438625e-01 3.86984455e-01 -4.62962926e-01 1.07287865e+02] [-3.38649345e-01 9.22057151e-01 1.87422600e-01 -5.17498723e+01] [ 4.99407909e-01 7.32407132e-03 8.66336019e-01 3.66414384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:-51.76, Z:36.66 [[ 7.97978754e-01 3.86492234e-01 -4.62443144e-01 1.07309233e+02] [-3.38258292e-01 9.22265182e-01 1.87104948e-01 -5.17586941e+01] [ 4.98809820e-01 7.11945438e-03 8.66682223e-01 3.66550150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:-51.77, Z:36.67 [[ 7.98371800e-01 3.86530688e-01 -4.61732062e-01 1.07331767e+02] [-3.38528644e-01 9.22248023e-01 1.86700137e-01 -5.17675484e+01] [ 4.97996814e-01 7.25340445e-03 8.67148523e-01 3.66691584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:107.36, Y:-51.78, Z:36.68 [[ 7.97590869e-01 3.88048416e-01 -4.61808653e-01 1.07356075e+02] [-3.40364369e-01 9.21600836e-01 1.86558287e-01 -5.17761199e+01] [ 4.97996889e-01 8.38602429e-03 8.67138267e-01 3.66807437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:-51.77, Z:36.68 [[ 8.02736099e-01 3.74146774e-01 -4.64358640e-01 1.07390364e+02] [-3.39524878e-01 9.26906358e-01 1.59898281e-01 -5.17724070e+01] [ 4.90242402e-01 2.93051887e-02 8.71093332e-01 3.66756872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:-51.79, Z:36.69 [[ 8.01478667e-01 3.82250605e-01 -4.59909145e-01 1.07408964e+02] [-3.40556298e-01 9.23905319e-01 1.74414360e-01 -5.17863443e+01] [ 4.91582500e-01 1.68355673e-02 8.70668254e-01 3.66946238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:-51.80, Z:36.71 [[ 7.99819891e-01 3.85247208e-01 -4.60296351e-01 1.07430974e+02] [-3.41566568e-01 9.22703294e-01 1.78748175e-01 -5.17963518e+01] [ 4.93579195e-01 1.42554993e-02 8.69584015e-01 3.67102843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:-51.82, Z:36.75 [[ 7.92534199e-01 4.02161483e-01 -4.58427404e-01 1.07441728e+02] [-3.44777348e-01 9.15548458e-01 2.07122188e-01 -5.18165613e+01] [ 5.03009070e-01 -6.09603311e-03 8.64259634e-01 3.67452853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:-51.82, Z:36.75 [[ 7.92538849e-01 3.93054077e-01 -4.66251719e-01 1.07472115e+02] [-3.45308863e-01 9.19438397e-01 1.88135118e-01 -5.18195305e+01] [ 5.02637008e-01 1.18964614e-02 8.64415706e-01 3.67512445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:-51.83, Z:36.77 [[ 7.92475922e-01 3.92862565e-01 -4.66520007e-01 1.07494145e+02] [-3.45130658e-01 9.19519265e-01 1.88066876e-01 -5.18285497e+01] [ 5.02858570e-01 1.19718866e-02 8.64285794e-01 3.67655653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:-51.84, Z:36.78 [[ 7.92557119e-01 3.92654210e-01 -4.66557482e-01 1.07516522e+02] [-3.44984426e-01 9.19607490e-01 1.87903728e-01 -5.18378370e+01] [ 5.02830945e-01 1.20306275e-02 8.64301050e-01 3.67793613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:-51.85, Z:36.79 [[ 7.92658263e-01 3.92246998e-01 -4.66728155e-01 1.07538644e+02] [-3.44578061e-01 9.19782082e-01 1.87794785e-01 -5.18471917e+01] [ 5.02950135e-01 1.19671947e-02 8.64232578e-01 3.67934088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:-51.86, Z:36.81 [[ 7.93043101e-01 3.91607332e-01 -4.66611549e-01 1.07561404e+02] [-3.43965377e-01 9.20057436e-01 1.87569013e-01 -5.18569271e+01] [ 5.02762826e-01 1.17479057e-02 8.64344565e-01 3.68077030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:-51.87, Z:36.82 [[ 7.94319698e-01 3.89852808e-01 -4.65908795e-01 1.07582763e+02] [-3.42187328e-01 9.20813807e-01 1.87108967e-01 -5.18669530e+01] [ 5.01960207e-01 1.08037474e-02 8.64823236e-01 3.68221842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:-51.88, Z:36.84 [[ 7.95294636e-01 3.88872534e-01 -4.65064075e-01 1.07604550e+02] [-3.41337708e-01 9.21233469e-01 1.86594385e-01 -5.18760267e+01] [ 5.00994023e-01 1.03463920e-02 8.65388896e-01 3.68363432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:-51.89, Z:36.85 [[ 7.97567062e-01 3.86621533e-01 -4.63044892e-01 1.07626924e+02] [-3.39218817e-01 9.22194943e-01 1.85706977e-01 -5.18856045e+01] [ 4.98815974e-01 8.95977236e-03 8.66661610e-01 3.68510147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:107.65, Y:-51.90, Z:36.86 [[ 7.98502116e-01 3.85265300e-01 -4.62563529e-01 1.07649954e+02] [-3.37856710e-01 9.22768655e-01 1.85339828e-01 -5.18952270e+01] [ 4.98244131e-01 8.28594737e-03 8.66997191e-01 3.68631883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:107.67, Y:-51.91, Z:36.88 [[ 7.99293040e-01 3.84098722e-01 -4.62167511e-01 1.07673002e+02] [-3.36694934e-01 9.23259642e-01 1.85008528e-01 -5.19050301e+01] [ 4.97762150e-01 7.73343036e-03 8.67279100e-01 3.68768325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:107.70, Y:-51.91, Z:36.89 [[ 8.00326371e-01 3.82978661e-01 -4.61307973e-01 1.07695493e+02] [-3.35690751e-01 9.23729089e-01 1.84489266e-01 -5.19145189e+01] [ 4.96779046e-01 7.20519518e-03 8.67847144e-01 3.68907904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:-51.92, Z:36.91 [[ 8.01569472e-01 3.81918320e-01 -4.60026932e-01 1.07715477e+02] [-3.34847643e-01 9.24171738e-01 1.83803302e-01 -5.19240654e+01] [ 4.95341738e-01 6.70781831e-03 8.68672302e-01 3.69062795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:107.74, Y:-51.93, Z:36.92 [[ 8.01347387e-01 3.80831198e-01 -4.61313303e-01 1.07740167e+02] [-3.33379496e-01 9.24623886e-01 1.84197669e-01 -5.19340250e+01] [ 4.96689518e-01 6.18607588e-03 8.67906248e-01 3.69170284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:107.78, Y:-51.93, Z:36.90 [[ 8.06801817e-01 3.59061712e-01 -4.69196671e-01 1.07782651e+02] [-3.31022835e-01 9.32506850e-01 1.44412111e-01 -5.19284635e+01] [ 4.89381969e-01 3.88028587e-02 8.71205846e-01 3.69041353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:-51.96, Z:36.96 [[ 8.01124853e-01 3.95005580e-01 -4.49632697e-01 1.07773781e+02] [-3.32034660e-01 9.18387766e-01 2.15213605e-01 -5.19623961e+01] [ 4.97947743e-01 -2.31193281e-02 8.66898807e-01 3.69605098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:-51.96, Z:36.96 [[ 8.00449548e-01 3.79017653e-01 -4.64355618e-01 1.07808272e+02] [-3.30812923e-01 9.25373195e-01 1.85060153e-01 -5.19626075e+01] [ 4.99843306e-01 5.48352319e-03 8.66098493e-01 3.69604869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:-51.95, Z:36.94 [[ 8.07469172e-01 3.52933646e-01 -4.72685285e-01 1.07854358e+02] [-3.27558697e-01 9.34652763e-01 1.38309483e-01 -5.19540365e+01] [ 4.90610677e-01 4.31515323e-02 8.70309777e-01 3.69412699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.7 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:107.84, Y:-51.99, Z:37.00 [[ 8.00415699e-01 3.93723539e-01 -4.52013810e-01 1.07841951e+02] [-3.27575515e-01 9.18795603e-01 2.20247412e-01 -5.19936413e+01] [ 5.02024891e-01 -2.82208295e-02 8.64392615e-01 3.70001442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:107.88, Y:-51.99, Z:37.00 [[ 8.01296570e-01 3.75539841e-01 -4.65718407e-01 1.07877835e+02] [-3.26729747e-01 9.26798548e-01 1.85181328e-01 -5.19920544e+01] [ 5.01170110e-01 3.77889432e-03 8.65340535e-01 3.69999391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:-52.00, Z:37.02 [[ 8.02575170e-01 3.73895447e-01 -4.64838994e-01 1.07899472e+02] [-3.25128120e-01 9.27466227e-01 1.84656718e-01 -5.20016392e+01] [ 5.00164774e-01 2.93133127e-03 8.65925289e-01 3.70159644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:107.92, Y:-52.01, Z:37.03 [[ 8.04815613e-01 3.69121301e-01 -4.64780910e-01 1.07921681e+02] [-3.19727411e-01 9.29381215e-01 1.84458503e-01 -5.20123864e+01] [ 5.00046209e-01 1.48113570e-04 8.65998711e-01 3.70278765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:107.94, Y:-52.02, Z:37.04 [[ 8.06463411e-01 3.66341402e-01 -4.64123630e-01 1.07944010e+02] [-3.16738740e-01 9.30479385e-01 1.84077932e-01 -5.20222493e+01] [ 4.99292838e-01 -1.44618319e-03 8.66432092e-01 3.70422099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:-52.03, Z:37.06 [[ 8.08261080e-01 3.63641696e-01 -4.63118498e-01 1.07965427e+02] [-3.13956560e-01 9.31534311e-01 1.83507783e-01 -5.20320604e+01] [ 4.98141852e-01 -2.92310791e-03 8.67090624e-01 3.70584866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:-52.04, Z:37.07 [[ 8.09832711e-01 3.60804452e-01 -4.62591750e-01 1.07987080e+02] [-3.10910947e-01 9.32630755e-01 1.83123615e-01 -5.20415638e+01] [ 4.97499108e-01 -4.47465431e-03 8.67452947e-01 3.70720489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:-52.05, Z:37.09 [[ 8.11802797e-01 3.57183647e-01 -4.61948116e-01 1.08009796e+02] [-3.06938100e-01 9.34010849e-01 1.82791510e-01 -5.20513297e+01] [ 4.96754690e-01 -6.60118186e-03 8.67865889e-01 3.70860709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:-52.06, Z:37.10 [[ 8.12203028e-01 3.56318963e-01 -4.61912370e-01 1.08032852e+02] [-3.06052048e-01 9.34338602e-01 1.82602084e-01 -5.20597795e+01] [ 4.96647143e-01 -6.94073903e-03 8.67924790e-01 3.70998625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:-52.05, Z:37.08 [[ 8.19397779e-01 3.34765012e-01 -4.65316738e-01 1.08074178e+02] [-3.01693453e-01 9.42082077e-01 1.46500581e-01 -5.20516961e+01] [ 4.87409828e-01 2.03407625e-02 8.72936374e-01 3.70842701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:-52.08, Z:37.14 [[ 8.11883029e-01 3.67767799e-01 -4.53423414e-01 1.08071119e+02] [-3.06048697e-01 9.29484043e-01 2.05897081e-01 -5.20836213e+01] [ 4.97172145e-01 -2.83947002e-02 8.67187177e-01 3.71380982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:108.10, Y:-52.08, Z:37.14 [[ 8.11263357e-01 3.56826633e-01 -4.63170077e-01 1.08103612e+02] [-3.06457850e-01 9.34148473e-01 1.82894004e-01 -5.20836732e+01] [ 4.97931071e-01 -6.43309728e-03 8.67192749e-01 3.71391779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:-52.08, Z:37.13 [[ 8.16830102e-01 3.39961824e-01 -4.66062810e-01 1.08142576e+02] [-3.04910947e-01 9.40259472e-01 1.51464318e-01 -5.20751674e+01] [ 4.89712058e-01 1.83870387e-02 8.71690322e-01 3.71283450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:-52.09, Z:37.16 [[ 8.14502356e-01 3.54892560e-01 -4.58952267e-01 1.08155641e+02] [-3.06919945e-01 9.34897155e-01 1.78234277e-01 -5.20929979e+01] [ 4.92327188e-01 -4.31063415e-03 8.70399540e-01 3.71560970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:-52.11, Z:37.19 [[ 8.08378074e-01 3.68806732e-01 -4.58809856e-01 1.08168279e+02] [-3.10864148e-01 9.29322205e-01 1.99308107e-01 -5.21105302e+01] [ 4.99888358e-01 -1.84887686e-02 8.65892484e-01 3.71890984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.20, Y:-52.11, Z:37.20 [[ 8.06769340e-01 3.62944863e-01 -4.66255573e-01 1.08197786e+02] [-3.12833697e-01 9.31806940e-01 1.84040497e-01 -5.21121918e+01] [ 5.01256731e-01 -2.61777548e-03 8.65294653e-01 3.71958516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:108.22, Y:-52.12, Z:37.21 [[ 8.05702427e-01 3.63317985e-01 -4.67807270e-01 1.08222275e+02] [-3.13005766e-01 9.31662582e-01 1.84478249e-01 -5.21204095e+01] [ 5.02862795e-01 -2.20820016e-03 8.64363427e-01 3.72064794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:-52.13, Z:37.22 [[ 8.05751739e-01 3.64040242e-01 -4.67160398e-01 1.08243980e+02] [-3.14091245e-01 9.31381901e-01 1.84050115e-01 -5.21277083e+01] [ 5.02106388e-01 -1.56770915e-03 8.64804439e-01 3.72230317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:-52.12, Z:37.21 [[ 8.08544180e-01 3.45350905e-01 -4.76433690e-01 1.08283640e+02] [-3.12618885e-01 9.38052076e-01 1.49424684e-01 -5.21191674e+01] [ 4.98523561e-01 2.81257100e-02 8.66419762e-01 3.72107189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:108.30, Y:-52.14, Z:37.24 [[ 8.08236908e-01 3.61608389e-01 -4.64749904e-01 1.08295225e+02] [-3.13817645e-01 9.32329861e-01 1.79665008e-01 -5.21386106e+01] [ 4.98268588e-01 6.34829699e-04 8.67022498e-01 3.72369222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:-52.16, Z:37.27 [[ 8.02842757e-01 3.77473842e-01 -4.61472649e-01 1.08305034e+02] [-3.17268344e-01 9.25836403e-01 2.05347884e-01 -5.21586588e+01] [ 5.04761632e-01 -1.84513978e-02 8.63061551e-01 3.72742560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:-52.16, Z:37.28 [[ 8.03102264e-01 3.68045906e-01 -4.68581866e-01 1.08335344e+02] [-3.18049180e-01 9.29807575e-01 1.85209590e-01 -5.21610550e+01] [ 5.03856600e-01 2.89836958e-04 8.63787267e-01 3.72806727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:-52.17, Z:37.29 [[ 8.03235957e-01 3.68454805e-01 -4.68031039e-01 1.08356944e+02] [-3.18752887e-01 9.29645369e-01 1.84813647e-01 -5.21690272e+01] [ 5.03198364e-01 7.37278273e-04 8.64170621e-01 3.72944406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:-52.18, Z:37.31 [[ 8.03175902e-01 3.69946500e-01 -4.66956162e-01 1.08379930e+02] [-3.20769278e-01 9.29051409e-01 1.84311013e-01 -5.21776186e+01] [ 5.02011494e-01 1.75102682e-03 8.64859175e-01 3.73084980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:-52.19, Z:37.32 [[ 8.02529701e-01 3.70944122e-01 -4.67275655e-01 1.08402851e+02] [-3.21953781e-01 9.28651641e-01 1.84260393e-01 -5.21858916e+01] [ 5.02286613e-01 2.56672573e-03 8.64697386e-01 3.73222895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:-52.19, Z:37.34 [[ 8.01738194e-01 3.72307841e-01 -4.67549719e-01 1.08425497e+02] [-3.23574975e-01 9.28102254e-01 1.84188604e-01 -5.21938505e+01] [ 5.02508810e-01 3.61634967e-03 8.64564525e-01 3.73353183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:-52.19, Z:37.32 [[ 8.07073976e-01 3.54175966e-01 -4.72430929e-01 1.08465270e+02] [-3.22479491e-01 9.34649570e-01 1.49790383e-01 -5.21871275e+01] [ 4.94609519e-01 3.14573651e-02 8.68545830e-01 3.73228288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:-52.22, Z:37.37 [[ 7.97259810e-01 3.89551218e-01 -4.61114568e-01 1.08463432e+02] [-3.29338133e-01 9.20892101e-01 2.08552469e-01 -5.22182031e+01] [ 5.05878631e-01 -1.44078912e-02 8.62484332e-01 3.73722562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:-52.22, Z:37.38 [[ 7.95936537e-01 3.79880046e-01 -4.71355682e-01 1.08495309e+02] [-3.31634901e-01 9.24994955e-01 1.85479447e-01 -5.22192568e+01] [ 5.06461569e-01 8.68812675e-03 8.62218763e-01 3.73765877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:-52.23, Z:37.39 [[ 7.94905692e-01 3.81438454e-01 -4.71836461e-01 1.08518200e+02] [-3.33447259e-01 9.24341365e-01 1.85488455e-01 -5.22279316e+01] [ 5.06890388e-01 9.88674619e-03 8.61953819e-01 3.73904755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.6 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:108.54, Y:-52.24, Z:37.40 [[ 7.93566259e-01 3.82456850e-01 -4.73264567e-01 1.08542002e+02] [-3.34428579e-01 9.23910528e-01 1.85867862e-01 -5.22366111e+01] [ 5.08340553e-01 1.07747323e-02 8.61088722e-01 3.74023158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:-52.24, Z:37.42 [[ 7.92637472e-01 3.84541268e-01 -4.73131960e-01 1.08563728e+02] [-3.36991215e-01 9.23025847e-01 1.85634606e-01 -5.22445865e+01] [ 5.08097195e-01 1.23003689e-02 8.61211903e-01 3.74175344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:-52.25, Z:37.43 [[ 7.92460912e-01 3.84974753e-01 -4.73075197e-01 1.08586069e+02] [-3.37614214e-01 9.22838771e-01 1.85432592e-01 -5.22530954e+01] [ 5.07958999e-01 1.27688296e-02 8.61286603e-01 3.74311792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:108.61, Y:-52.26, Z:37.44 [[ 7.92098994e-01 3.84488123e-01 -4.74076013e-01 1.08610214e+02] [-3.36880743e-01 9.23044222e-01 1.85743721e-01 -5.22624962e+01] [ 5.09009379e-01 1.25796653e-02 8.60669045e-01 3.74434475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:108.63, Y:-52.27, Z:37.46 [[ 7.92748990e-01 3.84241543e-01 -4.73188626e-01 1.08632695e+02] [-3.36890555e-01 9.23146840e-01 1.85215187e-01 -5.22719656e+01] [ 5.07989954e-01 1.25836264e-02 8.61271072e-01 3.74582947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:-52.26, Z:37.44 [[ 8.02897476e-01 3.55701936e-01 -4.78363644e-01 1.08675309e+02] [-3.31232556e-01 9.33388076e-01 1.38100299e-01 -5.22617303e+01] [ 4.95621466e-01 4.75692309e-02 8.67234992e-01 3.74401625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:-52.30, Z:37.50 [[ 7.94478653e-01 3.96607953e-01 -4.59897599e-01 1.08664250e+02] [-3.33359165e-01 9.17811656e-01 2.15623353e-01 -5.23032979e+01] [ 5.07617314e-01 -1.79970717e-02 8.61394664e-01 3.75030538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:-52.30, Z:37.50 [[ 7.95622461e-01 3.80028883e-01 -4.71765776e-01 1.08697724e+02] [-3.32398654e-01 9.24920175e-01 1.84482532e-01 -5.23023938e+01] [ 5.06454375e-01 1.00358632e-02 8.62208355e-01 3.75043413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:108.72, Y:-52.31, Z:37.52 [[ 7.96009221e-01 3.78834522e-01 -4.72073855e-01 1.08720769e+02] [-3.31015932e-01 9.25416519e-01 1.84479588e-01 -5.23119405e+01] [ 5.06752180e-01 9.41651425e-03 8.62040345e-01 3.75172770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:108.74, Y:-52.32, Z:37.53 [[ 7.96111528e-01 3.78543783e-01 -4.72134557e-01 1.08743945e+02] [-3.30770088e-01 9.25535394e-01 1.84324125e-01 -5.23208357e+01] [ 5.06751995e-01 9.42542801e-03 8.62040357e-01 3.75314834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:-52.33, Z:37.55 [[ 7.96949978e-01 3.77875785e-01 -4.71254309e-01 1.08765222e+02] [-3.30282905e-01 9.25811012e-01 1.83812874e-01 -5.23298550e+01] [ 5.05750863e-01 9.15757593e-03 8.62630978e-01 3.75467433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:-52.34, Z:37.56 [[ 7.97732205e-01 3.76176264e-01 -4.71290513e-01 1.08787690e+02] [-3.28405378e-01 9.26511196e-01 1.83648879e-01 -5.23397267e+01] [ 5.05740286e-01 8.27171364e-03 8.62646128e-01 3.75607007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:108.81, Y:-52.35, Z:37.57 [[ 7.98055591e-01 3.74636570e-01 -4.71968976e-01 1.08810287e+02] [-3.26572531e-01 9.27141408e-01 1.83736743e-01 -5.23486552e+01] [ 5.06416484e-01 7.49996777e-03 8.62256398e-01 3.75730643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:-52.36, Z:37.59 [[ 7.98904593e-01 3.73497134e-01 -4.71435407e-01 1.08832141e+02] [-3.25411885e-01 9.27606034e-01 1.83450679e-01 -5.23577419e+01] [ 5.05824631e-01 6.85109373e-03 8.62609127e-01 3.75884231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:-52.37, Z:37.60 [[ 8.00775749e-01 3.70158500e-01 -4.70893709e-01 1.08852940e+02] [-3.21759677e-01 9.28955575e-01 1.83063512e-01 -5.23681188e+01] [ 5.05201851e-01 4.92178621e-03 8.62987176e-01 3.76020831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:108.88, Y:-52.38, Z:37.62 [[ 8.01857125e-01 3.67646339e-01 -4.71021570e-01 1.08875266e+02] [-3.18863150e-01 9.29959380e-01 1.83035085e-01 -5.23782298e+01] [ 5.05323107e-01 3.42343464e-03 8.62923425e-01 3.76153118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:-52.39, Z:37.63 [[ 8.03066754e-01 3.65470424e-01 -4.70653969e-01 1.08895874e+02] [-3.16525512e-01 9.30820256e-01 1.82716315e-01 -5.23876128e+01] [ 5.04871656e-01 2.24059057e-03 8.63191514e-01 3.76304645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:-52.40, Z:37.64 [[ 8.04253653e-01 3.63164449e-01 -4.70412207e-01 1.08916994e+02] [-3.13952557e-01 9.31724648e-01 1.82545810e-01 -5.23970458e+01] [ 5.04588796e-01 8.73980041e-04 8.63359359e-01 3.76440825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:-52.41, Z:37.66 [[ 8.06855060e-01 3.58141532e-01 -4.69807998e-01 1.08939143e+02] [-3.08318994e-01 9.33664749e-01 1.82234836e-01 -5.24074013e+01] [ 5.03909029e-01 -2.18637028e-03 8.63753964e-01 3.76580720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:-52.42, Z:37.67 [[ 8.08149354e-01 3.55481712e-01 -4.69603423e-01 1.08962043e+02] [-3.05390613e-01 9.34676088e-01 1.81981275e-01 -5.24166780e+01] [ 5.03618105e-01 -3.65557323e-03 8.63918654e-01 3.76718834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:-52.43, Z:37.68 [[ 8.09524290e-01 3.52736851e-01 -4.69304951e-01 1.08983913e+02] [-3.02390391e-01 9.35708300e-01 1.81686624e-01 -5.24252613e+01] [ 5.03220106e-01 -5.16642782e-03 8.64142832e-01 3.76849223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:-52.43, Z:37.70 [[ 8.10810608e-01 3.50118795e-01 -4.69044761e-01 1.09006569e+02] [-2.99471480e-01 9.36681325e-01 1.81507377e-01 -5.24342777e+01] [ 5.02894613e-01 -6.70257757e-03 8.64321748e-01 3.76986598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:-52.44, Z:37.71 [[ 8.13009860e-01 3.45382428e-01 -4.68749343e-01 1.09029339e+02] [-2.94172893e-01 9.38414551e-01 1.81219312e-01 -5.24428627e+01] [ 5.02471170e-01 -9.43973728e-03 8.64542431e-01 3.77119948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:-52.45, Z:37.73 [[ 8.14110878e-01 3.42948797e-01 -4.68625225e-01 1.09052711e+02] [-2.91495742e-01 9.39292599e-01 1.80996259e-01 -5.24514512e+01] [ 5.02248655e-01 -1.07487661e-02 8.64656436e-01 3.77259082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:-52.46, Z:37.74 [[ 8.15039061e-01 3.40674069e-01 -4.68671002e-01 1.09075468e+02] [-2.88962354e-01 9.40105355e-01 1.80838820e-01 -5.24598231e+01] [ 5.02207215e-01 -1.19624265e-02 8.64664567e-01 3.77400689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:-52.47, Z:37.75 [[ 8.15960637e-01 3.38922313e-01 -4.68337382e-01 1.09097540e+02] [-2.87124811e-01 9.40726778e-01 1.80533853e-01 -5.24675917e+01] [ 5.01764468e-01 -1.28372359e-02 8.64909026e-01 3.77533175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:-52.48, Z:37.77 [[ 8.16573836e-01 3.37690917e-01 -4.68158108e-01 1.09120745e+02] [-2.85793268e-01 9.41160190e-01 1.80387653e-01 -5.24755674e+01] [ 5.01527046e-01 -1.35034015e-02 8.65036578e-01 3.77674006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:-52.48, Z:37.78 [[ 8.16883758e-01 3.36874431e-01 -4.68205664e-01 1.09144585e+02] [-2.84942082e-01 9.41448205e-01 1.80231203e-01 -5.24817230e+01] [ 5.01506666e-01 -1.38164457e-02 8.65043450e-01 3.77812845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:-52.49, Z:37.80 [[ 8.16594109e-01 3.36978406e-01 -4.68635909e-01 1.09168220e+02] [-2.85058734e-01 9.41414428e-01 1.80223172e-01 -5.24890015e+01] [ 5.01911924e-01 -1.35804215e-02 8.64812114e-01 3.77954312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:-52.50, Z:37.81 [[ 8.16406660e-01 3.37491245e-01 -4.68593453e-01 1.09191480e+02] [-2.85761763e-01 9.41237884e-01 1.80031835e-01 -5.24960161e+01] [ 5.01817078e-01 -1.30730979e-02 8.64874970e-01 3.78091131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:-52.50, Z:37.82 [[ 8.16083382e-01 3.38218766e-01 -4.68632031e-01 1.09215018e+02] [-2.86694012e-01 9.40985359e-01 1.79869668e-01 -5.25027029e+01] [ 5.01811177e-01 -1.24346495e-02 8.64887809e-01 3.78228442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:-52.51, Z:37.84 [[ 8.15269348e-01 3.41232347e-01 -4.67863630e-01 1.09238803e+02] [-2.90452777e-01 9.39921816e-01 1.79399456e-01 -5.25073932e+01] [ 5.00972130e-01 -1.03665865e-02 8.65401328e-01 3.78363943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:-52.51, Z:37.85 [[ 8.15026410e-01 3.42923222e-01 -4.67049906e-01 1.09261372e+02] [-2.92636807e-01 9.39318156e-01 1.79011454e-01 -5.25135462e+01] [ 5.00095641e-01 -9.22306984e-03 8.65921061e-01 3.78496117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:-52.52, Z:37.86 [[ 8.14416460e-01 3.44573667e-01 -4.66899151e-01 1.09284810e+02] [-2.94617871e-01 9.38724125e-01 1.78877966e-01 -5.25200505e+01] [ 4.99926134e-01 -8.12432564e-03 8.66029939e-01 3.78636580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.31, Y:-52.53, Z:37.88 [[ 8.13648656e-01 3.46613702e-01 -4.66727764e-01 1.09308010e+02] [-2.97110364e-01 9.37984194e-01 1.78636737e-01 -5.25266906e+01] [ 4.99701206e-01 -6.67788535e-03 8.66172102e-01 3.78771014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:-52.53, Z:37.89 [[ 8.11519658e-01 3.51113862e-01 -4.67070552e-01 1.09331943e+02] [-3.02266421e-01 9.36324929e-01 1.78691462e-01 -5.25312388e+01] [ 5.00070851e-01 -3.83189011e-03 8.65976016e-01 3.78908136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:109.36, Y:-52.54, Z:37.90 [[ 8.10472726e-01 3.52833039e-01 -4.67592565e-01 1.09356528e+02] [-3.04234257e-01 9.35682722e-01 1.78715866e-01 -5.25384544e+01] [ 5.00575147e-01 -2.58665856e-03 8.65689224e-01 3.79027792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:-52.54, Z:37.92 [[ 8.09288868e-01 3.55169297e-01 -4.67874234e-01 1.09378240e+02] [-3.06969854e-01 9.34801507e-01 1.78649523e-01 -5.25448181e+01] [ 5.00820365e-01 -9.55784552e-04 8.65550720e-01 3.79168096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:109.40, Y:-52.55, Z:37.93 [[ 8.08353887e-01 3.56176044e-01 -4.68724460e-01 1.09402761e+02] [-3.07988668e-01 9.34418837e-01 1.78897784e-01 -5.25524186e+01] [ 5.01704070e-01 -2.50897075e-04 8.65039284e-01 3.79284253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:-52.56, Z:37.94 [[ 8.07214377e-01 3.58941659e-01 -4.68578526e-01 1.09424498e+02] [-3.11318689e-01 9.33358534e-01 1.78668748e-01 -5.25584544e+01] [ 5.01483423e-01 1.65327014e-03 8.65165674e-01 3.79428052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:-52.57, Z:37.96 [[ 8.06819030e-01 3.59240756e-01 -4.69029990e-01 1.09447419e+02] [-3.11609989e-01 9.33242937e-01 1.78764751e-01 -5.25661209e+01] [ 5.01938510e-01 1.92362676e-03 8.64901169e-01 3.79563794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:-52.57, Z:37.97 [[ 8.06543983e-01 3.59230721e-01 -4.69510481e-01 1.09470316e+02] [-3.11596020e-01 9.33246395e-01 1.78771046e-01 -5.25740969e+01] [ 5.02389016e-01 2.11088592e-03 8.64639128e-01 3.79700505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85999999999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.49, Y:-52.58, Z:37.98 [[ 8.06555413e-01 3.58613997e-01 -4.69962090e-01 1.09494312e+02] [-3.10886029e-01 9.33483967e-01 1.78766775e-01 -5.25830842e+01] [ 5.02810344e-01 1.91933824e-03 8.64394629e-01 3.79828542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:-52.59, Z:38.00 [[ 8.06958483e-01 3.58407047e-01 -4.69427732e-01 1.09515839e+02] [-3.10867183e-01 9.33563316e-01 1.78384777e-01 -5.25918771e+01] [ 5.02174872e-01 1.98056762e-03 8.64763827e-01 3.79971765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:-52.60, Z:38.01 [[ 8.07129111e-01 3.57968144e-01 -4.69469281e-01 1.09538297e+02] [-3.10395927e-01 9.33732079e-01 1.78322106e-01 -5.26005789e+01] [ 5.02192162e-01 1.79238955e-03 8.64754196e-01 3.80110387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.56, Y:-52.61, Z:38.02 [[ 8.07397984e-01 3.56972848e-01 -4.69764708e-01 1.09561738e+02] [-3.09282478e-01 9.34113763e-01 1.78257752e-01 -5.26095671e+01] [ 5.02446857e-01 1.36504377e-03 8.64607016e-01 3.80235394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.58, Y:-52.62, Z:38.04 [[ 8.07721273e-01 3.56440354e-01 -4.69613264e-01 1.09583729e+02] [-3.08802073e-01 9.34317278e-01 1.78023886e-01 -5.26183003e+01] [ 5.02222684e-01 1.22386915e-03 8.64737462e-01 3.80374308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:-52.61, Z:38.03 [[ 8.13984820e-01 3.37469245e-01 -4.72803576e-01 1.09620096e+02] [-3.05514984e-01 9.40980579e-01 1.45657625e-01 -5.26121175e+01] [ 4.94053952e-01 2.58854818e-02 8.69045818e-01 3.80291306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.62, Y:-52.64, Z:38.08 [[ 8.08099965e-01 3.66516704e-01 -4.61128997e-01 1.09620821e+02] [-3.08689688e-01 9.30237448e-01 1.98416145e-01 -5.26448717e+01] [ 5.01682293e-01 -1.79943131e-02 8.64864776e-01 3.80753753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.65, Y:-52.65, Z:38.08 [[ 8.07965154e-01 3.56157577e-01 -4.69408234e-01 1.09650776e+02] [-3.08629124e-01 9.34425072e-01 1.77757835e-01 -5.26472080e+01] [ 5.01936623e-01 1.25091552e-03 8.64903499e-01 3.80815248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:-52.66, Z:38.10 [[ 8.07804330e-01 3.56723605e-01 -4.69255191e-01 1.09672937e+02] [-3.09418615e-01 9.34208254e-01 1.77524811e-01 -5.26564614e+01] [ 5.01709363e-01 1.79097992e-03 8.65034397e-01 3.80957439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:-52.67, Z:38.11 [[ 8.06363099e-01 3.58155060e-01 -4.70641589e-01 1.09695398e+02] [-3.10876519e-01 9.33657676e-01 1.77873928e-01 -5.26659845e+01] [ 5.03124580e-01 2.88044671e-03 8.64209095e-01 3.81089976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:109.72, Y:-52.68, Z:38.12 [[ 8.05505209e-01 3.58507807e-01 -4.71840556e-01 1.09719604e+02] [-3.11128977e-01 9.33520887e-01 1.78150253e-01 -5.26757079e+01] [ 5.04341271e-01 3.30231268e-03 8.63498105e-01 3.81209144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:-52.68, Z:38.14 [[ 8.04874511e-01 3.59740011e-01 -4.71978967e-01 1.09741112e+02] [-3.12629851e-01 9.33042835e-01 1.78027089e-01 -5.26844718e+01] [ 5.04420060e-01 4.26524803e-03 8.63447862e-01 3.81367057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:-52.69, Z:38.15 [[ 8.04116690e-01 3.60741844e-01 -4.72505736e-01 1.09763965e+02] [-3.13782764e-01 9.32651802e-01 1.78047729e-01 -5.26936772e+01] [ 5.04912592e-01 5.09300572e-03 8.63155453e-01 3.81505465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:109.79, Y:-52.70, Z:38.16 [[ 8.02490706e-01 3.62249309e-01 -4.74114021e-01 1.09786465e+02] [-3.15296083e-01 9.32060189e-01 1.78471801e-01 -5.27037639e+01] [ 5.06554090e-01 6.26433178e-03 8.62185428e-01 3.81621229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:-52.71, Z:38.18 [[ 8.01922063e-01 3.63366011e-01 -4.74221622e-01 1.09808339e+02] [-3.16617852e-01 9.31619727e-01 1.78431558e-01 -5.27130531e+01] [ 5.06630182e-01 7.05882823e-03 8.62134579e-01 3.81771654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:-52.71, Z:38.17 [[ 8.07664230e-01 3.45351908e-01 -4.77923164e-01 1.09846382e+02] [-3.14576710e-01 9.37916579e-01 1.46130024e-01 -5.27085830e+01] [ 4.98718342e-01 3.23195035e-02 8.66161339e-01 3.81674782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:-52.74, Z:38.22 [[ 8.00882469e-01 3.75715396e-01 -4.66288765e-01 1.09845053e+02] [-3.17908361e-01 9.26651581e-01 2.00626821e-01 -5.27401244e+01] [ 5.07465807e-01 -1.24414063e-02 8.61582072e-01 3.82150249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:-52.73, Z:38.20 [[ 8.07035243e-01 3.47459958e-01 -4.77457532e-01 1.09890255e+02] [-3.17042062e-01 9.37096388e-01 1.46063995e-01 -5.27295781e+01] [ 4.98175118e-01 3.34953286e-02 8.66429232e-01 3.81969550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:-52.76, Z:38.24 [[ 8.02300684e-01 3.69471865e-01 -4.68832757e-01 1.09895606e+02] [-3.18645791e-01 9.29241689e-01 1.87015354e-01 -5.27553545e+01] [ 5.04755855e-01 -6.50961049e-04 8.63261897e-01 3.82359232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:-52.76, Z:38.25 [[ 8.04106439e-01 3.70459233e-01 -4.64943858e-01 1.09916572e+02] [-3.20292358e-01 9.28848407e-01 1.86154349e-01 -5.27641306e+01] [ 5.00824959e-01 -7.69945674e-04 8.65548247e-01 3.82492048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:-52.76, Z:38.24 [[ 8.10845724e-01 3.48461858e-01 -4.70216487e-01 1.09957109e+02] [-3.18134593e-01 9.36793280e-01 1.45632179e-01 -5.27582230e+01] [ 4.91242905e-01 3.15069012e-02 8.70452597e-01 3.82383100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:-52.78, Z:38.26 [[ 8.10931771e-01 3.60032246e-01 -4.61266133e-01 1.09969344e+02] [-3.16622571e-01 9.32913971e-01 1.71527463e-01 -5.27767298e+01] [ 4.92077038e-01 6.95019923e-03 8.70523913e-01 3.82634987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:109.98, Y:-52.80, Z:38.29 [[ 8.07655056e-01 3.69847812e-01 -4.59244932e-01 1.09982224e+02] [-3.16361786e-01 9.29042358e-01 1.91821577e-01 -5.27950153e+01] [ 4.97602785e-01 -9.63811954e-03 8.67351472e-01 3.82920487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:-52.78, Z:38.28 [[ 8.14543658e-01 3.42211401e-01 -4.68412198e-01 1.10026163e+02] [-3.12687037e-01 9.39127571e-01 1.42359483e-01 -5.27849575e+01] [ 4.88615848e-01 3.05084086e-02 8.71965475e-01 3.82786120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:-52.80, Z:38.31 [[ 8.13951474e-01 3.54342579e-01 -4.60352403e-01 1.10038164e+02] [-3.11167360e-01 9.35101174e-01 1.69589709e-01 -5.28042802e+01] [ 4.90568927e-01 5.20884855e-03 8.71386823e-01 3.83050103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60999999999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:110.06, Y:-52.81, Z:38.32 [[ 8.15614429e-01 3.47668406e-01 -4.62493009e-01 1.10063998e+02] [-3.06830104e-01 9.37580039e-01 1.63703875e-01 -5.28116967e+01] [ 4.90538878e-01 8.38753546e-03 8.71378941e-01 3.83157215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:-52.83, Z:38.35 [[ 8.10988242e-01 3.64215207e-01 -4.57870456e-01 1.10070942e+02] [-3.07904477e-01 9.31151798e-01 1.95323225e-01 -5.28331158e+01] [ 4.97486587e-01 -1.74244759e-02 8.67296652e-01 3.83522322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:-52.83, Z:38.36 [[ 8.11364832e-01 3.52464111e-01 -4.66321949e-01 1.10102265e+02] [-3.06756605e-01 9.35822754e-01 1.73597692e-01 -5.28343401e+01] [ 4.97581647e-01 2.19627551e-03 8.67414365e-01 3.83568212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:-52.84, Z:38.37 [[ 8.10999504e-01 3.52134438e-01 -4.67205675e-01 1.10124378e+02] [-3.06289190e-01 9.35946879e-01 1.73753770e-01 -5.28423184e+01] [ 4.98464379e-01 2.18582610e-03 8.66907426e-01 3.83700062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:-52.84, Z:38.36 [[ 8.15370615e-01 3.34398379e-01 -4.72597593e-01 1.10162926e+02] [-3.02591376e-01 9.42096263e-01 1.44544425e-01 -5.28372637e+01] [ 4.93567848e-01 2.51466791e-02 8.69343674e-01 3.83610620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.18, Y:-52.85, Z:38.38 [[ 8.15097480e-01 3.45157672e-01 -4.65276563e-01 1.10178830e+02] [-3.02663269e-01 9.38528550e-01 1.66009354e-01 -5.28539062e+01] [ 4.93974740e-01 5.50831948e-03 8.69458805e-01 3.83843486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:-52.87, Z:38.42 [[ 8.09778047e-01 3.62131730e-01 -4.61649352e-01 1.10187072e+02] [-3.04454521e-01 9.31933869e-01 1.96994182e-01 -5.28746950e+01] [ 5.01564511e-01 -1.89703319e-02 8.64912231e-01 3.84208484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:-52.87, Z:38.41 [[ 8.13859216e-01 3.35721018e-01 -4.74262137e-01 1.10232054e+02] [-3.01181238e-01 9.41728861e-01 1.49788566e-01 -5.28652196e+01] [ 4.96913512e-01 2.09320525e-02 8.67547584e-01 3.84072442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:-52.88, Z:38.43 [[ 8.14098936e-01 3.44605766e-01 -4.67428913e-01 1.10248185e+02] [-2.99883068e-01 9.38745469e-01 1.69785422e-01 -5.28812948e+01] [ 4.97305810e-01 1.95188498e-03 8.67573122e-01 3.84293208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:-52.89, Z:38.45 [[ 8.14139301e-01 3.44890305e-01 -4.67148666e-01 1.10269096e+02] [-2.98421587e-01 9.38642012e-01 1.72903817e-01 -5.28910289e+01] [ 4.98118213e-01 -1.36054630e-03 8.67108064e-01 3.84462218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:-52.91, Z:38.47 [[ 8.13464399e-01 3.51722338e-01 -4.63213847e-01 1.10281638e+02] [-2.96408752e-01 9.35943219e-01 1.90137169e-01 -5.29065549e+01] [ 5.00417348e-01 -1.73691798e-02 8.65610068e-01 3.84742644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:-52.90, Z:38.47 [[ 8.18005409e-01 3.29060865e-01 -4.71790312e-01 1.10321548e+02] [-2.92192100e-01 9.44211380e-01 1.51949485e-01 -5.29003614e+01] [ 4.95470411e-01 1.35579012e-02 8.68519001e-01 3.84659054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:-52.92, Z:38.50 [[ 8.15377263e-01 3.48055371e-01 -4.62620123e-01 1.10327395e+02] [-2.92622654e-01 9.37279956e-01 1.89415591e-01 -5.29232750e+01] [ 4.99531682e-01 -1.90720381e-02 8.66085651e-01 3.85029262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.0 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:110.37, Y:-52.92, Z:38.50 [[ 8.17663367e-01 3.30087346e-01 -4.71666155e-01 1.10366545e+02] [-2.90573664e-01 9.43909346e-01 1.56850538e-01 -5.29221047e+01] [ 4.96984470e-01 8.80282388e-03 8.67714784e-01 3.85009496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:-52.93, Z:38.52 [[ 8.19973079e-01 3.30726005e-01 -4.67187821e-01 1.10386339e+02] [-2.86655478e-01 9.43725873e-01 1.64954884e-01 -5.29303828e+01] [ 4.95452104e-01 -1.33661629e-03 8.68634231e-01 3.85156923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:-52.95, Z:38.55 [[ 8.17240981e-01 3.45660556e-01 -4.61124668e-01 1.10392823e+02] [-2.85262352e-01 9.37884879e-01 1.97477453e-01 -5.29510786e+01] [ 5.00742019e-01 -2.98451597e-02 8.65081902e-01 3.85526333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:-52.95, Z:38.56 [[ 8.17740679e-01 3.32419497e-01 -4.69890902e-01 1.10424673e+02] [-2.83379838e-01 9.43087307e-01 1.74017813e-01 -5.29512241e+01] [ 5.00995059e-01 -9.14383705e-03 8.65401838e-01 3.85568773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:-52.94, Z:38.55 [[ 8.23813009e-01 3.10689997e-01 -4.74134846e-01 1.10465890e+02] [-2.78697392e-01 9.50340015e-01 1.38497728e-01 -5.29443570e+01] [ 4.93619175e-01 1.80439151e-02 8.69490958e-01 3.85451288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.48, Y:-52.96, Z:38.57 [[ 8.23661789e-01 3.24939013e-01 -4.64753585e-01 1.10477788e+02] [-2.77999264e-01 9.45686354e-01 1.68504390e-01 -5.29633022e+01] [ 4.94264773e-01 -9.58947267e-03 8.69258521e-01 3.85729573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:-52.97, Z:38.58 [[ 8.24110275e-01 3.20303600e-01 -4.67170052e-01 1.10505396e+02] [-2.77370670e-01 9.47311781e-01 1.60205807e-01 -5.29676328e+01] [ 4.93870191e-01 -2.44798119e-03 8.69532197e-01 3.85826458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:-52.99, Z:38.63 [[ 8.18535014e-01 3.44575214e-01 -4.59639372e-01 1.10507882e+02] [-2.80147799e-01 9.37971535e-01 2.04270925e-01 -5.29914994e+01] [ 5.01515345e-01 -3.84359457e-02 8.64294531e-01 3.86273135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.54, Y:-52.99, Z:38.63 [[ 8.18011584e-01 3.30146667e-01 -4.71020411e-01 1.10542543e+02] [-2.80665253e-01 9.43873888e-01 1.74152517e-01 -5.29884767e+01] [ 5.02079739e-01 -1.02597138e-02 8.64760472e-01 3.86292718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.58, Y:-52.98, Z:38.62 [[ 8.21582315e-01 3.15858700e-01 -4.74590119e-01 1.10581824e+02] [-2.80865578e-01 9.48702692e-01 1.45181714e-01 -5.29828140e+01] [ 4.96101830e-01 1.40172998e-02 8.68151190e-01 3.86228153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29999999999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:110.58, Y:-53.01, Z:38.67 [[ 8.16951360e-01 3.44248196e-01 -4.62691750e-01 1.10583054e+02] [-2.84238183e-01 9.38434197e-01 1.96341320e-01 -5.30090243e+01] [ 5.01795905e-01 -2.88866459e-02 8.64503575e-01 3.86656256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.63, Y:-53.00, Z:38.65 [[ 8.21314764e-01 3.16423994e-01 -4.74676641e-01 1.10630282e+02] [-2.83732277e-01 9.48435001e-01 1.41304789e-01 -5.29951174e+01] [ 4.94912166e-01 1.86253752e-02 8.68743370e-01 3.86493025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:-53.01, Z:38.68 [[ 8.20419960e-01 3.34303842e-01 -4.63844835e-01 1.10642000e+02] [-2.87131216e-01 9.42436176e-01 1.71375959e-01 -5.30142747e+01] [ 4.94435794e-01 -7.41592602e-03 8.69182518e-01 3.86756880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:-53.03, Z:38.71 [[ 8.16915032e-01 3.48233636e-01 -4.59764250e-01 1.10653234e+02] [-2.90276533e-01 9.37073972e-01 1.93989449e-01 -5.30289862e+01] [ 4.98386763e-01 -2.50141247e-02 8.66593866e-01 3.87065892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.70, Y:-53.02, Z:38.69 [[ 8.19178886e-01 3.24080496e-01 -4.73199518e-01 1.10701415e+02] [-2.93271113e-01 9.45722762e-01 1.40001830e-01 -5.30163083e+01] [ 4.92887418e-01 2.40892062e-02 8.69759567e-01 3.86906956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.70, Y:-53.04, Z:38.74 [[ 8.14022370e-01 3.57012688e-01 -4.58158838e-01 1.10699032e+02] [-2.97391703e-01 9.33739973e-01 1.99218069e-01 -5.30441732e+01] [ 4.98924599e-01 -2.59153274e-02 8.66257837e-01 3.87367105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:-53.04, Z:38.74 [[ 8.12998656e-01 3.45975803e-01 -4.68331004e-01 1.10732877e+02] [-3.00255729e-01 9.38243030e-01 1.71890992e-01 -5.30419259e+01] [ 4.98878424e-01 8.71921324e-04 8.66671540e-01 3.87400268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:-53.05, Z:38.75 [[ 8.11948018e-01 3.48455308e-01 -4.68315401e-01 1.10756224e+02] [-3.03220589e-01 9.37321841e-01 1.71712087e-01 -5.30490374e+01] [ 4.98796242e-01 2.58158272e-03 8.66715435e-01 3.87538163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:-53.05, Z:38.75 [[ 8.13435013e-01 3.40319590e-01 -4.71705476e-01 1.10791746e+02] [-3.07278146e-01 9.39995206e-01 1.48287402e-01 -5.30458214e+01] [ 4.93865994e-01 2.43226192e-02 8.69197785e-01 3.87504488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:-53.07, Z:38.79 [[ 8.08144601e-01 3.64608630e-01 -4.62561186e-01 1.10796745e+02] [-3.11448072e-01 9.31114142e-01 1.89806619e-01 -5.30689577e+01] [ 4.99902393e-01 -9.32740488e-03 8.66031522e-01 3.87880445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:-53.07, Z:38.79 [[ 8.07373372e-01 3.57218069e-01 -4.69620581e-01 1.10826498e+02] [-3.13316633e-01 9.33982803e-01 1.71781287e-01 -5.30705384e+01] [ 4.99980926e-01 8.44830197e-03 8.65995208e-01 3.87946967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:-53.08, Z:38.81 [[ 8.06804816e-01 3.58196472e-01 -4.69852398e-01 1.10849824e+02] [-3.14503011e-01 9.33600428e-01 1.71691868e-01 -5.30783066e+01] [ 5.00153821e-01 9.24816770e-03 8.65887191e-01 3.88079324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:-53.09, Z:38.82 [[ 8.07062107e-01 3.57491944e-01 -4.69947088e-01 1.10872281e+02] [-3.13770368e-01 9.33872824e-01 1.71550881e-01 -5.30863629e+01] [ 5.00198872e-01 9.00325525e-03 8.65863748e-01 3.88216134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:-53.09, Z:38.82 [[ 8.11297275e-01 3.43672930e-01 -4.72954173e-01 1.10906649e+02] [-3.10594196e-01 9.38736797e-01 1.49346818e-01 -5.30855776e+01] [ 4.95305943e-01 2.57321543e-02 8.68337422e-01 3.88197599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:-53.11, Z:38.86 [[ 8.08400145e-01 3.62833851e-01 -4.63509225e-01 1.10912588e+02] [-3.10704920e-01 9.31822966e-01 1.87532432e-01 -5.31094758e+01] [ 4.99951655e-01 -7.58664832e-03 8.66020084e-01 3.88562618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:-53.11, Z:38.86 [[ 8.10592112e-01 3.50492202e-01 -4.69143522e-01 1.10940590e+02] [-3.06035638e-01 9.36552134e-01 1.70916026e-01 -5.31138269e+01] [ 4.99282101e-01 5.03145445e-03 8.66424877e-01 3.88641784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:-53.11, Z:38.85 [[ 8.17967828e-01 3.27695241e-01 -4.72804887e-01 1.10978609e+02] [-2.99100501e-01 9.44328590e-01 1.37048916e-01 -5.31074287e+01] [ 4.91393450e-01 2.93145743e-02 8.70444216e-01 3.88527008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:-53.14, Z:38.90 [[ 8.12710248e-01 3.56525212e-01 -4.60859877e-01 1.10977569e+02] [-2.99932558e-01 9.34088524e-01 1.93698453e-01 -5.31410187e+01] [ 4.99542304e-01 -1.91938358e-02 8.66076835e-01 3.89014176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:-53.14, Z:38.91 [[ 8.13838878e-01 3.42330481e-01 -4.69548850e-01 1.11008667e+02] [-2.96685367e-01 9.39579556e-01 1.70786564e-01 -5.31425145e+01] [ 4.99643946e-01 3.15527391e-04 8.66230817e-01 3.89061967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:-53.15, Z:38.92 [[ 8.15343543e-01 3.37563287e-01 -4.70389130e-01 1.11030948e+02] [-2.91105298e-01 9.41299716e-01 1.70916793e-01 -5.31526342e+01] [ 5.00472389e-01 -2.42313630e-03 8.65749107e-01 3.89196335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:-53.14, Z:38.90 [[ 8.22381306e-01 3.12971132e-01 -4.75118993e-01 1.11072893e+02] [-2.85208842e-01 9.49373197e-01 1.31705921e-01 -5.31436666e+01] [ 4.92285388e-01 2.71956506e-02 8.70008904e-01 3.89039592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:-53.18, Z:38.96 [[ 8.16289064e-01 3.48016602e-01 -4.61038621e-01 1.11066710e+02] [-2.87487926e-01 9.37029293e-01 1.98309850e-01 -5.31805793e+01] [ 5.01021813e-01 -2.93351248e-02 8.64937335e-01 3.89587757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:-53.18, Z:38.96 [[ 8.16365223e-01 3.33467414e-01 -4.71537174e-01 1.11099080e+02] [-2.86285514e-01 9.42750128e-01 1.71063735e-01 -5.31800378e+01] [ 5.01585912e-01 -4.65622180e-03 8.65095308e-01 3.89617822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:-53.19, Z:38.98 [[ 8.15907344e-01 3.32778477e-01 -4.72814648e-01 1.11121052e+02] [-2.85314675e-01 9.42992270e-01 1.71350852e-01 -5.31890393e+01] [ 5.02882434e-01 -4.90546100e-03 8.64340901e-01 3.89751227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:-53.20, Z:38.99 [[ 8.15472199e-01 3.33028344e-01 -4.73389074e-01 1.11143480e+02] [-2.85548742e-01 9.42905460e-01 1.71438648e-01 -5.31976251e+01] [ 5.03455072e-01 -4.62779676e-03 8.64009013e-01 3.89890068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:-53.21, Z:39.00 [[ 8.14967575e-01 3.33075305e-01 -4.74224307e-01 1.11166519e+02] [-2.85524392e-01 9.42889882e-01 1.71564832e-01 -5.32058416e+01] [ 5.04285309e-01 -4.41716822e-03 8.63525805e-01 3.90027691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:-53.20, Z:38.99 [[ 8.20477958e-01 3.13824553e-01 -4.77838958e-01 1.11205767e+02] [-2.83260093e-01 9.49204108e-01 1.37022925e-01 -5.31988297e+01] [ 4.96567860e-01 2.29284181e-02 8.67695020e-01 3.89912920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.20, Y:-53.23, Z:39.04 [[ 8.14176005e-01 3.46197612e-01 -4.66116558e-01 1.11203293e+02] [-2.86927727e-01 9.37819949e-01 1.95361771e-01 -5.32313153e+01] [ 5.04767185e-01 -2.53171021e-02 8.62884194e-01 3.90417799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:-53.22, Z:39.02 [[ 8.20193004e-01 3.14677340e-01 -4.77767316e-01 1.11251700e+02] [-2.84136186e-01 9.48914877e-01 1.37212185e-01 -5.32164319e+01] [ 4.96538079e-01 2.32105092e-02 8.67704563e-01 3.90213612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:111.25, Y:-53.25, Z:39.07 [[ 8.14106820e-01 3.46477467e-01 -4.66029452e-01 1.11250005e+02] [-2.87397193e-01 9.37727521e-01 1.95115224e-01 -5.32491167e+01] [ 5.04611671e-01 -2.49090782e-02 8.62987022e-01 3.90705983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:-53.25, Z:39.08 [[ 8.14527678e-01 3.35065431e-01 -4.73577680e-01 1.11280406e+02] [-2.88104412e-01 9.42190333e-01 1.71094196e-01 -5.32494480e+01] [ 5.03528062e-01 -2.92113931e-03 8.63973933e-01 3.90771160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:-53.26, Z:39.09 [[ 8.14979151e-01 3.35141652e-01 -4.72746292e-01 1.11303079e+02] [-2.88468455e-01 9.42163929e-01 1.70625556e-01 -5.32575719e+01] [ 5.02588235e-01 -2.68387856e-03 8.64521754e-01 3.90908684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:-53.27, Z:39.10 [[ 8.15295094e-01 3.35269255e-01 -4.72110619e-01 1.11325641e+02] [-2.88849132e-01 9.42119252e-01 1.70227773e-01 -5.32656612e+01] [ 5.01856641e-01 -2.41712593e-03 8.64947437e-01 3.91048469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:-53.27, Z:39.12 [[ 8.15608985e-01 3.35739188e-01 -4.71233680e-01 1.11348631e+02] [-2.89674427e-01 9.41952987e-01 1.69744798e-01 -5.32737817e+01] [ 5.00869953e-01 -1.94103629e-03 8.65520376e-01 3.91190345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:-53.28, Z:39.13 [[ 8.15412876e-01 3.37605307e-01 -4.70238767e-01 1.11370683e+02] [-2.92138736e-01 9.41287572e-01 1.69211895e-01 -5.32816484e+01] [ 4.99756741e-01 -6.02598722e-04 8.66165594e-01 3.91328109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.39, Y:-53.29, Z:39.15 [[ 8.15255851e-01 3.38388819e-01 -4.69947768e-01 1.11393366e+02] [-2.93171980e-01 9.41006380e-01 1.68988707e-01 -5.32895060e+01] [ 4.99407737e-01 6.48509610e-06 8.66367077e-01 3.91465152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:-53.30, Z:39.16 [[ 8.14409219e-01 3.40221453e-01 -4.70092530e-01 1.11416159e+02] [-2.95358315e-01 9.40344417e-01 1.68866349e-01 -5.32973271e+01] [ 4.99500840e-01 1.31942674e-03 8.66312397e-01 3.91598063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.44, Y:-53.31, Z:39.17 [[ 8.13872786e-01 3.40821802e-01 -4.70586429e-01 1.11439023e+02] [-2.95993873e-01 9.40126246e-01 1.68968246e-01 -5.33053942e+01] [ 4.99998716e-01 1.77204227e-03 8.66024332e-01 3.91733742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:-53.31, Z:39.19 [[ 8.13444518e-01 3.41469223e-01 -4.70857500e-01 1.11462672e+02] [-2.96788580e-01 9.39889984e-01 1.68888591e-01 -5.33137218e+01] [ 5.00224505e-01 2.36363044e-03 8.65892521e-01 3.91868875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:-53.32, Z:39.20 [[ 8.12823151e-01 3.41951324e-01 -4.71580128e-01 1.11486188e+02] [-2.97301251e-01 9.39713318e-01 1.68969957e-01 -5.33218624e+01] [ 5.00929627e-01 2.85866900e-03 8.65483297e-01 3.92003245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.51, Y:-53.33, Z:39.21 [[ 8.12118590e-01 3.42418364e-01 -4.72454294e-01 1.11509245e+02] [-2.97766023e-01 9.39541625e-01 1.69106271e-01 -5.33297691e+01] [ 5.01795568e-01 3.34648975e-03 8.64979774e-01 3.92134254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:-53.34, Z:39.23 [[ 8.10849788e-01 3.43949459e-01 -4.73520212e-01 1.11532335e+02] [-2.99424495e-01 9.38977393e-01 1.69311627e-01 -5.33381885e+01] [ 5.02859417e-01 4.49725341e-03 8.64356513e-01 3.92267758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.55, Y:-53.35, Z:39.24 [[ 8.10250937e-01 3.44446617e-01 -4.74183453e-01 1.11554522e+02] [-2.99968391e-01 9.38792565e-01 1.69373800e-01 -5.33462133e+01] [ 5.03500133e-01 5.00476686e-03 8.63980653e-01 3.92405052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:-53.35, Z:39.25 [[ 8.09795195e-01 3.44699154e-01 -4.74778091e-01 1.11577671e+02] [-3.00210997e-01 9.38698248e-01 1.69466685e-01 -5.33545245e+01] [ 5.04088384e-01 5.30029715e-03 8.63635807e-01 3.92547651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:-53.36, Z:39.27 [[ 8.09752574e-01 3.44823654e-01 -4.74760377e-01 1.11600843e+02] [-3.00461323e-01 9.38650969e-01 1.69284825e-01 -5.33626443e+01] [ 5.04007700e-01 5.56830848e-03 8.63681210e-01 3.92684711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:-53.37, Z:39.28 [[ 8.09704751e-01 3.44803552e-01 -4.74856533e-01 1.11623422e+02] [-3.00522745e-01 9.38657252e-01 1.69140897e-01 -5.33702514e+01] [ 5.04047911e-01 5.75100098e-03 8.63656546e-01 3.92817908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:-53.38, Z:39.30 [[ 8.09796925e-01 3.44553026e-01 -4.74881199e-01 1.11646797e+02] [-3.00272943e-01 9.38749672e-01 1.69071622e-01 -5.33784602e+01] [ 5.04048709e-01 5.68029558e-03 8.63656548e-01 3.92960762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:-53.39, Z:39.31 [[ 8.09774075e-01 3.44461383e-01 -4.74986634e-01 1.11668751e+02] [-3.00241408e-01 9.38782550e-01 1.68945020e-01 -5.33867767e+01] [ 5.04104199e-01 5.80335817e-03 8.63623342e-01 3.93097762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:-53.40, Z:39.32 [[ 8.10009535e-01 3.43829036e-01 -4.75043311e-01 1.11691792e+02] [-2.99541872e-01 9.39016191e-01 1.68888304e-01 -5.33951480e+01] [ 5.04142064e-01 5.49422627e-03 8.63603261e-01 3.93237166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:-53.40, Z:39.34 [[ 8.10408109e-01 3.43023998e-01 -4.74945506e-01 1.11714650e+02] [-2.98731951e-01 9.39312329e-01 1.68675932e-01 -5.34035868e+01] [ 5.03982062e-01 5.18505422e-03 8.63698557e-01 3.93373949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79999999999998 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:111.74, Y:-53.41, Z:39.35 [[ 8.09913792e-01 3.37107627e-01 -4.79998019e-01 1.11742022e+02] [-2.97449739e-01 9.41364847e-01 1.59235292e-01 -5.34089772e+01] [ 5.05532693e-01 1.38084261e-02 8.62696948e-01 3.93485352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:-53.42, Z:39.37 [[ 8.12575674e-01 3.44972978e-01 -4.69802532e-01 1.11757464e+02] [-2.95695573e-01 9.38596323e-01 1.77766898e-01 -5.34248976e+01] [ 5.02279705e-01 -5.53052749e-03 8.64687522e-01 3.93697370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.78, Y:-53.43, Z:39.38 [[ 8.13392621e-01 3.38792116e-01 -4.72876672e-01 1.11783763e+02] [-2.94414031e-01 9.40856935e-01 1.67656212e-01 -5.34298910e+01] [ 5.01709900e-01 2.85120098e-03 8.65031241e-01 3.93794513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:-53.44, Z:39.39 [[ 8.14201898e-01 3.37805803e-01 -4.72189061e-01 1.11805822e+02] [-2.93512193e-01 9.41212704e-01 1.67240063e-01 -5.34378824e+01] [ 5.00925006e-01 2.42607037e-03 8.65487292e-01 3.93936191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:111.83, Y:-53.45, Z:39.41 [[ 8.15008057e-01 3.36057824e-01 -4.72045555e-01 1.11827815e+02] [-2.91564258e-01 9.41840267e-01 1.67114319e-01 -5.34458821e+01] [ 5.00751585e-01 1.43209582e-03 8.65589856e-01 3.94076098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:-53.45, Z:39.42 [[ 8.14985546e-01 3.35475865e-01 -4.72498152e-01 1.11850375e+02] [-2.90917286e-01 9.42047908e-01 1.67071455e-01 -5.34535688e+01] [ 5.01164337e-01 1.29705935e-03 8.65351157e-01 3.94216003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:-53.46, Z:39.44 [[ 8.15101978e-01 3.34525900e-01 -4.72970600e-01 1.11873443e+02] [-2.89843578e-01 9.42386087e-01 1.67030425e-01 -5.34611106e+01] [ 5.01596916e-01 9.40661641e-04 8.65100947e-01 3.94351239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:-53.47, Z:39.45 [[ 8.14995481e-01 3.33759436e-01 -4.73695054e-01 1.11896349e+02] [-2.88909482e-01 9.42658054e-01 1.67114048e-01 -5.34689986e+01] [ 5.02308348e-01 6.57798422e-04 8.64688320e-01 3.94490907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:-53.48, Z:39.46 [[ 8.15147228e-01 3.32138520e-01 -4.74572439e-01 1.11920114e+02] [-2.86955510e-01 9.43230608e-01 1.67249977e-01 -5.34770628e+01] [ 5.03181410e-01 -1.52179249e-04 8.64180795e-01 3.94626664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:-53.48, Z:39.48 [[ 8.15318389e-01 3.31001454e-01 -4.75072586e-01 1.11942667e+02] [-2.85637713e-01 9.43630009e-01 1.67252810e-01 -5.34848622e+01] [ 5.03653672e-01 -6.65644490e-04 8.63905398e-01 3.94766659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:-53.49, Z:39.49 [[ 8.15850353e-01 3.29646501e-01 -4.75101449e-01 1.11966080e+02] [-2.84164052e-01 9.44103520e-01 1.67090798e-01 -5.34931096e+01] [ 5.03625847e-01 -1.31433381e-03 8.63920875e-01 3.94906197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:-53.50, Z:39.50 [[ 8.16708373e-01 3.27951116e-01 -4.74800483e-01 1.11989241e+02] [-2.82365646e-01 9.44692203e-01 1.66812120e-01 -5.35013184e+01] [ 5.03246535e-01 -2.16950974e-03 8.64140161e-01 3.95046914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:-53.51, Z:39.52 [[ 8.18422259e-01 3.24581313e-01 -4.74164504e-01 1.12010978e+02] [-2.78703093e-01 9.45849140e-01 1.66415115e-01 -5.35091014e+01] [ 5.02503325e-01 -4.04672054e-03 8.64565806e-01 3.95184250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:-53.52, Z:39.53 [[ 8.19554931e-01 3.22628318e-01 -4.73540583e-01 1.12033864e+02] [-2.76621612e-01 9.46511706e-01 1.66120659e-01 -5.35169306e+01] [ 5.01806934e-01 -5.15344579e-03 8.64964302e-01 3.95323390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:-53.52, Z:39.55 [[ 8.21104600e-01 3.20350882e-01 -4.72400834e-01 1.12055408e+02] [-2.74332979e-01 9.47277757e-01 1.65548383e-01 -5.35243940e+01] [ 5.00528374e-01 -6.33741080e-03 8.65696936e-01 3.95459477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:-53.53, Z:39.56 [[ 8.21512394e-01 3.19819630e-01 -4.72051682e-01 1.12077940e+02] [-2.73837043e-01 9.47455646e-01 1.65351365e-01 -5.35317243e+01] [ 5.00130643e-01 -6.57295934e-03 8.65925018e-01 3.95595981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:-53.54, Z:39.57 [[ 8.21740511e-01 3.19400966e-01 -4.71938085e-01 1.12101170e+02] [-2.73420584e-01 9.47595654e-01 1.65238195e-01 -5.35392752e+01] [ 4.99983717e-01 -6.74533232e-03 8.66008535e-01 3.95733773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:-53.55, Z:39.59 [[ 8.21704234e-01 3.19365212e-01 -4.72025437e-01 1.12123583e+02] [-2.73461083e-01 9.47608875e-01 1.65095296e-01 -5.35464636e+01] [ 5.00021187e-01 -6.57891690e-03 8.65988181e-01 3.95870734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:-53.55, Z:39.60 [[ 8.21342113e-01 3.19963327e-01 -4.72250572e-01 1.12146930e+02] [-2.74146924e-01 9.47410054e-01 1.65098919e-01 -5.35534193e+01] [ 5.00240540e-01 -6.13665314e-03 8.65864738e-01 3.96013867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:-53.56, Z:39.62 [[ 8.21157100e-01 3.20062166e-01 -4.72505266e-01 1.12169918e+02] [-2.74307067e-01 9.47378220e-01 1.65015578e-01 -5.35600686e+01] [ 5.00456441e-01 -5.89218003e-03 8.65741666e-01 3.96153205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:-53.57, Z:39.63 [[ 8.21008805e-01 3.20282237e-01 -4.72613829e-01 1.12193625e+02] [-2.74637300e-01 9.47305779e-01 1.64882125e-01 -5.35671414e+01] [ 5.00518627e-01 -5.57229055e-03 8.65707834e-01 3.96292642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:-53.57, Z:39.64 [[ 8.20675712e-01 3.20195400e-01 -4.73250761e-01 1.12217024e+02] [-2.74503875e-01 9.47335868e-01 1.64931429e-01 -5.35741200e+01] [ 5.01137705e-01 -5.44605051e-03 8.65350415e-01 3.96434487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.24, Y:-53.58, Z:39.66 [[ 8.20023703e-01 3.20424714e-01 -4.74224767e-01 1.12240395e+02] [-2.74665266e-01 9.47260088e-01 1.65097902e-01 -5.35798740e+01] [ 5.02115642e-01 -5.13112134e-03 8.64785264e-01 3.96571701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:-53.59, Z:39.67 [[ 8.19771404e-01 3.20181024e-01 -4.74825186e-01 1.12263251e+02] [-2.74360423e-01 9.47342672e-01 1.65130916e-01 -5.35862543e+01] [ 5.02693946e-01 -5.09636372e-03 8.64449434e-01 3.96702127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.29, Y:-53.59, Z:39.68 [[ 8.21609805e-01 3.14366364e-01 -4.75532456e-01 1.12290462e+02] [-2.72141913e-01 9.49301731e-01 1.57369005e-01 -5.35887938e+01] [ 5.00895306e-01 1.16394985e-04 8.65507874e-01 3.96764059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:-53.60, Z:39.70 [[ 8.19029979e-01 3.21593877e-01 -4.75149736e-01 1.12308446e+02] [-2.73415004e-01 9.46835372e-01 1.69549443e-01 -5.36018956e+01] [ 5.04414640e-01 -8.95300936e-03 8.63415146e-01 3.96994786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:-53.61, Z:39.71 [[ 8.19006995e-01 3.18509026e-01 -4.77262551e-01 1.12333282e+02] [-2.72090521e-01 9.47901889e-01 1.65676664e-01 -5.36070871e+01] [ 5.05167587e-01 -5.83173042e-03 8.63001565e-01 3.97115855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:-53.61, Z:39.73 [[ 8.19188481e-01 3.17729657e-01 -4.77470520e-01 1.12356566e+02] [-2.71245629e-01 9.48161554e-01 1.65576194e-01 -5.36142024e+01] [ 5.05327658e-01 -6.12631906e-03 8.62905804e-01 3.97262059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:-53.62, Z:39.74 [[ 8.19699802e-01 3.16953964e-01 -4.77108394e-01 1.12379792e+02] [-2.70526132e-01 9.48419281e-01 1.65276978e-01 -5.36211946e+01] [ 5.04883994e-01 -6.40721717e-03 8.63163426e-01 3.97400859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:-53.63, Z:39.75 [[ 8.20123508e-01 3.16211939e-01 -4.76872563e-01 1.12402889e+02] [-2.69819957e-01 9.48665146e-01 1.65020094e-01 -5.36281200e+01] [ 5.04573703e-01 -6.66712372e-03 8.63342880e-01 3.97544537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.43, Y:-53.63, Z:39.77 [[ 8.20204219e-01 3.15999349e-01 -4.76874670e-01 1.12427147e+02] [-2.69675688e-01 9.48736408e-01 1.64846142e-01 -5.36337190e+01] [ 5.04519635e-01 -6.60599665e-03 8.63374947e-01 3.97681438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:-53.64, Z:39.78 [[ 8.19969838e-01 3.16426486e-01 -4.76994491e-01 1.12449738e+02] [-2.70246435e-01 9.48597074e-01 1.64713251e-01 -5.36403980e+01] [ 5.04595214e-01 -6.15383736e-03 8.63334119e-01 3.97812932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:-53.65, Z:39.80 [[ 8.19548236e-01 3.17054906e-01 -4.77301660e-01 1.12473149e+02] [-2.70978918e-01 9.48390409e-01 1.64699903e-01 -5.36476625e+01] [ 5.04887229e-01 -5.64082765e-03 8.63166882e-01 3.97950964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:-53.65, Z:39.81 [[ 8.18113772e-01 3.19508043e-01 -4.78125995e-01 1.12495995e+02] [-2.73749232e-01 9.47575345e-01 1.64809964e-01 -5.36541163e+01] [ 5.05718513e-01 -3.94667725e-03 8.62689521e-01 3.98086700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.52, Y:-53.66, Z:39.82 [[ 8.17061956e-01 3.20982093e-01 -4.78936590e-01 1.12519244e+02] [-2.75334828e-01 9.47080647e-01 1.65012064e-01 -5.36610800e+01] [ 5.06557493e-01 -2.95715675e-03 8.62201114e-01 3.98231478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:-53.67, Z:39.84 [[ 8.16056373e-01 3.22718757e-01 -4.79483681e-01 1.12542993e+02] [-2.77338444e-01 9.46493393e-01 1.65026195e-01 -5.36680483e+01] [ 5.07085185e-01 -1.69141988e-03 8.61894283e-01 3.98369497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:-53.67, Z:39.85 [[ 8.14709791e-01 3.24518475e-01 -4.80557713e-01 1.12566253e+02] [-2.79311599e-01 9.45879281e-01 1.65219297e-01 -5.36746449e+01] [ 5.08166299e-01 -3.80436218e-04 8.61258886e-01 3.98505085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:-53.68, Z:39.86 [[ 8.11817546e-01 3.28844254e-01 -4.82507750e-01 1.12589894e+02] [-2.84049268e-01 9.44380787e-01 1.65713433e-01 -5.36802605e+01] [ 5.10164959e-01 2.52690036e-03 8.60072863e-01 3.98627960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.61, Y:-53.69, Z:39.88 [[ 8.10588610e-01 3.30578945e-01 -4.83387698e-01 1.12613060e+02] [-2.85939455e-01 9.43771037e-01 1.65936306e-01 -5.36876296e+01] [ 5.11062358e-01 3.71353516e-03 8.59535616e-01 3.98765810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:-53.70, Z:39.89 [[ 8.09694736e-01 3.31824500e-01 -4.84031958e-01 1.12636459e+02] [-2.87367386e-01 9.43329422e-01 1.65980682e-01 -5.36950418e+01] [ 5.11678044e-01 4.70131413e-03 8.59164406e-01 3.98901861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:-53.70, Z:39.90 [[ 8.09158362e-01 3.33000292e-01 -4.84121422e-01 1.12659128e+02] [-2.88824394e-01 9.42909863e-01 1.65835640e-01 -5.37025262e+01] [ 5.11706181e-01 5.63878189e-03 8.59142007e-01 3.99037004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:-53.71, Z:39.92 [[ 8.09090235e-01 3.33550086e-01 -4.83856726e-01 1.12681913e+02] [-2.89564045e-01 9.42712845e-01 1.65665795e-01 -5.37104421e+01] [ 5.11395791e-01 6.06893362e-03 8.59323870e-01 3.99178595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:-53.72, Z:39.93 [[ 8.09348248e-01 3.34357354e-01 -4.82867036e-01 1.12704785e+02] [-2.90801052e-01 9.42422177e-01 1.65152014e-01 -5.37184065e+01] [ 5.10284394e-01 6.75274849e-03 8.59979208e-01 3.99327952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:-53.73, Z:39.95 [[ 8.09821337e-01 3.34451020e-01 -4.82008213e-01 1.12727367e+02] [-2.91179970e-01 9.42387231e-01 1.64683125e-01 -5.37259948e+01] [ 5.09316824e-01 6.98722892e-03 8.60550725e-01 3.99465548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:-53.73, Z:39.96 [[ 8.10194945e-01 3.34495245e-01 -4.81349230e-01 1.12749920e+02] [-2.91429494e-01 9.42370435e-01 1.64337495e-01 -5.37342576e+01] [ 5.08579394e-01 7.13395547e-03 8.60985544e-01 3.99610098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:-53.74, Z:39.98 [[ 8.11006300e-01 3.34347074e-01 -4.80084176e-01 1.12770772e+02] [-2.91602284e-01 9.42422465e-01 1.63731505e-01 -5.37433113e+01] [ 5.07185262e-01 7.20635970e-03 8.61806926e-01 3.99758931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:-53.75, Z:39.99 [[ 8.11196433e-01 3.34050244e-01 -4.79969564e-01 1.12793632e+02] [-2.91324802e-01 9.42528504e-01 1.63615034e-01 -5.37518853e+01] [ 5.07040637e-01 7.10310611e-03 8.61892881e-01 3.99907356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:-53.76, Z:40.00 [[ 8.11652945e-01 3.33766421e-01 -4.79394903e-01 1.12816675e+02] [-2.91207447e-01 9.42629029e-01 1.63244405e-01 -5.37602238e+01] [ 5.06377053e-01 7.10556403e-03 8.62282895e-01 4.00044569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.84, Y:-53.77, Z:40.02 [[ 8.11935630e-01 3.33543497e-01 -4.79071255e-01 1.12839367e+02] [-2.91112795e-01 9.42707587e-01 1.62959337e-01 -5.37681853e+01] [ 5.05978134e-01 7.15127997e-03 8.62516659e-01 4.00180537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:-53.78, Z:40.03 [[ 8.11501062e-01 3.33831400e-01 -4.79606738e-01 1.12863189e+02] [-2.91448361e-01 9.42602698e-01 1.62966276e-01 -5.37765602e+01] [ 5.06481866e-01 7.53329129e-03 8.62217704e-01 4.00313710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:-53.78, Z:40.04 [[ 8.11239567e-01 3.33568423e-01 -4.80231685e-01 1.12886427e+02] [-2.91128085e-01 9.42695457e-01 1.63002188e-01 -5.37845421e+01] [ 5.07084611e-01 7.57510654e-03 8.61862991e-01 4.00446300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:-53.79, Z:40.06 [[ 8.10940237e-01 3.33290403e-01 -4.80929766e-01 1.12908828e+02] [-2.90776802e-01 9.42793510e-01 1.63062104e-01 -5.37926238e+01] [ 5.07764496e-01 7.60959857e-03 8.61462310e-01 4.00577502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:-53.80, Z:40.07 [[ 8.10878889e-01 3.32369195e-01 -4.81670163e-01 1.12931913e+02] [-2.89611428e-01 9.43122380e-01 1.63234177e-01 -5.38010549e+01] [ 5.08527922e-01 7.13403554e-03 8.61015945e-01 4.00713864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:-53.81, Z:40.09 [[ 8.11721018e-01 3.29326698e-01 -4.82341078e-01 1.12954127e+02] [-2.86047680e-01 9.44200424e-01 1.63285896e-01 -5.38103532e+01] [ 5.09201055e-01 5.42995274e-03 8.60630467e-01 4.00850023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:-53.82, Z:40.10 [[ 8.12711036e-01 3.27029028e-01 -4.82237272e-01 1.12975914e+02] [-2.83498863e-01 9.45005050e-01 1.63076213e-01 -5.38184979e+01] [ 5.09047312e-01 4.17988021e-03 8.60728391e-01 4.00985785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:-53.83, Z:40.11 [[ 8.13905468e-01 3.24239650e-01 -4.82106356e-01 1.12999024e+02] [-2.80327863e-01 9.45971620e-01 1.62953932e-01 -5.38269345e+01] [ 5.08895057e-01 2.51874879e-03 8.60824882e-01 4.01129801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.02, Y:-53.84, Z:40.13 [[ 8.16681705e-01 3.18001723e-01 -4.81566087e-01 1.13020504e+02] [-2.73292263e-01 9.48089398e-01 1.62597146e-01 -5.38352435e+01] [ 5.08273874e-01 -1.18182918e-03 8.61194677e-01 4.01265326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:-53.84, Z:40.14 [[ 8.18358415e-01 3.14099219e-01 -4.81280775e-01 1.13043540e+02] [-2.68866734e-01 9.49383636e-01 1.62423492e-01 -5.38433056e+01] [ 5.07937184e-01 -3.52024175e-03 8.61386919e-01 4.01408588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:-53.85, Z:40.15 [[ 8.20134036e-01 3.09833956e-01 -4.81022955e-01 1.13066232e+02] [-2.64074361e-01 9.50771931e-01 1.62164936e-01 -5.38512650e+01] [ 5.07587327e-01 -5.97115417e-03 8.61579625e-01 4.01545984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:-53.86, Z:40.17 [[ 8.20186858e-01 3.09612923e-01 -4.81075208e-01 1.13089748e+02] [-2.63909100e-01 9.50844263e-01 1.62009797e-01 -5.38590228e+01] [ 5.07587928e-01 -5.91818123e-03 8.61579637e-01 4.01688354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:-53.87, Z:40.18 [[ 8.22121623e-01 3.04969118e-01 -4.80738883e-01 1.13112685e+02] [-2.58661786e-01 9.52322863e-01 1.61787653e-01 -5.38673924e+01] [ 5.07158868e-01 -8.66035001e-03 8.61809075e-01 4.01832014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:-53.88, Z:40.20 [[ 8.23955086e-01 3.00243355e-01 -4.80574598e-01 1.13134972e+02] [-2.53326361e-01 9.53794810e-01 1.61558706e-01 -5.38756078e+01] [ 5.06876485e-01 -1.13749031e-02 8.61943641e-01 4.01974912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:-53.88, Z:40.21 [[ 8.27644481e-01 2.91518366e-01 -4.79605729e-01 1.13157715e+02] [-2.43547221e-01 9.56423050e-01 1.61058067e-01 -5.38841463e+01] [ 5.05657359e-01 -1.64921779e-02 8.62576746e-01 4.02126240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:-53.89, Z:40.23 [[ 8.29185915e-01 2.87653863e-01 -4.79276511e-01 1.13180930e+02] [-2.39257157e-01 9.57553008e-01 1.60773907e-01 -5.38918587e+01] [ 5.05179900e-01 -1.86411239e-02 8.62812713e-01 4.02272796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:-53.90, Z:40.24 [[ 8.30237562e-01 2.84532869e-01 -4.79318930e-01 1.13203662e+02] [-2.35746102e-01 9.58450268e-01 1.60614009e-01 -5.38990497e+01] [ 5.05103322e-01 -2.03502140e-02 8.62818928e-01 4.02415196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:-53.91, Z:40.26 [[ 8.31064543e-01 2.82004524e-01 -4.79379988e-01 1.13226387e+02] [-2.32915906e-01 9.59167691e-01 1.60460343e-01 -5.39060197e+01] [ 5.05056339e-01 -2.16976771e-02 8.62813598e-01 4.02553082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:-53.91, Z:40.27 [[ 8.31415326e-01 2.79466107e-01 -4.80257484e-01 1.13248706e+02] [-2.29831781e-01 9.59874944e-01 1.60678075e-01 -5.39114644e+01] [ 5.05891202e-01 -2.32117814e-02 8.62284933e-01 4.02693359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:-53.92, Z:40.28 [[ 8.31049315e-01 2.79197726e-01 -4.81046429e-01 1.13272589e+02] [-2.29386995e-01 9.59949894e-01 1.60865807e-01 -5.39183668e+01] [ 5.06693836e-01 -2.33416241e-02 8.61810028e-01 4.02834901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:-53.92, Z:40.30 [[ 8.30318801e-01 2.79655013e-01 -4.82041246e-01 1.13295155e+02] [-2.29791080e-01 9.59826627e-01 1.61024549e-01 -5.39241265e+01] [ 5.07707346e-01 -2.29329321e-02 8.61224321e-01 4.02968810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:113.32, Y:-53.93, Z:40.31 [[ 8.28639860e-01 2.80606002e-01 -4.84372020e-01 1.13319198e+02] [-2.30406313e-01 9.59561414e-01 1.61724531e-01 -5.39299353e+01] [ 5.10165574e-01 -2.24090213e-02 8.59784230e-01 4.03109582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:-53.93, Z:40.32 [[ 8.26337042e-01 2.86300065e-01 -4.84973571e-01 1.13343943e+02] [-2.36971680e-01 9.57956817e-01 1.61750303e-01 -5.39346209e+01] [ 5.10892861e-01 -1.87352655e-02 8.59440210e-01 4.03248732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:-53.94, Z:40.34 [[ 8.25034795e-01 2.89308929e-01 -4.85404914e-01 1.13367534e+02] [-2.40468966e-01 9.57090107e-01 1.61719520e-01 -5.39397669e+01] [ 5.11363143e-01 -1.66994129e-02 8.59202459e-01 4.03386484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:-53.94, Z:40.35 [[ 8.23642635e-01 2.92626267e-01 -4.85780483e-01 1.13391154e+02] [-2.44341086e-01 9.56117540e-01 1.61668434e-01 -5.39449811e+01] [ 5.11771670e-01 -1.44608843e-02 8.58999791e-01 4.03524724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:-53.95, Z:40.37 [[ 8.20712869e-01 2.99437070e-01 -4.86587944e-01 1.13415834e+02] [-2.52184601e-01 9.54063132e-01 1.61760524e-01 -5.39482049e+01] [ 5.12672715e-01 -1.00489571e-02 8.58525309e-01 4.03670012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:-53.95, Z:40.38 [[ 8.19480889e-01 3.02596013e-01 -4.86710104e-01 1.13439642e+02] [-2.55936629e-01 9.53086314e-01 1.61625868e-01 -5.39540986e+01] [ 5.12784082e-01 -7.88236663e-03 8.58481423e-01 4.03812773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:-53.96, Z:40.40 [[ 8.18431429e-01 3.05162455e-01 -4.86873569e-01 1.13463491e+02] [-2.58993528e-01 9.52280881e-01 1.61503795e-01 -5.39599824e+01] [ 5.12925286e-01 -6.08267835e-03 8.58411703e-01 4.03960103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:-53.97, Z:40.41 [[ 8.17641884e-01 3.07432149e-01 -4.86772249e-01 1.13487450e+02] [-2.61761912e-01 9.51559549e-01 1.61292051e-01 -5.39659714e+01] [ 5.12779144e-01 -4.46070203e-03 8.58508970e-01 4.04104929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:-53.97, Z:40.42 [[ 8.15902685e-01 3.11816178e-01 -4.86901921e-01 1.13510511e+02] [-2.66946184e-01 9.50141246e-01 1.61156283e-01 -5.39700511e+01] [ 5.12876734e-01 -1.51123374e-03 8.58460932e-01 4.04242621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:-53.98, Z:40.44 [[ 8.15066498e-01 3.13394888e-01 -4.87288671e-01 1.13534089e+02] [-2.68756505e-01 9.49622799e-01 1.61203229e-01 -5.39762353e+01] [ 5.13260700e-01 -4.29351313e-04 8.58232643e-01 4.04387359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:-53.98, Z:40.45 [[ 8.14291407e-01 3.14668711e-01 -4.87763371e-01 1.13557718e+02] [-2.70253621e-01 9.49201389e-01 1.61182206e-01 -5.39825183e+01] [ 5.13704667e-01 5.70531908e-04 8.57966893e-01 4.04530065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:-53.99, Z:40.47 [[ 8.12501311e-01 3.17310944e-01 -4.89035157e-01 1.13581631e+02] [-2.73193640e-01 9.48318400e-01 1.61423193e-01 -5.39881213e+01] [ 5.14982383e-01 2.44473828e-03 8.57197275e-01 4.04678116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:-53.99, Z:40.48 [[ 8.11962592e-01 3.18337070e-01 -4.89262976e-01 1.13605058e+02] [-2.74455324e-01 9.47971858e-01 1.61318414e-01 -5.39949861e+01] [ 5.15161164e-01 3.29631101e-03 8.57086991e-01 4.04819759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:-54.00, Z:40.50 [[ 8.11184797e-01 3.19609527e-01 -4.89723365e-01 1.13627451e+02] [-2.75959289e-01 9.47539557e-01 1.61292466e-01 -5.40015188e+01] [ 5.15582869e-01 4.30571538e-03 8.56828901e-01 4.04957384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:-54.01, Z:40.51 [[ 8.10501567e-01 3.20770342e-01 -4.90095499e-01 1.13650910e+02] [-2.77293062e-01 9.47143062e-01 1.61333746e-01 -5.40081991e+01] [ 5.15941632e-01 5.13882743e-03 8.56608326e-01 4.05098304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:-54.01, Z:40.52 [[ 8.09155971e-01 3.23146569e-01 -4.90757486e-01 1.13674623e+02] [-2.80051973e-01 9.46324060e-01 1.61374302e-01 -5.40147410e+01] [ 5.16563168e-01 6.86062225e-03 8.56221598e-01 4.05236303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:-54.02, Z:40.54 [[ 8.08520518e-01 3.23780804e-01 -4.91386368e-01 1.13697453e+02] [-2.80783524e-01 9.46102580e-01 1.61401739e-01 -5.40216550e+01] [ 5.17160696e-01 7.47657839e-03 8.55855663e-01 4.05375491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:-54.03, Z:40.55 [[ 8.07971947e-01 3.24279593e-01 -4.91959429e-01 1.13721001e+02] [-2.81367931e-01 9.45927400e-01 1.61410783e-01 -5.40290237e+01] [ 5.17700126e-01 8.00622189e-03 8.55524681e-01 4.05514461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:-54.04, Z:40.57 [[ 8.07333338e-01 3.24559638e-01 -4.92822404e-01 1.13744248e+02] [-2.81642844e-01 9.45827899e-01 1.61514377e-01 -5.40364696e+01] [ 5.18546227e-01 8.40396262e-03 8.55008295e-01 4.05658246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:-54.04, Z:40.58 [[ 8.06830427e-01 3.24673782e-01 -4.93570256e-01 1.13766974e+02] [-2.81745408e-01 9.45786108e-01 1.61580208e-01 -5.40447415e+01] [ 5.19272748e-01 8.69332478e-03 8.54564356e-01 4.05802489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:-54.05, Z:40.59 [[ 8.06941304e-01 3.24033979e-01 -4.93809389e-01 1.13789486e+02] [-2.81058704e-01 9.46007401e-01 1.61480657e-01 -5.40532154e+01] [ 5.19472556e-01 8.48401511e-03 8.54445016e-01 4.05945695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:-54.06, Z:40.61 [[ 8.07277208e-01 3.22982409e-01 -4.93949263e-01 1.13810918e+02] [-2.79905063e-01 9.46371137e-01 1.61353114e-01 -5.40618189e+01] [ 5.19573542e-01 8.00220807e-03 8.54388260e-01 4.06087537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:-54.07, Z:40.62 [[ 8.07740866e-01 3.21333492e-01 -4.94266608e-01 1.13833153e+02] [-2.77961252e-01 9.46939951e-01 1.61376182e-01 -5.40708656e+01] [ 5.19896370e-01 7.03682811e-03 8.54200356e-01 4.06241717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:-54.08, Z:40.64 [[ 8.09815129e-01 3.17738005e-01 -4.93195718e-01 1.13855130e+02] [-2.74060281e-01 9.48165850e-01 1.60849255e-01 -5.40812635e+01] [ 5.18739259e-01 4.90719725e-03 8.54918418e-01 4.06394217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:-54.09, Z:40.65 [[ 8.10715902e-01 3.15786477e-01 -4.92969196e-01 1.13876901e+02] [-2.71926842e-01 9.48822461e-01 1.60598041e-01 -5.40896116e+01] [ 5.18454935e-01 3.85217099e-03 8.55096276e-01 4.06536387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:-54.10, Z:40.67 [[ 8.11900024e-01 3.13618422e-01 -4.92404140e-01 1.13899517e+02] [-2.69548801e-01 9.49545664e-01 1.60332395e-01 -5.40980219e+01] [ 5.17843408e-01 2.55307014e-03 8.55471616e-01 4.06676835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:-54.11, Z:40.68 [[ 8.12811078e-01 3.11536819e-01 -4.92222472e-01 1.13921331e+02] [-2.67258622e-01 9.50233014e-01 1.60093874e-01 -5.41060688e+01] [ 5.17601179e-01 1.42462500e-03 8.55620821e-01 4.06815730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.94, Y:-54.12, Z:40.70 [[ 8.14131586e-01 3.07397224e-01 -4.92642575e-01 1.13944054e+02] [-2.62412802e-01 9.51580685e-01 1.60105346e-01 -5.41154242e+01] [ 5.18005098e-01 -1.07110098e-03 8.55376859e-01 4.06962675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:-54.12, Z:40.71 [[ 8.14796080e-01 3.05622964e-01 -4.92647899e-01 1.13966761e+02] [-2.60446859e-01 9.52150516e-01 1.59927572e-01 -5.41239045e+01] [ 5.17952490e-01 -1.99976080e-03 8.55407049e-01 4.07105949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:-54.13, Z:40.73 [[ 8.15512181e-01 3.03687559e-01 -4.92659871e-01 1.13989614e+02] [-2.58291283e-01 9.52766856e-01 1.59752718e-01 -5.41322602e+01] [ 5.17904909e-01 -3.03053764e-03 8.55432826e-01 4.07251551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:-54.14, Z:40.74 [[ 8.16203763e-01 3.01996303e-01 -4.92554210e-01 1.14011135e+02] [-2.56443975e-01 9.53301095e-01 1.59541564e-01 -5.41398221e+01] [ 5.17733430e-01 -3.90586526e-03 8.55533073e-01 4.07392187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:-54.15, Z:40.75 [[ 8.17349933e-01 3.00206285e-01 -4.91747164e-01 1.14033137e+02] [-2.54564914e-01 9.53861505e-01 1.59200926e-01 -5.41467752e+01] [ 5.16851808e-01 -4.94129211e-03 8.56060624e-01 4.07528382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:-54.15, Z:40.77 [[ 8.19569501e-01 2.96785338e-01 -4.90126816e-01 1.14056035e+02] [-2.50978423e-01 9.54919038e-01 1.58554288e-01 -5.41534882e+01] [ 5.15088015e-01 -6.93500303e-03 8.57109236e-01 4.07674596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:-54.16, Z:40.78 [[ 8.20693960e-01 2.95169567e-01 -4.89220146e-01 1.14079203e+02] [-2.49389100e-01 9.55413608e-01 1.58081987e-01 -5.41602088e+01] [ 5.14068576e-01 -7.73075999e-03 8.57714250e-01 4.07812766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:-54.17, Z:40.79 [[ 8.21506594e-01 2.94026252e-01 -4.88544245e-01 1.14102182e+02] [-2.48301605e-01 9.55761863e-01 1.57688220e-01 -5.41666785e+01] [ 5.13296434e-01 -8.23559220e-03 8.58171863e-01 4.07947147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:-54.17, Z:40.81 [[ 8.22607646e-01 2.92697584e-01 -4.87488241e-01 1.14125801e+02] [-2.47019594e-01 9.56163169e-01 1.57268290e-01 -5.41726793e+01] [ 5.12150350e-01 -8.95095021e-03 8.58849172e-01 4.08085526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:-54.18, Z:40.82 [[ 8.22823091e-01 2.92508917e-01 -4.87237820e-01 1.14148035e+02] [-2.46954865e-01 9.56221665e-01 1.57014081e-01 -5.41791492e+01] [ 5.11835379e-01 -8.86906194e-03 8.59037767e-01 4.08217473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:-54.19, Z:40.84 [[ 8.22624409e-01 2.92840453e-01 -4.87374139e-01 1.14171805e+02] [-2.47359031e-01 9.56122832e-01 1.56979742e-01 -5.41859396e+01] [ 5.11959561e-01 -8.57897291e-03 8.58966710e-01 4.08359824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:-54.19, Z:40.85 [[ 8.21628403e-01 2.95276004e-01 -4.87584709e-01 1.14195812e+02] [-2.50251357e-01 9.55387272e-01 1.56873896e-01 -5.41908428e+01] [ 5.12153323e-01 -6.87331375e-03 8.58866539e-01 4.08493907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:-54.20, Z:40.86 [[ 8.20703221e-01 2.97369249e-01 -4.87870632e-01 1.14219063e+02] [-2.52734058e-01 9.54747417e-01 1.56789241e-01 -5.41965338e+01] [ 5.12417524e-01 -5.37591067e-03 8.58719617e-01 4.08630467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:-54.20, Z:40.88 [[ 8.19965691e-01 2.99229457e-01 -4.87973358e-01 1.14242720e+02] [-2.54925773e-01 9.54172262e-01 1.56742286e-01 -5.42024981e+01] [ 5.12512552e-01 -4.12631160e-03 8.58669819e-01 4.08770078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:-54.21, Z:40.89 [[ 8.19707303e-01 3.00909852e-01 -4.87373777e-01 1.14266553e+02] [-2.57101267e-01 9.53648242e-01 1.56377648e-01 -5.42084360e+01] [ 5.11838721e-01 -2.87948385e-03 8.59076733e-01 4.08902202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:-54.21, Z:40.90 [[ 8.18783469e-01 3.02686269e-01 -4.87826458e-01 1.14288744e+02] [-2.59185114e-01 9.53088944e-01 1.56347503e-01 -5.42142946e+01] [ 5.12266246e-01 -1.57739461e-03 8.58825247e-01 4.09041634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.31, Y:-54.22, Z:40.92 [[ 8.18521413e-01 3.05454010e-01 -4.86539355e-01 1.14311627e+02] [-2.62723117e-01 9.52206787e-01 1.55816553e-01 -5.42188810e+01] [ 5.10880868e-01 2.85950398e-04 8.59651474e-01 4.09175586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:-54.22, Z:40.93 [[ 8.18597342e-01 3.06350313e-01 -4.85847587e-01 1.14335409e+02] [-2.63942217e-01 9.51918391e-01 1.55518113e-01 -5.42245033e+01] [ 5.10130275e-01 9.28974928e-04 8.60096645e-01 4.09310947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:-54.23, Z:40.94 [[ 8.18791894e-01 3.06848458e-01 -4.85204965e-01 1.14359478e+02] [-2.64745452e-01 9.51757311e-01 1.55138218e-01 -5.42298978e+01] [ 5.09401295e-01 1.42989214e-03 8.60527905e-01 4.09448386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:-54.24, Z:40.96 [[ 8.18807650e-01 3.07306981e-01 -4.84888082e-01 1.14383155e+02] [-2.65440998e-01 9.51608524e-01 1.54862175e-01 -5.42352728e+01] [ 5.09013859e-01 1.90684265e-03 8.60756211e-01 4.09584039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:-54.24, Z:40.97 [[ 8.18832297e-01 3.07317712e-01 -4.84839658e-01 1.14406618e+02] [-2.65565727e-01 9.51604638e-01 1.54672096e-01 -5.42407737e+01] [ 5.08909142e-01 2.10628832e-03 8.60817663e-01 4.09721058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:-54.24, Z:40.99 [[ 8.19460967e-01 3.06931210e-01 -4.84021648e-01 1.14430220e+02] [-2.65370190e-01 9.51729490e-01 1.54238908e-01 -5.42447834e+01] [ 5.07998411e-01 2.05215210e-03 8.61355561e-01 4.09859461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:-54.25, Z:41.00 [[ 8.19983830e-01 3.06200816e-01 -4.83598573e-01 1.14453954e+02] [-2.64645591e-01 9.51965457e-01 1.54027531e-01 -5.42505330e+01] [ 5.07532492e-01 1.68214533e-03 8.61630977e-01 4.10001754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:-54.26, Z:41.01 [[ 8.20689059e-01 3.05262104e-01 -4.82995358e-01 1.14478001e+02] [-2.63772285e-01 9.52267489e-01 1.53658100e-01 -5.42562942e+01] [ 5.06846771e-01 1.29526729e-03 8.62035192e-01 4.10142572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:-54.26, Z:41.03 [[ 8.21696209e-01 3.03265468e-01 -4.82540564e-01 1.14501385e+02] [-2.61644095e-01 9.52906076e-01 1.53337463e-01 -5.42598157e+01] [ 5.06317793e-01 2.57077719e-04 8.62346929e-01 4.10269254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:-54.27, Z:41.04 [[ 8.21941155e-01 3.02152957e-01 -4.82821217e-01 1.14524872e+02] [-2.60346953e-01 9.53259394e-01 1.53349244e-01 -5.42654619e+01] [ 5.06588789e-01 -3.43021900e-04 8.62187730e-01 4.10396511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:-54.27, Z:41.05 [[ 8.21832349e-01 3.01075391e-01 -4.83678818e-01 1.14548804e+02] [-2.59006593e-01 9.53599937e-01 1.53501609e-01 -5.42715958e+01] [ 5.07451648e-01 -8.76585062e-04 8.61679788e-01 4.10534289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:-54.28, Z:41.07 [[ 8.21911987e-01 3.00777018e-01 -4.83729129e-01 1.14572463e+02] [-2.58753773e-01 9.53694098e-01 1.53342924e-01 -5.42789480e+01] [ 5.07451643e-01 -8.67650034e-04 8.61679800e-01 4.10676820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:-54.29, Z:41.08 [[ 8.21887091e-01 2.99240855e-01 -4.84723138e-01 1.14596509e+02] [-2.56880406e-01 9.54176203e-01 1.53493423e-01 -5.42852441e+01] [ 5.08442787e-01 -1.63838676e-03 8.61094216e-01 4.10810642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:-54.29, Z:41.09 [[ 8.21206320e-01 2.97381191e-01 -4.87016024e-01 1.14619749e+02] [-2.54386150e-01 9.54755256e-01 1.54045733e-01 -5.42916117e+01] [ 5.10791413e-01 -2.61319819e-03 8.59700706e-01 4.10936922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.64, Y:-54.30, Z:41.11 [[ 8.21429928e-01 2.95892556e-01 -4.87545351e-01 1.14643303e+02] [-2.52599968e-01 9.55214972e-01 1.54135048e-01 -5.42981968e+01] [ 5.11318032e-01 -3.45720150e-03 8.59384616e-01 4.11075490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.67, Y:-54.31, Z:41.12 [[ 8.21852133e-01 2.94458683e-01 -4.87701912e-01 1.14666800e+02] [-2.51007776e-01 9.55655181e-01 1.54007372e-01 -5.43052157e+01] [ 5.11423667e-01 -4.15431472e-03 8.59318669e-01 4.11213202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:-54.31, Z:41.14 [[ 8.22625583e-01 2.91723082e-01 -4.88041795e-01 1.14689803e+02] [-2.47866152e-01 9.56486049e-01 1.53937677e-01 -5.43121776e+01] [ 5.11712342e-01 -5.66402953e-03 8.59138172e-01 4.11353229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:-54.32, Z:41.15 [[ 8.23180072e-01 2.90252376e-01 -4.87983736e-01 1.14712712e+02] [-2.46272991e-01 9.56928862e-01 1.53742537e-01 -5.43192369e+01] [ 5.11589858e-01 -6.38057846e-03 8.59206090e-01 4.11491110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:-54.33, Z:41.16 [[ 8.23924929e-01 2.88748879e-01 -4.87618494e-01 1.14736068e+02] [-2.44703703e-01 9.57378482e-01 1.53448818e-01 -5.43267029e+01] [ 5.11143628e-01 -7.10825552e-03 8.59465918e-01 4.11632899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:-54.33, Z:41.18 [[ 8.24403494e-01 2.87563568e-01 -4.87510076e-01 1.14759392e+02] [-2.43454112e-01 9.57731065e-01 1.53236098e-01 -5.43341463e+01] [ 5.10968663e-01 -7.64204159e-03 8.59565369e-01 4.11778544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:-54.34, Z:41.19 [[ 8.25356054e-01 2.86654395e-01 -4.86432568e-01 1.14782484e+02] [-2.42715860e-01 9.58000792e-01 1.52720310e-01 -5.43413936e+01] [ 5.09780733e-01 -7.98373297e-03 8.60267321e-01 4.11928076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.81, Y:-54.35, Z:41.21 [[ 8.25614217e-01 2.86718893e-01 -4.85956213e-01 1.14805656e+02] [-2.42989153e-01 9.57983520e-01 1.52393720e-01 -5.43481663e+01] [ 5.09232203e-01 -7.73633336e-03 8.60594395e-01 4.12069833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:-54.35, Z:41.22 [[ 8.25675497e-01 2.87195148e-01 -4.85570716e-01 1.14829403e+02] [-2.43722818e-01 9.57844764e-01 1.52094036e-01 -5.43545917e+01] [ 5.08782037e-01 -7.23565541e-03 8.60864963e-01 4.12214485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:-54.36, Z:41.24 [[ 8.25727825e-01 2.88017324e-01 -4.84994411e-01 1.14852303e+02] [-2.44892086e-01 9.57602983e-01 1.51737912e-01 -5.43606134e+01] [ 5.08135242e-01 -6.52292320e-03 8.61252592e-01 4.12353087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:-54.37, Z:41.25 [[ 8.25297311e-01 2.89106818e-01 -4.85078959e-01 1.14874884e+02] [-2.46185100e-01 9.57279470e-01 1.51686893e-01 -5.43662314e+01] [ 5.08209844e-01 -5.76757291e-03 8.61213963e-01 4.12491649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:-54.37, Z:41.26 [[ 8.24579680e-01 2.92952179e-01 -4.83991087e-01 1.14898412e+02] [-2.50921765e-01 9.56121552e-01 1.51227792e-01 -5.43711984e+01] [ 5.07056820e-01 -3.25546631e-03 8.61906482e-01 4.12632686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:-54.38, Z:41.28 [[ 8.23800822e-01 2.95353504e-01 -4.83857948e-01 1.14921903e+02] [-2.53831990e-01 9.55386721e-01 1.51015014e-01 -5.43770522e+01] [ 5.06874272e-01 -1.58766664e-03 8.62018533e-01 4.12773478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:-54.38, Z:41.29 [[ 8.22713843e-01 2.98073315e-01 -4.84039494e-01 1.14945737e+02] [-2.57055620e-01 9.54542938e-01 1.50897938e-01 -5.43827907e+01] [ 5.07015129e-01 2.79249811e-04 8.61937110e-01 4.12911100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.0 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:114.97, Y:-54.39, Z:41.30 [[ 8.20890895e-01 3.00936599e-01 -4.85361002e-01 1.14969850e+02] [-2.60242546e-01 9.53641503e-01 1.51134709e-01 -5.43880251e+01] [ 5.08342361e-01 2.24647642e-03 8.61152134e-01 4.13047265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:-54.39, Z:41.32 [[ 8.19028220e-01 3.04423905e-01 -4.86332047e-01 1.14993074e+02] [-2.64225204e-01 9.52525487e-01 1.51262149e-01 -5.43938090e+01] [ 5.09291484e-01 4.61321603e-03 8.60581723e-01 4.13178475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:115.02, Y:-54.40, Z:41.33 [[ 8.14811275e-01 3.11040299e-01 -4.89220317e-01 1.15017169e+02] [-2.71496386e-01 9.50354685e-01 1.52038431e-01 -5.43996221e+01] [ 5.12222900e-01 8.93892005e-03 8.58806030e-01 4.13306890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:115.04, Y:-54.41, Z:41.34 [[ 8.13182347e-01 3.13579160e-01 -4.90308660e-01 1.15040011e+02] [-2.74375201e-01 9.49501104e-01 1.52203489e-01 -5.44063006e+01] [ 5.13276456e-01 1.07593471e-02 8.58155881e-01 4.13439778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.06, Y:-54.41, Z:41.36 [[ 8.11444920e-01 3.17413870e-01 -4.90719448e-01 1.15063514e+02] [-2.78856894e-01 9.48193413e-01 1.52210659e-01 -5.44139781e+01] [ 5.13610722e-01 1.33299347e-02 8.57919774e-01 4.13580251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.09, Y:-54.42, Z:41.37 [[ 8.11185809e-01 3.18341721e-01 -4.90546768e-01 1.15085374e+02] [-2.80075360e-01 9.47871083e-01 1.51980931e-01 -5.44215798e+01] [ 5.13356967e-01 1.41052876e-02 8.58059243e-01 4.13714485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:-54.43, Z:41.39 [[ 8.11544934e-01 3.18473819e-01 -4.89866560e-01 1.15108016e+02] [-2.80390063e-01 9.47824544e-01 1.51690628e-01 -5.44294143e+01] [ 5.12617042e-01 1.42499548e-02 8.58499101e-01 4.13851805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.14, Y:-54.43, Z:41.39 [[ 8.10001742e-01 3.08103141e-01 -4.98968569e-01 1.15136871e+02] [-2.79931296e-01 9.50807610e-01 1.32677644e-01 -5.44301056e+01] [ 5.15301512e-01 3.22077955e-02 8.56403532e-01 4.13935338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.15, Y:-54.45, Z:41.42 [[ 8.12492818e-01 3.27057800e-01 -4.82585347e-01 1.15147580e+02] [-2.79118944e-01 9.44996532e-01 1.70511496e-01 -5.44525961e+01] [ 5.11808594e-01 -3.84065393e-03 8.59090922e-01 4.14200803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:-54.46, Z:41.43 [[ 8.14786313e-01 3.15058215e-01 -4.86684277e-01 1.15174552e+02] [-2.77208173e-01 9.48990085e-01 1.50244625e-01 -5.44563153e+01] [ 5.09194357e-01 1.24955956e-02 8.60560845e-01 4.14287381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:-54.46, Z:41.44 [[ 8.15276872e-01 3.11367044e-01 -4.88235789e-01 1.15198266e+02] [-2.76082275e-01 9.50144114e-01 1.44930119e-01 -5.44636191e+01] [ 5.09020824e-01 1.66350738e-02 8.60593443e-01 4.14410135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:-54.48, Z:41.46 [[ 8.16936959e-01 3.14072797e-01 -4.83706815e-01 1.15218481e+02] [-2.74053148e-01 9.49372386e-01 1.53580418e-01 -5.44758050e+01] [ 5.07453325e-01 7.09585614e-03 8.61650029e-01 4.14589959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35999999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.24, Y:-54.48, Z:41.47 [[ 8.18412797e-01 3.09245231e-01 -4.84322083e-01 1.15241209e+02] [-2.71040116e-01 9.50938006e-01 1.49178298e-01 -5.44841067e+01] [ 5.06692953e-01 9.18128561e-03 8.62077697e-01 4.14717258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:-54.49, Z:41.49 [[ 8.18667814e-01 3.08156744e-01 -4.84584802e-01 1.15263557e+02] [-2.69778100e-01 9.51296705e-01 1.49178942e-01 -5.44926711e+01] [ 5.06954423e-01 8.60236870e-03 8.61929935e-01 4.14859342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:115.29, Y:-54.50, Z:41.50 [[ 8.18630972e-01 3.07236615e-01 -4.85230867e-01 1.15286509e+02] [-2.68704171e-01 9.51597441e-01 1.49199123e-01 -5.45005384e+01] [ 5.07583885e-01 8.24453442e-03 8.61562898e-01 4.14989374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:-54.51, Z:41.51 [[ 8.18632799e-01 3.07094963e-01 -4.85317446e-01 1.15308972e+02] [-2.68596970e-01 9.51642734e-01 1.49103235e-01 -5.45090726e+01] [ 5.07637674e-01 8.29399683e-03 8.61530732e-01 4.15126487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:-54.52, Z:41.53 [[ 8.17191862e-01 3.07467697e-01 -4.87504950e-01 1.15331307e+02] [-2.68763926e-01 9.51518066e-01 1.49597199e-01 -5.45187691e+01] [ 5.09866073e-01 8.77413030e-03 8.60209046e-01 4.15259292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.35, Y:-54.53, Z:41.54 [[ 8.16308464e-01 3.07790663e-01 -4.88779500e-01 1.15354015e+02] [-2.69029093e-01 9.51409579e-01 1.49810415e-01 -5.45265604e+01] [ 5.11139745e-01 9.20439532e-03 8.59448335e-01 4.15393110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:-54.53, Z:41.55 [[ 8.15537107e-01 3.08313414e-01 -4.89736731e-01 1.15376858e+02] [-2.69523875e-01 9.51235930e-01 1.50023618e-01 -5.45348252e+01] [ 5.12109469e-01 9.64591385e-03 8.58866024e-01 4.15525856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:-54.54, Z:41.57 [[ 8.14827998e-01 3.08547112e-01 -4.90768799e-01 1.15399144e+02] [-2.69728861e-01 9.51156287e-01 1.50160111e-01 -5.45426304e+01] [ 5.13129297e-01 1.00198468e-02 8.58252834e-01 4.15652636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.42, Y:-54.55, Z:41.58 [[ 8.14401337e-01 3.08365476e-01 -4.91590476e-01 1.15422818e+02] [-2.69426199e-01 9.51215206e-01 1.50330157e-01 -5.45510930e+01] [ 5.13964966e-01 1.00182721e-02 8.57752673e-01 4.15788542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:-54.56, Z:41.59 [[ 8.13797542e-01 3.07973699e-01 -4.92834416e-01 1.15444062e+02] [-2.68864495e-01 9.51342279e-01 1.50531564e-01 -5.45615769e+01] [ 5.15213979e-01 1.00034601e-02 8.57003201e-01 4.15921465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:-54.57, Z:41.61 [[ 8.14001316e-01 3.07093321e-01 -4.93047208e-01 1.15466604e+02] [-2.67873572e-01 9.51631092e-01 1.50472635e-01 -5.45705199e+01] [ 5.15408195e-01 9.58939395e-03 8.56891146e-01 4.16066432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:-54.57, Z:41.61 [[ 8.16795570e-01 3.00186017e-01 -4.92679767e-01 1.15488524e+02] [-2.64584800e-01 9.53778306e-01 1.42484476e-01 -5.45718390e+01] [ 5.12679121e-01 1.39748884e-02 8.58466552e-01 4.16134056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:-54.59, Z:41.63 [[ 8.14946400e-01 3.03694833e-01 -4.93590735e-01 1.15511352e+02] [-2.65726652e-01 9.52705877e-01 1.47447813e-01 -5.45876244e+01] [ 5.15025933e-01 1.09981486e-02 8.57104036e-01 4.16345138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:-54.60, Z:41.65 [[ 8.16816707e-01 3.01766822e-01 -4.91677996e-01 1.15531515e+02] [-2.62068259e-01 9.53359385e-01 1.49753499e-01 -5.45998576e+01] [ 5.13936469e-01 6.53203658e-03 8.57803380e-01 4.16503971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:-54.61, Z:41.67 [[ 8.17798720e-01 3.00054442e-01 -4.91093254e-01 1.15554012e+02] [-2.60275600e-01 9.53905414e-01 1.49402386e-01 -5.46087270e+01] [ 5.13285364e-01 5.63851163e-03 8.58199477e-01 4.16650392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:-54.62, Z:41.68 [[ 8.18853127e-01 2.98336853e-01 -4.90382176e-01 1.15576444e+02] [-2.58501037e-01 9.54448849e-01 1.49012111e-01 -5.46174057e+01] [ 5.12500508e-01 4.74526828e-03 8.58673810e-01 4.16794539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:-54.63, Z:41.69 [[ 8.19725314e-01 2.96702060e-01 -4.89916623e-01 1.15597980e+02] [-2.56780907e-01 9.54962093e-01 1.48697569e-01 -5.46258322e+01] [ 5.11970678e-01 3.91007287e-03 8.58994026e-01 4.16934784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:-54.64, Z:41.71 [[ 8.21327490e-01 2.93195663e-01 -4.89343904e-01 1.15618713e+02] [-2.52844624e-01 9.56050756e-01 1.48447123e-01 -5.46364853e+01] [ 5.11361662e-01 1.80427204e-03 8.59363715e-01 4.17079253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:-54.64, Z:41.72 [[ 8.21879253e-01 2.91497019e-01 -4.89432305e-01 1.15641251e+02] [-2.50922329e-01 9.56571333e-01 1.48355216e-01 -5.46448299e+01] [ 5.11422016e-01 8.79419887e-04 8.59329243e-01 4.17221931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:-54.65, Z:41.74 [[ 8.22428003e-01 2.89866557e-01 -4.89478865e-01 1.15664596e+02] [-2.49117188e-01 9.57067070e-01 1.48200035e-01 -5.46529080e+01] [ 5.11422337e-01 5.37399893e-05 8.59329500e-01 4.17362548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:-54.66, Z:41.75 [[ 8.22725904e-01 2.88472357e-01 -4.89801782e-01 1.15686920e+02] [-2.47538532e-01 9.57488022e-01 1.48126174e-01 -5.46605989e+01] [ 5.11709646e-01 -6.22425722e-04 8.59158222e-01 4.17500873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:-54.67, Z:41.76 [[ 8.23000628e-01 2.87103897e-01 -4.90144182e-01 1.15709864e+02] [-2.45929730e-01 9.57898442e-01 1.48152434e-01 -5.46686711e+01] [ 5.12043489e-01 -1.38851953e-03 8.58958402e-01 4.17644710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:-54.68, Z:41.78 [[ 8.23037062e-01 2.85969283e-01 -4.90745926e-01 1.15732755e+02] [-2.44604004e-01 9.58236899e-01 1.48158453e-01 -5.46766669e+01] [ 5.12619620e-01 -1.90147948e-03 8.58613714e-01 4.17786064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.75, Y:-54.69, Z:41.79 [[ 8.22831239e-01 2.84244220e-01 -4.92091430e-01 1.15754593e+02] [-2.42452838e-01 9.58747850e-01 1.48388614e-01 -5.46851401e+01] [ 5.13970207e-01 -2.78982298e-03 8.57803499e-01 4.17921734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:-54.69, Z:41.81 [[ 8.22829502e-01 2.83139913e-01 -4.92730556e-01 1.15776709e+02] [-2.41094662e-01 9.59072596e-01 1.48502928e-01 -5.46927165e+01] [ 5.14611479e-01 -3.39788395e-03 8.57416748e-01 4.18058910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:-54.70, Z:41.82 [[ 8.22904398e-01 2.81788065e-01 -4.93380013e-01 1.15799571e+02] [-2.39470711e-01 9.59467849e-01 1.48577335e-01 -5.47004841e+01] [ 5.15249580e-01 -4.11488015e-03 8.57030302e-01 4.18196856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:-54.71, Z:41.83 [[ 8.23061201e-01 2.79871335e-01 -4.94208756e-01 1.15821789e+02] [-2.37186113e-01 9.60023816e-01 1.48650663e-01 -5.47094078e+01] [ 5.16055236e-01 -5.12913953e-03 8.56539950e-01 4.18337258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:-54.72, Z:41.85 [[ 8.23350974e-01 2.79071664e-01 -4.94178288e-01 1.15844293e+02] [-2.36362831e-01 9.60254885e-01 1.48469417e-01 -5.47172831e+01] [ 5.15970722e-01 -5.43705971e-03 8.56588963e-01 4.18474482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.2 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:115.87, Y:-54.72, Z:41.86 [[ 8.22536804e-01 2.78465866e-01 -4.95872935e-01 1.15866623e+02] [-2.35383549e-01 9.60428886e-01 1.48899092e-01 -5.47243958e+01] [ 5.17714006e-01 -5.75465155e-03 8.55534390e-01 4.18632795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:-54.73, Z:41.88 [[ 8.23653228e-01 2.78174751e-01 -4.94180298e-01 1.15889414e+02] [-2.35468109e-01 9.60513470e-01 1.48218226e-01 -5.47339429e+01] [ 5.15897402e-01 -5.71672019e-03 8.56631303e-01 4.18760768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:-54.74, Z:41.89 [[ 8.23891615e-01 2.78073088e-01 -4.93840018e-01 1.15911945e+02] [-2.35518920e-01 9.60543718e-01 1.47941220e-01 -5.47417986e+01] [ 5.15493399e-01 -5.57886296e-03 8.56875389e-01 4.18903642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:-54.75, Z:41.91 [[ 8.23885939e-01 2.78253775e-01 -4.93747705e-01 1.15935031e+02] [-2.35852165e-01 9.60493145e-01 1.47738531e-01 -5.47497923e+01] [ 5.15350090e-01 -5.26823319e-03 8.56963553e-01 4.19051756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:-54.76, Z:41.92 [[ 8.23922614e-01 2.78896953e-01 -4.93323440e-01 1.15956768e+02] [-2.36786842e-01 9.60309714e-01 1.47435564e-01 -5.47572712e+01] [ 5.14862620e-01 -4.66299557e-03 8.57260018e-01 4.19187752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:-54.77, Z:41.93 [[ 8.23815681e-01 2.80432828e-01 -4.92630848e-01 1.15979131e+02] [-2.38752608e-01 9.59866877e-01 1.47148806e-01 -5.47660364e+01] [ 5.14125389e-01 -3.60659383e-03 8.57707454e-01 4.19341055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:-54.77, Z:41.95 [[ 8.23889476e-01 2.80130729e-01 -4.92679313e-01 1.16002913e+02] [-2.38497739e-01 9.59955120e-01 1.46986382e-01 -5.47729878e+01] [ 5.14125432e-01 -3.59763109e-03 8.57707466e-01 4.19483872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:-54.78, Z:41.96 [[ 8.23820280e-01 2.81267623e-01 -4.92147001e-01 1.16024668e+02] [-2.40017597e-01 9.59625567e-01 1.46663982e-01 -5.47800210e+01] [ 5.13528675e-01 -2.70082222e-03 8.58068182e-01 4.19619279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:-54.79, Z:41.98 [[ 8.23652900e-01 2.82354913e-01 -4.91804436e-01 1.16047595e+02] [-2.41393326e-01 9.59308067e-01 1.46483088e-01 -5.47870991e+01] [ 5.13152182e-01 -1.93291145e-03 8.58295463e-01 4.19759878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:-54.79, Z:41.99 [[ 8.23167809e-01 2.84037959e-01 -4.91647430e-01 1.16069815e+02] [-2.43485746e-01 9.58812788e-01 1.46262534e-01 -5.47935904e+01] [ 5.12941955e-01 -6.89468568e-04 8.58423017e-01 4.19892040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:-54.80, Z:42.00 [[ 8.21860446e-01 2.88070717e-01 -4.91488219e-01 1.16093383e+02] [-2.48258940e-01 9.57607229e-01 1.46136560e-01 -5.48004997e+01] [ 5.12750335e-01 1.91248539e-03 8.58535635e-01 4.20024104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:-54.81, Z:42.02 [[ 8.20896760e-01 2.90005158e-01 -4.91960891e-01 1.16116403e+02] [-2.50534506e-01 9.57019335e-01 1.46104255e-01 -5.48075209e+01] [ 5.13187072e-01 3.31666935e-03 8.58270370e-01 4.20164186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:-54.81, Z:42.03 [[ 8.20358085e-01 2.91670774e-01 -4.91874752e-01 1.16140173e+02] [-2.52594651e-01 9.56507949e-01 1.45905740e-01 -5.48146933e+01] [ 5.13038551e-01 4.54997813e-03 8.58353507e-01 4.20302734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:-54.82, Z:42.04 [[ 8.19409462e-01 2.93449004e-01 -4.92398025e-01 1.16162383e+02] [-2.54681555e-01 9.55956763e-01 1.45890275e-01 -5.48218042e+01] [ 5.13522579e-01 5.86082285e-03 8.58056066e-01 4.20437466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:-54.83, Z:42.06 [[ 8.17711350e-01 2.96236777e-01 -4.93550322e-01 1.16184710e+02] [-2.57786926e-01 9.55083357e-01 1.46156363e-01 -5.48292872e+01] [ 5.14678588e-01 7.71710357e-03 8.57348469e-01 4.20570629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:-54.84, Z:42.07 [[ 8.16903808e-01 2.97354146e-01 -4.94215217e-01 1.16207724e+02] [-2.59027876e-01 9.54729221e-01 1.46276020e-01 -5.48365592e+01] [ 5.15337490e-01 8.52208037e-03 8.56944949e-01 4.20711828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:-54.84, Z:42.08 [[ 8.16205825e-01 2.97899206e-01 -4.95039508e-01 1.16231170e+02] [-2.59631824e-01 9.54554163e-01 1.46347754e-01 -5.48431325e+01] [ 5.16138903e-01 9.07812108e-03 8.56456782e-01 4.20847502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:-54.85, Z:42.10 [[ 8.15427228e-01 2.98184800e-01 -4.96149434e-01 1.16255093e+02] [-2.59887780e-01 9.54461055e-01 1.46500634e-01 -5.48494040e+01] [ 5.17239575e-01 9.48256892e-03 8.55788118e-01 4.20984916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:-54.85, Z:42.11 [[ 8.14064345e-01 2.98471463e-01 -4.98210826e-01 1.16279872e+02] [-2.59989103e-01 9.54367039e-01 1.46932710e-01 -5.48549730e+01] [ 5.19331212e-01 9.91670549e-03 8.54515507e-01 4.21107620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:-54.86, Z:42.12 [[ 8.13564191e-01 2.98112113e-01 -4.99241900e-01 1.16303538e+02] [-2.59505929e-01 9.54479359e-01 1.47057223e-01 -5.48613418e+01] [ 5.20355628e-01 9.91574285e-03 8.53892088e-01 4.21241278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:-54.87, Z:42.14 [[ 8.13583418e-01 2.97805209e-01 -4.99393712e-01 1.16327295e+02] [-2.59230261e-01 9.54575068e-01 1.46922126e-01 -5.48681923e+01] [ 5.20462962e-01 9.92455675e-03 8.53826568e-01 4.21380171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:-54.88, Z:42.15 [[ 8.13605613e-01 2.97287783e-01 -4.99665768e-01 1.16350258e+02] [-2.58688023e-01 9.54737599e-01 1.46821739e-01 -5.48752630e+01] [ 5.20698005e-01 9.80255863e-03 8.53684659e-01 4.21525091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:-54.88, Z:42.17 [[ 8.13977417e-01 2.97115555e-01 -4.99162411e-01 1.16372111e+02] [-2.58678530e-01 9.54790420e-01 1.46494612e-01 -5.48823637e+01] [ 5.20121316e-01 9.87929289e-03 8.54035255e-01 4.21663198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:-54.89, Z:42.18 [[ 8.14696469e-01 2.96645170e-01 -4.98268307e-01 1.16393553e+02] [-2.58323401e-01 9.54939066e-01 1.46151979e-01 -5.48904264e+01] [ 5.19171150e-01 9.64486273e-03 8.54615875e-01 4.21803615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:-54.90, Z:42.19 [[ 8.15353799e-01 2.96168866e-01 -4.97475815e-01 1.16417003e+02] [-2.57971190e-01 9.55088751e-01 1.45795554e-01 -5.48978199e+01] [ 5.18313658e-01 9.45946950e-03 8.55138276e-01 4.21947081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:-54.90, Z:42.21 [[ 8.16015572e-01 2.95972389e-01 -4.96506729e-01 1.16440009e+02] [-2.58007244e-01 9.55149187e-01 1.45335107e-01 -5.49049486e+01] [ 5.17253177e-01 9.50662251e-03 8.55779630e-01 4.22084248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:-54.91, Z:42.22 [[ 8.16612278e-01 2.95713231e-01 -4.95679406e-01 1.16463292e+02] [-2.57945679e-01 9.55229347e-01 1.44916950e-01 -5.49120175e+01] [ 5.16341374e-01 9.51740036e-03 8.56329962e-01 4.22227194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:-54.92, Z:42.24 [[ 8.17755254e-01 2.94819133e-01 -4.94325827e-01 1.16485989e+02] [-2.57228027e-01 9.55509586e-01 1.44343940e-01 -5.49201725e+01] [ 5.14888421e-01 9.11644216e-03 8.57208728e-01 4.22373113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:-54.93, Z:42.25 [[ 8.18330094e-01 2.94076765e-01 -4.93816477e-01 1.16509145e+02] [-2.56549822e-01 9.55740980e-01 1.44018635e-01 -5.49276192e+01] [ 5.14313178e-01 8.83374605e-03 8.57556948e-01 4.22521188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:-54.93, Z:42.27 [[ 8.19197594e-01 2.92364582e-01 -4.93394623e-01 1.16531362e+02] [-2.54723500e-01 9.56273952e-01 1.43722190e-01 -5.49347962e+01] [ 5.13839704e-01 7.94233262e-03 8.57849450e-01 4.22657754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:-54.94, Z:42.28 [[ 8.19722199e-01 2.90648145e-01 -4.93537407e-01 1.16554953e+02] [-2.52743708e-01 9.56804713e-01 1.43684928e-01 -5.49412009e+01] [ 5.13980675e-01 6.95674871e-03 8.57773554e-01 4.22793410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:-54.95, Z:42.29 [[ 8.20440498e-01 2.88860461e-01 -4.93393376e-01 1.16578826e+02] [-2.50786340e-01 9.57352222e-01 1.43467542e-01 -5.49482432e+01] [ 5.13793345e-01 6.02973788e-03 8.57892791e-01 4.22933819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:-54.96, Z:42.31 [[ 8.21247825e-01 2.87221885e-01 -4.93006693e-01 1.16601478e+02] [-2.49042965e-01 9.57850003e-01 1.43181608e-01 -5.49550993e+01] [ 5.13351354e-01 5.19226460e-03 8.58162821e-01 4.23068352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:-54.96, Z:42.32 [[ 8.21884317e-01 2.85391194e-01 -4.93009165e-01 1.16624925e+02] [-2.46954433e-01 9.58402192e-01 1.43103972e-01 -5.49622511e+01] [ 5.13341678e-01 4.13588841e-03 8.58174351e-01 4.23211876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:-54.97, Z:42.34 [[ 8.22314733e-01 2.83584989e-01 -4.93333593e-01 1.16648338e+02] [-2.44896673e-01 9.58941755e-01 1.43025625e-01 -5.49693589e+01] [ 5.13638102e-01 3.20367706e-03 8.58000954e-01 4.23354130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:-54.98, Z:42.35 [[ 8.23679742e-01 2.80483736e-01 -4.92829135e-01 1.16670712e+02] [-2.41469761e-01 9.59857671e-01 1.42708111e-01 -5.49765242e+01] [ 5.13073130e-01 1.45755300e-03 8.58343660e-01 4.23483900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:-54.98, Z:42.36 [[ 8.23963627e-01 2.78851055e-01 -4.93280884e-01 1.16693071e+02] [-2.39559095e-01 9.60334193e-01 1.42722381e-01 -5.49832753e+01] [ 5.13512786e-01 5.71870922e-04 8.58081751e-01 4.23616210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:-54.99, Z:42.38 [[ 8.24575865e-01 2.76864242e-01 -4.93376969e-01 1.16716541e+02] [-2.37272657e-01 9.60908869e-01 1.42673866e-01 -5.49901424e+01] [ 5.13591597e-01 -5.80561963e-04 8.58034576e-01 4.23751656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:-55.00, Z:42.39 [[ 8.25243061e-01 2.74485934e-01 -4.93590278e-01 1.16739970e+02] [-2.34568723e-01 9.61589304e-01 1.42560602e-01 -5.49971063e+01] [ 5.13762012e-01 -1.86630600e-03 8.57930715e-01 4.23893142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:-55.00, Z:42.40 [[ 8.27306045e-01 2.69777649e-01 -4.92731903e-01 1.16762549e+02] [-2.29341471e-01 9.62911711e-01 1.42139106e-01 -5.50038750e+01] [ 5.12803274e-01 -4.58868216e-03 8.58493883e-01 4.24032138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.79, Y:-55.01, Z:42.42 [[ 8.28760157e-01 2.67242170e-01 -4.91668817e-01 1.16785614e+02] [-2.26653613e-01 9.63610674e-01 1.41713123e-01 -5.50106537e+01] [ 5.11649042e-01 -6.00767655e-03 8.59173536e-01 4.24173509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:116.83, Y:-54.99, Z:42.40 [[ 8.37716496e-01 2.37968953e-01 -4.91530111e-01 1.16829458e+02] [-2.18404819e-01 9.70940888e-01 9.78423627e-02 -5.49944024e+01] [ 5.00530127e-01 2.53883836e-02 8.65346764e-01 4.23966468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:-55.03, Z:42.46 [[ 8.31323889e-01 2.77349402e-01 -4.81640841e-01 1.16823773e+02] [-2.22524752e-01 9.60195928e-01 1.68838722e-01 -5.50347723e+01] [ 5.09296893e-01 -3.31826543e-02 8.59950921e-01 4.24595031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:-55.03, Z:42.46 [[ 8.33328920e-01 2.60263044e-01 -4.87674133e-01 1.16856536e+02] [-2.19348694e-01 9.65485292e-01 1.40443231e-01 -5.50310593e+01] [ 5.07394385e-01 -1.00647213e-02 8.61655174e-01 4.24622160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.88, Y:-55.04, Z:42.48 [[ 8.34485214e-01 2.59071503e-01 -4.86329502e-01 1.16880786e+02] [-2.18316837e-01 9.65800456e-01 1.39882945e-01 -5.50368067e+01] [ 5.05936939e-01 -1.05563307e-02 8.62505871e-01 4.24759621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:-55.04, Z:42.49 [[ 8.35296995e-01 2.58658384e-01 -4.85154379e-01 1.16904095e+02] [-2.18153521e-01 9.65910912e-01 1.39374142e-01 -5.50420952e+01] [ 5.04666199e-01 -1.05806664e-02 8.63249719e-01 4.24891710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:-55.03, Z:42.47 [[ 8.42501380e-01 2.33988924e-01 -4.85222226e-01 1.16945017e+02] [-2.12241719e-01 9.72062600e-01 1.00238485e-01 -5.50267400e+01] [ 4.95121074e-01 1.85333377e-02 8.68626294e-01 4.24711850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:-55.04, Z:42.50 [[ 8.42436255e-01 2.49622464e-01 -4.77482756e-01 1.16960514e+02] [-2.15134651e-01 9.68335037e-01 1.26666245e-01 -5.50420397e+01] [ 4.93982022e-01 -3.98515049e-03 8.69462984e-01 4.24966981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.98, Y:-55.05, Z:42.51 [[ 8.41134368e-01 2.54024818e-01 -4.77456142e-01 1.16982540e+02] [-2.17598482e-01 9.67175931e-01 1.31231170e-01 -5.50493847e+01] [ 4.95120062e-01 -6.48931566e-03 8.68800330e-01 4.25139935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:-55.07, Z:42.55 [[ 8.34607493e-01 2.73764679e-01 -4.77999198e-01 1.16994957e+02] [-2.25068189e-01 9.61496354e-01 1.57699310e-01 -5.50697498e+01] [ 5.02766986e-01 -2.40346117e-02 8.64087782e-01 4.25524048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.03, Y:-55.07, Z:42.56 [[ 8.33866552e-01 2.66972714e-01 -4.83106762e-01 1.17025310e+02] [-2.27962260e-01 9.63686396e-01 1.39074576e-01 -5.50681912e+01] [ 5.02692531e-01 -5.83952821e-03 8.64445556e-01 4.25583425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:-55.07, Z:42.57 [[ 8.33098216e-01 2.69826437e-01 -4.82846825e-01 1.17048699e+02] [-2.31406742e-01 9.62900990e-01 1.38825804e-01 -5.50724502e+01] [ 5.02392558e-01 -3.92151934e-03 8.64630753e-01 4.25712110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:-55.06, Z:42.57 [[ 8.35024685e-01 2.62030201e-01 -4.83811894e-01 1.17083192e+02] [-2.35452036e-01 9.64912226e-01 1.16218478e-01 -5.50620509e+01] [ 4.97288763e-01 1.68691977e-02 8.67421072e-01 4.25656232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:-55.07, Z:42.58 [[ 8.34113560e-01 2.71593343e-01 -4.80095434e-01 1.17103629e+02] [-2.39348153e-01 9.62381653e-01 1.28584664e-01 -5.50718194e+01] [ 4.96957776e-01 7.65574382e-03 8.67740951e-01 4.25839227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:-55.09, Z:42.62 [[ 8.28501390e-01 2.89729571e-01 -4.79209999e-01 1.17117892e+02] [-2.46786733e-01 9.57077949e-01 1.51980619e-01 -5.50899072e+01] [ 5.02674602e-01 -7.65348405e-03 8.64441825e-01 4.26174762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:-55.09, Z:42.63 [[ 8.27156608e-01 2.87324027e-01 -4.82966717e-01 1.17146496e+02] [-2.51776060e-01 9.57808236e-01 1.38608075e-01 -5.50893977e+01] [ 5.02414929e-01 6.94887200e-03 8.64598723e-01 4.26256780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:-55.09, Z:42.64 [[ 8.26790770e-01 2.88662621e-01 -4.82794899e-01 1.17169102e+02] [-2.53453482e-01 9.57397874e-01 1.38385845e-01 -5.50949299e+01] [ 5.02173631e-01 7.94990872e-03 8.64730272e-01 4.26390396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:-55.10, Z:42.65 [[ 8.26471335e-01 2.89290559e-01 -4.82965946e-01 1.17192881e+02] [-2.54197419e-01 9.57204321e-01 1.38360258e-01 -5.51009311e+01] [ 5.02323407e-01 8.41790971e-03 8.64638846e-01 4.26535289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:-55.11, Z:42.67 [[ 8.26538877e-01 2.89379267e-01 -4.82797189e-01 1.17216666e+02] [-2.54427261e-01 9.57175344e-01 1.38138080e-01 -5.51067093e+01] [ 5.02095862e-01 8.66027297e-03 8.64768608e-01 4.26674876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:-55.10, Z:42.67 [[ 8.30044649e-01 2.78335701e-01 -4.83275406e-01 1.17245597e+02] [-2.50597812e-01 9.60289938e-01 1.22653873e-01 -5.51025206e+01] [ 4.98223461e-01 1.92995686e-02 8.66833842e-01 4.26673166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:-55.12, Z:42.70 [[ 8.26361216e-01 2.91587168e-01 -4.81771798e-01 1.17261281e+02] [-2.53274654e-01 9.56540709e-01 1.44505440e-01 -5.51217865e+01] [ 5.02970269e-01 2.60689444e-03 8.64299782e-01 4.26980097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:-55.11, Z:42.69 [[ 8.31086855e-01 2.72916085e-01 -4.84573473e-01 1.17295091e+02] [-2.47560920e-01 9.61771164e-01 1.17088939e-01 -5.51135113e+01] [ 4.98004248e-01 2.26503764e-02 8.66878728e-01 4.26931018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:-55.12, Z:42.71 [[ 8.31952837e-01 2.74920897e-01 -4.81947070e-01 1.17315881e+02] [-2.45968336e-01 9.61340948e-01 1.23786749e-01 -5.51214840e+01] [ 4.97347017e-01 1.55589815e-02 8.67412164e-01 4.27076889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:-55.14, Z:42.74 [[ 8.26937536e-01 2.91293327e-01 -4.80959988e-01 1.17329300e+02] [-2.49148569e-01 9.56620506e-01 1.51003967e-01 -5.51443853e+01] [ 5.04082635e-01 -5.04035516e-03 8.63640719e-01 4.27431904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:-55.15, Z:42.75 [[ 8.27429199e-01 2.83709274e-01 -4.84633849e-01 1.17356975e+02] [-2.47802444e-01 9.58893469e-01 1.38265192e-01 -5.51469421e+01] [ 5.03939350e-01 5.68879543e-03 8.63720307e-01 4.27530622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:-55.14, Z:42.75 [[ 8.31990649e-01 2.68325225e-01 -4.85585351e-01 1.17388070e+02] [-2.41910608e-01 9.63130528e-01 1.17723593e-01 -5.51425895e+01] [ 4.99270285e-01 1.95233190e-02 8.66226312e-01 4.27509207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:-55.17, Z:42.79 [[ 8.27430158e-01 2.86991369e-01 -4.82695854e-01 1.17400247e+02] [-2.45349982e-01 9.57920995e-01 1.48965613e-01 -5.51656656e+01] [ 5.05136338e-01 -4.82922167e-03 8.63026048e-01 4.27861656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:-55.17, Z:42.80 [[ 8.27504817e-01 2.80962343e-01 -4.86102808e-01 1.17426998e+02] [-2.44559872e-01 9.59708844e-01 1.38381371e-01 -5.51684529e+01] [ 5.05397118e-01 4.36998930e-03 8.62875806e-01 4.27960159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:-55.18, Z:42.81 [[ 8.27436145e-01 2.80310343e-01 -4.86595866e-01 1.17450189e+02] [-2.43825703e-01 9.59900371e-01 1.38348489e-01 -5.51753548e+01] [ 5.05864065e-01 4.17003879e-03 8.62603129e-01 4.28096613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:-55.17, Z:42.81 [[ 8.31382092e-01 2.65393908e-01 -4.88231390e-01 1.17479448e+02] [-2.36993505e-01 9.64014486e-01 1.20458080e-01 -5.51716491e+01] [ 5.02630973e-01 1.55609775e-02 8.64361013e-01 4.28075087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:-55.18, Z:42.82 [[ 8.31189306e-01 2.69015122e-01 -4.86574970e-01 1.17500700e+02] [-2.37152257e-01 9.63088729e-01 1.27353472e-01 -5.51809766e+01] [ 5.02874879e-01 9.53750800e-03 8.64306596e-01 4.28244106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:-55.20, Z:42.85 [[ 8.26657631e-01 2.81218934e-01 -4.87394164e-01 1.17516900e+02] [-2.40079761e-01 9.59634910e-01 1.46501017e-01 -5.52010073e+01] [ 5.08919315e-01 -4.09270918e-03 8.60804496e-01 4.28548263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:-55.21, Z:42.87 [[ 8.27297966e-01 2.73454151e-01 -4.90714687e-01 1.17541882e+02] [-2.35277251e-01 9.61885025e-01 1.39362165e-01 -5.52079253e+01] [ 5.10120271e-01 1.59966869e-04 8.60103065e-01 4.28667590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:-55.22, Z:42.88 [[ 8.27981041e-01 2.70767732e-01 -4.91052167e-01 1.17564545e+02] [-2.32200477e-01 9.62643829e-01 1.39283152e-01 -5.52160405e+01] [ 5.10421722e-01 -1.30126140e-03 8.59923237e-01 4.28815945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:-55.21, Z:42.87 [[ 8.35485287e-01 2.45988309e-01 -4.91379779e-01 1.17600634e+02] [-2.23383589e-01 9.69027596e-01 1.05286705e-01 -5.52053840e+01] [ 5.02059865e-01 2.18006857e-02 8.64558050e-01 4.28703700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:-55.23, Z:42.90 [[ 8.34634077e-01 2.59539253e-01 -4.85824386e-01 1.17612416e+02] [-2.21319592e-01 9.65715579e-01 1.35687357e-01 -5.52263701e+01] [ 5.04384374e-01 -5.72683667e-03 8.63460252e-01 4.29010341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:-55.25, Z:42.93 [[ 8.33115279e-01 2.64943213e-01 -4.85514188e-01 1.17627746e+02] [-2.18757031e-01 9.64069793e-01 1.50714285e-01 -5.52451752e+01] [ 5.08000290e-01 -1.93527316e-02 8.61139465e-01 4.29327462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:-55.25, Z:42.94 [[ 8.34303468e-01 2.55781594e-01 -4.88378438e-01 1.17653948e+02] [-2.15436295e-01 9.66681508e-01 1.38253624e-01 -5.52473279e+01] [ 5.07469138e-01 -1.01310372e-02 8.61610374e-01 4.29423047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:-55.25, Z:42.96 [[ 8.35765355e-01 2.52908472e-01 -4.87374164e-01 1.17677048e+02] [-2.12335076e-01 9.67418727e-01 1.37894245e-01 -5.52536584e+01] [ 5.06369516e-01 -1.17606030e-02 8.62236395e-01 4.29570324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:-55.26, Z:42.97 [[ 8.36919499e-01 2.50718386e-01 -4.86524454e-01 1.17699671e+02] [-2.10056209e-01 9.67974580e-01 1.37483094e-01 -5.52598576e+01] [ 5.05412843e-01 -1.28647998e-02 8.62781754e-01 4.29712252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:-55.27, Z:42.99 [[ 8.37651197e-01 2.48865185e-01 -4.86216609e-01 1.17721841e+02] [-2.08012986e-01 9.68438549e-01 1.37322154e-01 -5.52655996e+01] [ 5.05045611e-01 -1.38886982e-02 8.62980901e-01 4.29855028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:-55.27, Z:42.99 [[ 8.40434111e-01 2.41639897e-01 -4.85057383e-01 1.17746978e+02] [-2.03087500e-01 9.70291810e-01 1.31488669e-01 -5.52652598e+01] [ 5.02420115e-01 -1.19984716e-02 8.64540378e-01 4.29936161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:-55.27, Z:43.00 [[ 8.41654052e-01 2.35546080e-01 -4.85938784e-01 1.17774679e+02] [-2.02807629e-01 9.71860477e-01 1.19817690e-01 -5.52662257e+01] [ 5.00487286e-01 -2.29295207e-03 8.65740850e-01 4.30007717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:-55.28, Z:43.03 [[ 8.39276755e-01 2.48500128e-01 -4.83593027e-01 1.17790179e+02] [-2.04514875e-01 9.68407309e-01 1.42691800e-01 -5.52805937e+01] [ 5.03773952e-01 -2.08559431e-02 8.63583716e-01 4.30278554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:-55.28, Z:43.04 [[ 8.39033278e-01 2.43709915e-01 -4.86444894e-01 1.17817428e+02] [-2.05493714e-01 9.69793364e-01 1.31427414e-01 -5.52805400e+01] [ 5.03781194e-01 -1.03106060e-02 8.63769761e-01 4.30358870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:-55.29, Z:43.06 [[ 8.36473236e-01 2.50730446e-01 -4.87285100e-01 1.17838738e+02] [-2.09985329e-01 9.67972572e-01 1.37605453e-01 -5.52901142e+01] [ 5.06180489e-01 -1.27805563e-02 8.62332865e-01 4.30562975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:-55.29, Z:43.07 [[ 8.34146135e-01 2.56308276e-01 -4.88371061e-01 1.17862664e+02] [-2.16481234e-01 9.66553330e-01 1.37515586e-01 -5.52922797e+01] [ 5.07283058e-01 -8.98492500e-03 8.61732656e-01 4.30706354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:-55.29, Z:43.08 [[ 8.35105710e-01 2.52031446e-01 -4.88956648e-01 1.17890702e+02] [-2.17989286e-01 9.67718580e-01 1.26496727e-01 -5.52896996e+01] [ 5.05053586e-01 9.49171237e-04 8.63087466e-01 4.30750827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:-55.30, Z:43.10 [[ 8.31283292e-01 2.66268462e-01 -4.87923349e-01 1.17908030e+02] [-2.24832578e-01 9.63855722e-01 1.42942154e-01 -5.53021828e+01] [ 5.08348700e-01 -9.12436007e-03 8.61102982e-01 4.31010480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:-55.30, Z:43.11 [[ 8.30146854e-01 2.66796904e-01 -4.89566760e-01 1.17934088e+02] [-2.28658913e-01 9.63750301e-01 1.37478939e-01 -5.53041294e+01] [ 5.08499067e-01 -2.18390590e-03 8.61059771e-01 4.31132175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:-55.31, Z:43.13 [[ 8.27712845e-01 2.72889254e-01 -4.90329380e-01 1.17958248e+02] [-2.35710041e-01 9.62043868e-01 1.37522261e-01 -5.53063976e+01] [ 5.09246721e-01 1.74661680e-03 8.60618805e-01 4.31277411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:-55.31, Z:43.14 [[ 8.26866996e-01 2.74797997e-01 -4.90690363e-01 1.17981843e+02] [-2.37971095e-01 9.61496937e-01 1.37453256e-01 -5.53107514e+01] [ 5.09569160e-01 3.11456248e-03 8.60424064e-01 4.31422437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:-55.32, Z:43.16 [[ 8.26629144e-01 2.76116836e-01 -4.90350641e-01 1.18005314e+02] [-2.39662254e-01 9.61115255e-01 1.37184077e-01 -5.53152579e+01] [ 5.09162314e-01 4.11818398e-03 8.60660664e-01 4.31562540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:-55.32, Z:43.17 [[ 8.26665798e-01 2.76881613e-01 -4.89857357e-01 1.18028746e+02] [-2.40732531e-01 9.60892166e-01 1.36872545e-01 -5.53199028e+01] [ 5.08597588e-01 4.77674920e-03 8.60991101e-01 4.31706489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:-55.32, Z:43.19 [[ 8.26727239e-01 2.77132210e-01 -4.89611898e-01 1.18051266e+02] [-2.41165478e-01 9.60818143e-01 1.36629821e-01 -5.53245724e+01] [ 5.08292519e-01 5.12189290e-03 8.61169252e-01 4.31852989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:-55.33, Z:43.20 [[ 8.27526961e-01 2.76208261e-01 -4.88782288e-01 1.18075421e+02] [-2.40267755e-01 9.61086665e-01 1.36322515e-01 -5.53279816e+01] [ 5.07415544e-01 4.62806659e-03 8.61689066e-01 4.32000340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:-55.33, Z:43.21 [[ 8.28065807e-01 2.74905978e-01 -4.88603851e-01 1.18099445e+02] [-2.38885191e-01 9.61462710e-01 1.36100418e-01 -5.53329837e+01] [ 5.07189201e-01 4.02012192e-03 8.61825361e-01 4.32141330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:-55.34, Z:43.23 [[ 8.28518611e-01 2.73746652e-01 -4.88487135e-01 1.18122025e+02] [-2.37660548e-01 9.61795452e-01 1.35893236e-01 -5.53380465e+01] [ 5.07025023e-01 3.50404502e-03 8.61924212e-01 4.32278740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:-55.34, Z:43.24 [[ 8.28770613e-01 2.72323238e-01 -4.88855117e-01 1.18145135e+02] [-2.35994183e-01 9.62201980e-01 1.35919443e-01 -5.53434289e+01] [ 5.07391384e-01 2.72092406e-03 8.61711425e-01 4.32421384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.17, Y:-55.35, Z:43.26 [[ 8.29083116e-01 2.70903814e-01 -4.89113800e-01 1.18168431e+02] [-2.34408779e-01 9.62604237e-01 1.35814606e-01 -5.53471996e+01] [ 5.07615711e-01 2.05097192e-03 8.61581153e-01 4.32561689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:-55.35, Z:43.27 [[ 8.28508317e-01 2.70520598e-01 -4.90298454e-01 1.18192289e+02] [-2.33818484e-01 9.62712294e-01 1.36065995e-01 -5.53518975e+01] [ 5.08825004e-01 1.90903267e-03 8.60867859e-01 4.32701652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:-55.36, Z:43.28 [[ 8.27801635e-01 2.70615666e-01 -4.91438313e-01 1.18215900e+02] [-2.33848289e-01 9.62685024e-01 1.36207641e-01 -5.53563805e+01] [ 5.09960225e-01 2.16910057e-03 8.60195247e-01 4.32832414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:-55.36, Z:43.30 [[ 8.26635671e-01 2.71013306e-01 -4.93178725e-01 1.18240101e+02] [-2.34075960e-01 9.62572322e-01 1.36612481e-01 -5.53613246e+01] [ 5.11743991e-01 2.51253390e-03 8.59134317e-01 4.32972784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:-55.37, Z:43.31 [[ 8.24502343e-01 2.72243458e-01 -4.96063893e-01 1.18264873e+02] [-2.35150143e-01 9.62222038e-01 1.37233957e-01 -5.53653470e+01] [ 5.14684657e-01 3.49977589e-03 8.57372413e-01 4.33105424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:-55.37, Z:43.32 [[ 8.23437327e-01 2.72771109e-01 -4.97540844e-01 1.18288455e+02] [-2.35635556e-01 9.62070453e-01 1.37463914e-01 -5.53706792e+01] [ 5.16165529e-01 4.04539539e-03 8.56479294e-01 4.33242728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:-55.38, Z:43.34 [[ 8.22571535e-01 2.72863817e-01 -4.98920241e-01 1.18312561e+02] [-2.35629902e-01 9.62042967e-01 1.37665825e-01 -5.53759224e+01] [ 5.17546731e-01 4.32053838e-03 8.55644035e-01 4.33385717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:-55.38, Z:43.35 [[ 8.21938413e-01 2.73203655e-01 -4.99776958e-01 1.18335488e+02] [-2.35996350e-01 9.61944523e-01 1.37726026e-01 -5.53811068e+01] [ 5.18384961e-01 4.74322651e-03 8.55134220e-01 4.33521914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:-55.39, Z:43.37 [[ 8.21656828e-01 2.73056343e-01 -5.00320188e-01 1.18359182e+02] [-2.35785118e-01 9.61986329e-01 1.37795792e-01 -5.53863420e+01] [ 5.18927197e-01 4.74720090e-03 8.54805258e-01 4.33660340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:-55.39, Z:43.38 [[ 8.21566867e-01 2.72445320e-01 -5.00800790e-01 1.18382766e+02] [-2.35099030e-01 9.62160438e-01 1.37752450e-01 -5.53909849e+01] [ 5.19380718e-01 4.56493104e-03 8.54530767e-01 4.33803892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:-55.40, Z:43.39 [[ 8.21743590e-01 2.72282977e-01 -5.00599095e-01 1.18405055e+02] [-2.35046028e-01 9.62205967e-01 1.37524695e-01 -5.53964980e+01] [ 5.19125069e-01 4.65379243e-03 8.54685617e-01 4.33945125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:-55.40, Z:43.41 [[ 8.21945932e-01 2.71968013e-01 -5.00438093e-01 1.18428181e+02] [-2.34750672e-01 9.62295578e-01 1.37402123e-01 -5.54021667e+01] [ 5.18938346e-01 4.54106201e-03 8.54799609e-01 4.34091959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:-55.41, Z:43.42 [[ 8.21995066e-01 2.71784316e-01 -5.00457188e-01 1.18450611e+02] [-2.34637182e-01 9.62347103e-01 1.37235002e-01 -5.54079074e+01] [ 5.18911846e-01 4.61936969e-03 8.54815277e-01 4.34238320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:-55.41, Z:43.44 [[ 8.22559375e-01 2.71405815e-01 -4.99734888e-01 1.18473364e+02] [-2.34382035e-01 9.62454457e-01 1.36917788e-01 -5.54127753e+01] [ 5.18132354e-01 4.50586955e-03 8.55288583e-01 4.34389410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:-55.42, Z:43.45 [[ 8.23271876e-01 2.70998715e-01 -4.98781631e-01 1.18496383e+02] [-2.34162394e-01 9.62569504e-01 1.36484148e-01 -5.54179292e+01] [ 5.17099016e-01 4.43234043e-03 8.55914109e-01 4.34530830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:-55.42, Z:43.47 [[ 8.23599537e-01 2.70645655e-01 -4.98432274e-01 1.18519853e+02] [-2.33877254e-01 9.62669252e-01 1.36269371e-01 -5.54232767e+01] [ 5.16706137e-01 4.34058034e-03 8.56151813e-01 4.34678168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:-55.43, Z:43.48 [[ 8.23941975e-01 2.70280825e-01 -4.98064150e-01 1.18542511e+02] [-2.33613870e-01 9.62771918e-01 1.35995564e-01 -5.54285190e+01] [ 5.16279170e-01 4.30223951e-03 8.56409545e-01 4.34818075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:-55.43, Z:43.50 [[ 8.24278325e-01 2.70024573e-01 -4.97646434e-01 1.18566110e+02] [-2.33427630e-01 9.62844164e-01 1.35803743e-01 -5.54342470e+01] [ 5.15826313e-01 4.22434569e-03 8.56682771e-01 4.34964991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:-55.44, Z:43.51 [[ 8.26334007e-01 2.66664714e-01 -4.96046409e-01 1.18589282e+02] [-2.31694726e-01 9.63772262e-01 1.32138490e-01 -5.54354008e+01] [ 5.13312442e-01 5.74080842e-03 8.58182603e-01 4.35064656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:-55.44, Z:43.52 [[ 8.25099631e-01 2.68371430e-01 -4.97179420e-01 1.18613131e+02] [-2.33283010e-01 9.63294333e-01 1.32827203e-01 -5.54431084e+01] [ 5.14577144e-01 6.38783560e-03 8.57420293e-01 4.35246616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:-55.45, Z:43.54 [[ 8.25289569e-01 2.69193694e-01 -4.96419059e-01 1.18636323e+02] [-2.32876865e-01 9.63077278e-01 1.35094495e-01 -5.54490247e+01] [ 5.14456502e-01 4.11243635e-03 8.57506615e-01 4.35395589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:-55.45, Z:43.55 [[ 8.25453168e-01 2.68625930e-01 -4.96454607e-01 1.18660297e+02] [-2.32312505e-01 9.63236462e-01 1.34931162e-01 -5.54540960e+01] [ 5.14449188e-01 3.95325761e-03 8.57511752e-01 4.35534592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:-55.46, Z:43.57 [[ 8.25502999e-01 2.67733065e-01 -4.96853907e-01 1.18684488e+02] [-2.31310995e-01 9.63486422e-01 1.34867114e-01 -5.54579152e+01] [ 5.14820379e-01 3.59456452e-03 8.57290532e-01 4.35673050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:-55.46, Z:43.58 [[ 8.25522338e-01 2.67057614e-01 -4.97185177e-01 1.18708296e+02] [-2.30574284e-01 9.63674668e-01 1.34783656e-01 -5.54628995e+01] [ 5.15119762e-01 3.37119782e-03 8.57111583e-01 4.35813705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:-55.47, Z:43.60 [[ 8.25454005e-01 2.66240043e-01 -4.97736803e-01 1.18732408e+02] [-2.29635975e-01 9.63901903e-01 1.34760678e-01 -5.54681384e+01] [ 5.15648140e-01 3.05953458e-03 8.56794978e-01 4.35954751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:-55.47, Z:43.61 [[ 8.25625120e-01 2.64645724e-01 -4.98302923e-01 1.18756208e+02] [-2.27785828e-01 9.64343063e-01 1.34744476e-01 -5.54720224e+01] [ 5.16194516e-01 2.25791965e-03 8.56468402e-01 4.36081571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:-55.48, Z:43.62 [[ 8.25899645e-01 2.63541967e-01 -4.98432953e-01 1.18780648e+02] [-2.26521695e-01 9.64646513e-01 1.34703477e-01 -5.54773242e+01] [ 5.16311629e-01 1.65432404e-03 8.56399185e-01 4.36218705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:-55.48, Z:43.64 [[ 8.26099508e-01 2.62457267e-01 -4.98674028e-01 1.18804104e+02] [-2.25317518e-01 9.64942911e-01 1.34600129e-01 -5.54825586e+01] [ 5.16518750e-01 1.16689433e-03 8.56275084e-01 4.36359487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:-55.49, Z:43.65 [[ 8.26549212e-01 2.61455891e-01 -4.98454830e-01 1.18827968e+02] [-2.24284346e-01 9.65215150e-01 1.34373535e-01 -5.54880242e+01] [ 5.16248906e-01 7.29276593e-04 8.56438285e-01 4.36498126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:-55.49, Z:43.66 [[ 8.27002733e-01 2.60084015e-01 -4.98420289e-01 1.18851884e+02] [-2.22790140e-01 9.65585988e-01 1.34194830e-01 -5.54932607e+01] [ 5.16169578e-01 6.36346288e-05 8.56486405e-01 4.36639584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:-55.50, Z:43.68 [[ 8.27303001e-01 2.58666458e-01 -4.98659611e-01 1.18875358e+02] [-2.21202676e-01 9.65966499e-01 1.34082436e-01 -5.54971239e+01] [ 5.16371108e-01 -6.21961443e-04 8.56364696e-01 4.36774210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:-55.50, Z:43.69 [[ 8.27406736e-01 2.58201693e-01 -4.98728361e-01 1.18899045e+02] [-2.20696699e-01 9.66090684e-01 1.34021483e-01 -5.55021668e+01] [ 5.16421397e-01 -8.22574751e-04 8.56334201e-01 4.36915349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.92, Y:-55.51, Z:43.70 [[ 8.27526675e-01 2.57704623e-01 -4.98786456e-01 1.18923145e+02] [-2.20213660e-01 9.66223295e-01 1.33859954e-01 -5.55072096e+01] [ 5.16435423e-01 -9.33091495e-04 8.56325629e-01 4.37047682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:-55.51, Z:43.72 [[ 8.27720449e-01 2.58078490e-01 -4.98271363e-01 1.18946808e+02] [-2.20840586e-01 9.66123824e-01 1.33544717e-01 -5.55125747e+01] [ 5.15856853e-01 -4.99153331e-04 8.56674651e-01 4.37196142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:-55.52, Z:43.73 [[ 8.27789035e-01 2.57773094e-01 -4.98315508e-01 1.18970686e+02] [-2.20583391e-01 9.66205357e-01 1.33379818e-01 -5.55188210e+01] [ 5.15856842e-01 -4.90226039e-04 8.56674663e-01 4.37340196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:-55.52, Z:43.75 [[ 8.27867045e-01 2.58210965e-01 -4.97959088e-01 1.18994467e+02] [-2.21251824e-01 9.66088555e-01 1.33118495e-01 -5.55241718e+01] [ 5.15445231e-01 -3.00588743e-05 8.56922524e-01 4.37483154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:-55.53, Z:43.76 [[ 8.27563460e-01 2.59893606e-01 -4.97588217e-01 1.19016889e+02] [-2.23378947e-01 9.65636497e-01 1.32845784e-01 -5.55284442e+01] [ 5.15015112e-01 1.21241512e-03 8.57180240e-01 4.37624340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:-55.53, Z:43.78 [[ 8.27653795e-01 2.60362294e-01 -4.97192791e-01 1.19040993e+02] [-2.24034972e-01 9.65509683e-01 1.32662665e-01 -5.55339645e+01] [ 5.14584810e-01 1.58981482e-03 8.57438013e-01 4.37767427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:-55.53, Z:43.77 [[ 8.32924176e-01 2.42469836e-01 -4.97439137e-01 1.19077775e+02] [-2.21733617e-01 9.69815795e-01 1.01447158e-01 -5.55254380e+01] [ 5.07022208e-01 2.58011882e-02 8.61546737e-01 4.37701174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:-55.55, Z:43.81 [[ 8.27899418e-01 2.72057301e-01 -4.90476685e-01 1.19082334e+02] [-2.24161982e-01 9.62101023e-01 1.55283699e-01 -5.55526447e+01] [ 5.14134184e-01 -1.86130581e-02 8.57507781e-01 4.38125685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:-55.55, Z:43.82 [[ 8.28423628e-01 2.59804102e-01 -4.96201694e-01 1.19111844e+02] [-2.23739697e-01 9.65659994e-01 1.32065603e-01 -5.55501440e+01] [ 5.13473310e-01 1.61375113e-03 8.58104047e-01 4.38193852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:-55.56, Z:43.83 [[ 8.29122175e-01 2.58842078e-01 -4.95537282e-01 1.19134685e+02] [-2.22770366e-01 9.65919023e-01 1.31809733e-01 -5.55563552e+01] [ 5.12766792e-01 1.10464922e-03 8.58527225e-01 4.38337345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:119.16, Y:-55.56, Z:43.85 [[ 8.29592543e-01 2.57010120e-01 -4.95703551e-01 1.19158239e+02] [-2.20714499e-01 9.66408697e-01 1.31678928e-01 -5.55622626e+01] [ 5.12895040e-01 1.69103949e-04 8.58451309e-01 4.38460902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:-55.57, Z:43.86 [[ 8.31361599e-01 2.55104203e-01 -4.93720302e-01 1.19180603e+02] [-2.18856635e-01 9.66913132e-01 1.31075432e-01 -5.55683278e+01] [ 5.10822537e-01 -9.17116884e-04 8.59685695e-01 4.38615852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:-55.57, Z:43.88 [[ 8.31726530e-01 2.53884290e-01 -4.93734489e-01 1.19204471e+02] [-2.17540375e-01 9.67233484e-01 1.30902916e-01 -5.55743572e+01] [ 5.10790724e-01 -1.46824203e-03 8.59703833e-01 4.38757393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:-55.57, Z:43.87 [[ 8.36328161e-01 2.39480347e-01 -4.93157551e-01 1.19237478e+02] [-2.14126813e-01 9.70784823e-01 1.08289131e-01 -5.55696201e+01] [ 5.04682984e-01 1.50330054e-02 8.63173849e-01 4.38733502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:-55.59, Z:43.91 [[ 8.31911575e-01 2.60741831e-01 -4.89833470e-01 1.19247280e+02] [-2.16781709e-01 9.65292201e-01 1.45659386e-01 -5.55920389e+01] [ 5.10811923e-01 -1.49887925e-02 8.59561816e-01 4.39090940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:-55.59, Z:43.92 [[ 8.31837654e-01 2.53524287e-01 -4.93732269e-01 1.19273647e+02] [-2.17332576e-01 9.67328160e-01 1.30548004e-01 -5.55924756e+01] [ 5.10698217e-01 -1.29063928e-03 8.59759074e-01 4.39184034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:-55.60, Z:43.93 [[ 8.31860614e-01 2.54484252e-01 -4.93199437e-01 1.19297358e+02] [-2.18578471e-01 9.67076723e-01 1.30330594e-01 -5.55981207e+01] [ 5.10128779e-01 -6.14108883e-04 8.60097815e-01 4.39327993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:-55.60, Z:43.95 [[ 8.31696776e-01 2.55272759e-01 -4.93068243e-01 1.19320312e+02] [-2.19619469e-01 9.66869078e-01 1.30121001e-01 -5.56033192e+01] [ 5.09948784e-01 6.61685820e-05 8.60204762e-01 4.39467507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:-55.61, Z:43.96 [[ 8.31572979e-01 2.56178660e-01 -4.92807137e-01 1.19344461e+02] [-2.20758711e-01 9.66629191e-01 1.29975375e-01 -5.56086028e+01] [ 5.09658682e-01 7.07458390e-04 8.60376387e-01 4.39608682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:-55.61, Z:43.97 [[ 8.31113832e-01 2.57467960e-01 -4.92909776e-01 1.19367348e+02] [-2.22347114e-01 9.66285344e-01 1.29824478e-01 -5.56136100e+01] [ 5.09717136e-01 1.69814663e-03 8.60340373e-01 4.39745976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:-55.62, Z:43.99 [[ 8.30811793e-01 2.59009158e-01 -4.92611430e-01 1.19390708e+02] [-2.24230534e-01 9.65871012e-01 1.29668256e-01 -5.56190373e+01] [ 5.09384366e-01 2.72860724e-03 8.60534789e-01 4.39884966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.41, Y:-55.62, Z:44.00 [[ 8.29514756e-01 2.63215945e-01 -4.92567392e-01 1.19414073e+02] [-2.29233854e-01 9.64721216e-01 1.29479016e-01 -5.56240526e+01] [ 5.09271155e-01 5.50836698e-03 8.60588490e-01 4.40018199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:-55.63, Z:44.02 [[ 8.28770219e-01 2.65749099e-01 -4.92460496e-01 1.19436822e+02] [-2.32241842e-01 9.64015718e-01 1.29373192e-01 -5.56295235e+01] [ 5.09120468e-01 7.14928423e-03 8.60665578e-01 4.40164539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:-55.63, Z:44.03 [[ 8.27896008e-01 2.67996949e-01 -4.92712731e-01 1.19460669e+02] [-2.34925503e-01 9.63380159e-01 1.29262049e-01 -5.56349261e+01] [ 5.09311504e-01 8.73525208e-03 8.60537906e-01 4.40308342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:119.49, Y:-55.64, Z:44.04 [[ 8.25958438e-01 2.72567118e-01 -4.93457014e-01 1.19485410e+02] [-2.40246134e-01 9.62064756e-01 1.29279541e-01 -5.56384766e+01] [ 5.09974954e-01 1.17716122e-02 8.60108700e-01 4.40425903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:119.51, Y:-55.64, Z:44.06 [[ 8.25505822e-01 2.74865614e-01 -4.92939177e-01 1.19508679e+02] [-2.43040805e-01 9.61391222e-01 1.29066205e-01 -5.56435067e+01] [ 5.09383260e-01 1.32594303e-02 8.60437611e-01 4.40567502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:119.53, Y:-55.65, Z:44.07 [[ 8.24771530e-01 2.77156966e-01 -4.92885321e-01 1.19531584e+02] [-2.45821033e-01 9.60709609e-01 1.28876168e-01 -5.56488573e+01] [ 5.09238592e-01 1.48681840e-02 8.60496946e-01 4.40709465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:-55.65, Z:44.09 [[ 8.24307884e-01 2.79273297e-01 -4.92466180e-01 1.19554257e+02] [-2.48387536e-01 9.60074270e-01 1.28689653e-01 -5.56545189e+01] [ 5.08743692e-01 1.62425652e-02 8.60764797e-01 4.40859718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:-55.66, Z:44.10 [[ 8.23147562e-01 2.81700932e-01 -4.93024013e-01 1.19577959e+02] [-2.51246504e-01 9.59334070e-01 1.28659766e-01 -5.56600477e+01] [ 5.09218309e-01 1.79645874e-02 8.60449875e-01 4.41000890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.0 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:119.60, Y:-55.67, Z:44.11 [[ 8.22564030e-01 2.81467816e-01 -4.94129826e-01 1.19603319e+02] [-2.50936454e-01 9.59400443e-01 1.28769897e-01 -5.56661499e+01] [ 5.10312955e-01 1.80737011e-02 8.59798831e-01 4.41120655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:-55.67, Z:44.13 [[ 8.22429388e-01 2.82327293e-01 -4.93863546e-01 1.19624461e+02] [-2.52077882e-01 9.59134109e-01 1.28524325e-01 -5.56717631e+01] [ 5.09967297e-01 1.87898945e-02 8.59988544e-01 4.41273333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.65, Y:-55.68, Z:44.14 [[ 8.22064550e-01 2.82174476e-01 -4.94557823e-01 1.19648570e+02] [-2.51856309e-01 9.59178534e-01 1.28627136e-01 -5.56781661e+01] [ 5.10664543e-01 1.88176993e-02 8.59574092e-01 4.41407817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.67, Y:-55.68, Z:44.16 [[ 8.22011909e-01 2.81890594e-01 -4.94807150e-01 1.19671860e+02] [-2.51598238e-01 9.59261328e-01 1.28514710e-01 -5.56848639e+01] [ 5.10876452e-01 1.88519846e-02 8.59447412e-01 4.41554851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:-55.69, Z:44.17 [[ 8.22064370e-01 2.81403222e-01 -4.94997371e-01 1.19695175e+02] [-2.51109845e-01 9.59406299e-01 1.28387687e-01 -5.56920331e+01] [ 5.11032305e-01 1.87557700e-02 8.59356855e-01 4.41699475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:-55.70, Z:44.18 [[ 8.22198969e-01 2.80842632e-01 -4.95092185e-01 1.19717072e+02] [-2.50547549e-01 9.59573431e-01 1.28237111e-01 -5.56989399e+01] [ 5.11091754e-01 1.86077127e-02 8.59324719e-01 4.41836340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:119.74, Y:-55.71, Z:44.20 [[ 8.22517601e-01 2.79787738e-01 -4.95160194e-01 1.19741131e+02] [-2.49353691e-01 9.59892343e-01 1.28177323e-01 -5.57063699e+01] [ 5.11162922e-01 1.80419179e-02 8.59294453e-01 4.41955693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.76, Y:-55.71, Z:44.21 [[ 8.23234719e-01 2.79048922e-01 -4.94384766e-01 1.19763269e+02] [-2.48697254e-01 9.60112956e-01 1.27799796e-01 -5.57134906e+01] [ 5.10327614e-01 1.77429045e-02 8.59797020e-01 4.42117057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:-55.72, Z:44.23 [[ 8.24213081e-01 2.77107336e-01 -4.93846455e-01 1.19784779e+02] [-2.46606818e-01 9.60693656e-01 1.27486376e-01 -5.57229915e+01] [ 5.09762566e-01 1.67099638e-02 8.60152837e-01 4.42259012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.82, Y:-55.71, Z:44.21 [[ 8.33248408e-01 2.48894499e-01 -4.93709043e-01 1.19824111e+02] [-2.39593551e-01 9.67295318e-01 8.32748338e-02 -5.57087122e+01] [ 4.98289094e-01 4.89008798e-02 8.65630801e-01 4.42102485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29999999999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:119.82, Y:-55.75, Z:44.26 [[ 8.24669382e-01 2.88615701e-01 -4.86437445e-01 1.19823645e+02] [-2.42674883e-01 9.57380471e-01 1.56625463e-01 -5.57504657e+01] [ 5.10910277e-01 -1.11180734e-02 8.59562143e-01 4.42626296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32999999999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:119.85, Y:-55.75, Z:44.27 [[ 8.26509461e-01 2.70172965e-01 -4.93850869e-01 1.19852930e+02] [-2.38575427e-01 9.62730403e-01 1.27404614e-01 -5.57517569e+01] [ 5.09866528e-01 1.25195630e-02 8.60162417e-01 4.42668493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:-55.74, Z:44.25 [[ 8.35520574e-01 2.41507452e-01 -4.93537761e-01 1.19890948e+02] [-2.31085451e-01 9.69374367e-01 8.31435561e-02 -5.57385182e+01] [ 4.98502643e-01 4.45812447e-02 8.65741086e-01 4.42526466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.89, Y:-55.78, Z:44.31 [[ 8.26910884e-01 2.80901475e-01 -4.87147565e-01 1.19889787e+02] [-2.33996551e-01 9.59617441e-01 1.56140902e-01 -5.57816865e+01] [ 5.11335510e-01 -1.51237611e-02 8.59248083e-01 4.43065223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:-55.78, Z:44.31 [[ 8.27422160e-01 2.64490541e-01 -4.95396127e-01 1.19920363e+02] [-2.31762443e-01 9.64345366e-01 1.27766132e-01 -5.57811060e+01] [ 5.11525893e-01 9.09768750e-03 8.59219700e-01 4.43127604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:-55.80, Z:44.33 [[ 8.27708134e-01 2.59899880e-01 -4.97344244e-01 1.19942457e+02] [-2.26236361e-01 9.65613722e-01 1.28090786e-01 -5.57950457e+01] [ 5.13533207e-01 6.49556658e-03 8.58045135e-01 4.43265348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.97, Y:-55.80, Z:44.34 [[ 8.27899064e-01 2.57605193e-01 -4.98219535e-01 1.19965096e+02] [-2.23537918e-01 9.66235800e-01 1.28137340e-01 -5.58048783e+01] [ 5.14406395e-01 5.28617355e-03 8.57530243e-01 4.43391979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:-55.81, Z:44.35 [[ 8.28234537e-01 2.55836515e-01 -4.98573194e-01 1.19986285e+02] [-2.21468069e-01 9.66710590e-01 1.28150421e-01 -5.58144243e+01] [ 5.14761543e-01 4.27943800e-03 8.57322716e-01 4.43532069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:-55.82, Z:44.37 [[ 8.28657127e-01 2.54010482e-01 -4.98804612e-01 1.20008638e+02] [-2.19348931e-01 9.67196057e-01 1.28132098e-01 -5.58243068e+01] [ 5.14988750e-01 3.23468242e-03 8.57190833e-01 4.43670602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:-55.83, Z:44.38 [[ 8.28985687e-01 2.52916765e-01 -4.98814436e-01 1.20030462e+02] [-2.18175461e-01 9.67484129e-01 1.27960656e-01 -5.58340205e+01] [ 5.14958445e-01 2.75151715e-03 8.57210726e-01 4.43804008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:-55.85, Z:44.39 [[ 8.28928539e-01 2.53357343e-01 -4.98685807e-01 1.20052454e+02] [-2.18755357e-01 9.67367756e-01 1.27850373e-01 -5.58471097e+01] [ 5.14804401e-01 3.11136867e-03 8.57302017e-01 4.43947906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-55.86, Z:44.41 [[ 8.28696973e-01 2.54652210e-01 -4.98411054e-01 1.20074393e+02] [-2.20412110e-01 9.67023972e-01 1.27605402e-01 -5.58554012e+01] [ 5.14470435e-01 4.10962157e-03 8.57498269e-01 4.44086012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:-55.86, Z:44.42 [[ 8.28680790e-01 2.56529698e-01 -4.97474282e-01 1.20097347e+02] [-2.22786362e-01 9.66521548e-01 1.27288393e-01 -5.58640832e+01] [ 5.13472866e-01 5.34903940e-03 8.58089158e-01 4.44228941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:-55.87, Z:44.44 [[ 8.28463147e-01 2.58699967e-01 -4.96712333e-01 1.20120090e+02] [-2.25533788e-01 9.65933219e-01 1.26915432e-01 -5.58724261e+01] [ 5.12623960e-01 6.88065565e-03 8.58585658e-01 4.44375488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.14, Y:-55.88, Z:44.45 [[ 8.27929070e-01 2.63874811e-01 -4.94877297e-01 1.20141231e+02] [-2.31929620e-01 9.64502616e-01 1.26267000e-01 -5.58823013e+01] [ 5.10629128e-01 1.02365833e-02 8.59740138e-01 4.44510026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:-55.89, Z:44.47 [[ 8.27719730e-01 2.66333782e-01 -4.93909268e-01 1.20163866e+02] [-2.34972163e-01 9.63808500e-01 1.25941488e-01 -5.58897340e+01] [ 5.09576423e-01 1.18106744e-02 8.60344336e-01 4.44659622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.19, Y:-55.90, Z:44.48 [[ 8.27092289e-01 2.68389906e-01 -4.93847349e-01 1.20186674e+02] [-2.37479639e-01 9.63218920e-01 1.25748690e-01 -5.58974926e+01] [ 5.09432789e-01 1.32729181e-02 8.60408079e-01 4.44784864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:-55.90, Z:44.49 [[ 8.26550662e-01 2.70780954e-01 -4.93448758e-01 1.20209104e+02] [-2.40362251e-01 9.62526960e-01 1.25570061e-01 -5.59046728e+01] [ 5.08959714e-01 1.48164369e-02 8.60662816e-01 4.44937082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:-55.91, Z:44.51 [[ 8.24739781e-01 2.74280615e-01 -4.94544678e-01 1.20232285e+02] [-2.44403560e-01 9.61495473e-01 1.25671620e-01 -5.59132397e+01] [ 5.09971758e-01 1.72220959e-02 8.60018724e-01 4.45071361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:-55.92, Z:44.52 [[ 8.23735295e-01 2.75616324e-01 -4.95475333e-01 1.20254647e+02] [-2.45947597e-01 9.61093698e-01 1.25732588e-01 -5.59198479e+01] [ 5.10852174e-01 1.82905975e-02 8.59473973e-01 4.45201175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:-55.93, Z:44.53 [[ 8.23004458e-01 2.76535164e-01 -4.96177352e-01 1.20278431e+02] [-2.46977818e-01 9.60816285e-01 1.25833321e-01 -5.59264859e+01] [ 5.11532618e-01 1.89834158e-02 8.59054137e-01 4.45335090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:-55.93, Z:44.55 [[ 8.21979288e-01 2.77320489e-01 -4.97436827e-01 1.20300843e+02] [-2.47842419e-01 9.60574758e-01 1.25977256e-01 -5.59327689e+01] [ 5.12761334e-01 1.97352518e-02 8.58304336e-01 4.45465200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:-55.94, Z:44.56 [[ 8.21265582e-01 2.77910545e-01 -4.98285633e-01 1.20323294e+02] [-2.48472629e-01 9.60393790e-01 1.26115504e-01 -5.59393769e+01] [ 5.13599256e-01 2.02360185e-02 8.57791529e-01 4.45596232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:-55.95, Z:44.57 [[ 8.20363085e-01 2.78205372e-01 -4.99606024e-01 1.20345763e+02] [-2.48700396e-01 9.60301092e-01 1.26372172e-01 -5.59473574e+01] [ 5.14929627e-01 2.05811511e-02 8.56985353e-01 4.45741746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:-55.95, Z:44.59 [[ 8.20331007e-01 2.78169300e-01 -4.99678776e-01 1.20367543e+02] [-2.48756772e-01 9.60307621e-01 1.26211494e-01 -5.59537669e+01] [ 5.14953499e-01 2.07632775e-02 8.56966615e-01 4.45880573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:-55.96, Z:44.60 [[ 8.20677834e-01 2.78009377e-01 -4.99198036e-01 1.20389928e+02] [-2.48675790e-01 9.60354796e-01 1.26011974e-01 -5.59600155e+01] [ 5.14439739e-01 2.07232322e-02 8.57276095e-01 4.46023916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:-55.97, Z:44.62 [[ 8.21381151e-01 2.77473853e-01 -4.98338504e-01 1.20413568e+02] [-2.48201299e-01 9.60516034e-01 1.25718193e-01 -5.59664269e+01] [ 5.13545635e-01 2.04257095e-02 8.57819137e-01 4.46171072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:-55.97, Z:44.63 [[ 8.21458566e-01 2.77169667e-01 -4.98380176e-01 1.20437537e+02] [-2.47945758e-01 9.60603661e-01 1.25552807e-01 -5.59723121e+01] [ 5.13545252e-01 2.04348217e-02 8.57819149e-01 4.46315559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:-55.98, Z:44.65 [[ 8.22762752e-01 2.76313448e-01 -4.96701452e-01 1.20459746e+02] [-2.47248922e-01 9.60859639e-01 1.24966892e-01 -5.59792565e+01] [ 5.11790411e-01 1.99907941e-02 8.58877723e-01 4.46461748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:-55.97, Z:44.64 [[ 8.27263379e-01 2.61760439e-01 -4.97108412e-01 1.20493406e+02] [-2.44181887e-01 9.64406253e-01 1.01468151e-01 -5.59744536e+01] [ 5.05974809e-01 3.74439849e-02 8.61735134e-01 4.46437692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:-56.00, Z:44.68 [[ 8.23461026e-01 2.83626881e-01 -4.91393662e-01 1.20501160e+02] [-2.45947684e-01 9.58924262e-01 1.41329389e-01 -5.59985257e+01] [ 5.11294119e-01 4.47788971e-03 8.59394131e-01 4.46830305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:-56.00, Z:44.69 [[ 8.24537396e-01 2.74290776e-01 -4.94876401e-01 1.20529498e+02] [-2.45193014e-01 9.61463224e-01 1.24373852e-01 -5.59987371e+01] [ 5.09920061e-01 1.87893446e-02 8.60016565e-01 4.46910760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:-56.00, Z:44.70 [[ 8.25129293e-01 2.72907334e-01 -4.94654664e-01 1.20552109e+02] [-2.43711105e-01 9.61869694e-01 1.24143420e-01 -5.60041161e+01] [ 5.09672980e-01 1.81184628e-02 8.60177409e-01 4.47040455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:-56.01, Z:44.72 [[ 8.25306464e-01 2.72148684e-01 -4.94777056e-01 1.20575140e+02] [-2.42856444e-01 9.62091660e-01 1.24098289e-01 -5.60093423e+01] [ 5.09794065e-01 1.77406762e-02 8.60113527e-01 4.47173971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.60, Y:-56.02, Z:44.73 [[ 8.25214140e-01 2.71442149e-01 -4.95318869e-01 1.20598987e+02] [-2.42009733e-01 9.62297198e-01 1.24158738e-01 -5.60150431e+01] [ 5.10345875e-01 1.74144412e-02 8.59792897e-01 4.47317308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:-56.02, Z:44.75 [[ 8.24500196e-01 2.70120414e-01 -4.97226697e-01 1.20621605e+02] [-2.40333270e-01 9.62678504e-01 1.24458899e-01 -5.60202800e+01] [ 5.12288342e-01 1.68837314e-02 8.58647538e-01 4.47451357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:-56.03, Z:44.76 [[ 8.24077519e-01 2.69270704e-01 -4.98386929e-01 1.20645139e+02] [-2.39266519e-01 9.62922406e-01 1.24627336e-01 -5.60257467e+01] [ 5.13466431e-01 1.65447198e-02 8.57950171e-01 4.47587761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:-56.03, Z:44.77 [[ 8.23989081e-01 2.67917665e-01 -4.99261574e-01 1.20669208e+02] [-2.37679229e-01 9.63309976e-01 1.24669457e-01 -5.60310767e+01] [ 5.14344805e-01 1.59378342e-02 8.57435366e-01 4.47726866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:-56.04, Z:44.79 [[ 8.24008719e-01 2.66138566e-01 -5.00179862e-01 1.20693021e+02] [-2.35586704e-01 9.63817071e-01 1.24721924e-01 -5.60365185e+01] [ 5.15275204e-01 1.50637728e-02 8.56892378e-01 4.47864817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:-56.04, Z:44.80 [[ 8.24918979e-01 2.61668592e-01 -5.01037150e-01 1.20716221e+02] [-2.30351776e-01 9.65076849e-01 1.24758711e-01 -5.60427175e+01] [ 5.16184790e-01 1.24989690e-02 8.56386034e-01 4.48016334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:-56.05, Z:44.82 [[ 8.25774357e-01 2.58561755e-01 -5.01240990e-01 1.20738439e+02] [-2.26796395e-01 9.65934791e-01 1.24632959e-01 -5.60488327e+01] [ 5.16391427e-01 1.07609481e-02 8.56285055e-01 4.48161272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:-56.06, Z:44.83 [[ 8.27113184e-01 2.54864311e-01 -5.00927104e-01 1.20761226e+02] [-2.22562761e-01 9.66939190e-01 1.24476586e-01 -5.60555059e+01] [ 5.16090688e-01 8.53149417e-03 8.56491457e-01 4.48309135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:-56.06, Z:44.85 [[ 8.28787740e-01 2.50722641e-01 -5.00248978e-01 1.20783971e+02] [-2.17922062e-01 9.68039530e-01 1.24134774e-01 -5.60621365e+01] [ 5.15384184e-01 6.13391023e-03 8.56937289e-01 4.48458957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:-56.07, Z:44.86 [[ 8.30456059e-01 2.46558124e-01 -4.99551625e-01 1.20806225e+02] [-2.13263500e-01 9.69120807e-01 1.23788291e-01 -5.60684609e+01] [ 5.14646883e-01 3.73539147e-03 8.57394094e-01 4.48605931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:-56.08, Z:44.88 [[ 8.34396804e-01 2.38112715e-01 -4.97075757e-01 1.20828813e+02] [-2.03829071e-01 9.71236526e-01 1.23098824e-01 -5.60754300e+01] [ 5.12089526e-01 -1.39477600e-03 8.58930947e-01 4.48752729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:-56.08, Z:44.89 [[ 8.36066521e-01 2.33901354e-01 -4.96269009e-01 1.20850998e+02] [-1.99154476e-01 9.72253015e-01 1.22725588e-01 -5.60812960e+01] [ 5.11204721e-01 -3.77256128e-03 8.59450697e-01 4.48891787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:-56.09, Z:44.90 [[ 8.37488729e-01 2.29597738e-01 -4.95880538e-01 1.20874542e+02] [-1.94256334e-01 9.73265159e-01 1.22553689e-01 -5.60873967e+01] [ 5.10761300e-01 -6.30939801e-03 8.59699416e-01 4.49033461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:-56.09, Z:44.92 [[ 8.38621081e-01 2.25677544e-01 -4.95766406e-01 1.20897440e+02] [-1.89823831e-01 9.74165002e-01 1.22349757e-01 -5.60932555e+01] [ 5.10569874e-01 -8.49680683e-03 8.59794282e-01 4.49175076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:-56.10, Z:44.93 [[ 8.39747925e-01 2.21808961e-01 -4.95604891e-01 1.20920735e+02] [-1.85427900e-01 9.75031324e-01 1.22190060e-01 -5.60989994e+01] [ 5.10333143e-01 -1.07098751e-02 8.59910101e-01 4.49315133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:-56.09, Z:44.92 [[ 8.46210538e-01 1.97639777e-01 -4.94839615e-01 1.20956319e+02] [-1.74703280e-01 9.80242402e-01 9.27555756e-02 -5.60899891e+01] [ 5.03394964e-01 7.95935829e-03 8.64019767e-01 4.49229431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:-56.12, Z:44.97 [[ 8.41846141e-01 2.23915433e-01 -4.91077339e-01 1.20961555e+02] [-1.76674228e-01 9.74077376e-01 1.41278032e-01 -5.61171046e+01] [ 5.09981658e-01 -3.21736561e-02 8.59583367e-01 4.49683381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:-56.11, Z:44.97 [[ 8.41162234e-01 2.12256762e-01 -4.97386331e-01 1.20991071e+02] [-1.74159782e-01 9.77077009e-01 1.22429120e-01 -5.61137450e+01] [ 5.11971157e-01 -1.63580565e-02 8.58846871e-01 4.49744209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:-56.12, Z:44.99 [[ 8.40517938e-01 2.11989247e-01 -4.98588162e-01 1.21015378e+02] [-1.73691030e-01 9.77132897e-01 1.22648802e-01 -5.61179743e+01] [ 5.13187122e-01 -1.64882266e-02 8.58118358e-01 4.49882547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-56.12, Z:45.00 [[ 8.38811664e-01 2.09085171e-01 -5.02671247e-01 1.21042334e+02] [-1.73611704e-01 9.77836797e-01 1.17022112e-01 -5.61200043e+01] [ 5.15998031e-01 -1.08899006e-02 8.56520544e-01 4.49997641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.06, Y:-56.13, Z:45.02 [[ 8.39367626e-01 2.15645392e-01 -4.98957968e-01 1.21062757e+02] [-1.74010959e-01 9.76232490e-01 1.29190988e-01 -5.61282243e+01] [ 5.14958421e-01 -2.16145789e-02 8.56942609e-01 4.50178160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:-56.13, Z:45.03 [[ 8.38115226e-01 2.14238555e-01 -5.01661947e-01 1.21088788e+02] [-1.76026938e-01 9.76669383e-01 1.23009890e-01 -5.61285205e+01] [ 5.16311326e-01 -1.47904456e-02 8.56273238e-01 4.50294960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.11, Y:-56.13, Z:45.04 [[ 8.38004715e-01 2.14923449e-01 -5.01553594e-01 1.21112672e+02] [-1.76947877e-01 9.76528150e-01 1.22809693e-01 -5.61324828e+01] [ 5.16175887e-01 -1.41662585e-02 8.56365442e-01 4.50437656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:-56.14, Z:45.06 [[ 8.38013651e-01 2.15880960e-01 -5.01127262e-01 1.21135815e+02] [-1.78238690e-01 9.76328239e-01 1.22532193e-01 -5.61359899e+01] [ 5.15717065e-01 -1.33633833e-02 8.56654732e-01 4.50577571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:-56.13, Z:45.06 [[ 8.41301086e-01 2.04751673e-01 -5.00289151e-01 1.21168333e+02] [-1.77243585e-01 9.78810988e-01 1.02536637e-01 -5.61296848e+01] [ 5.10683066e-01 2.40885822e-03 8.59765668e-01 4.50559454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:-56.13, Z:45.07 [[ 8.42419710e-01 2.08774341e-01 -4.96731624e-01 1.21191484e+02] [-1.78673604e-01 9.77961271e-01 1.08016183e-01 -5.61344233e+01] [ 5.08335298e-01 -2.24213237e-03 8.61156314e-01 4.50696286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.1 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:121.22, Y:-56.14, Z:45.09 [[ 8.41321614e-01 2.18138834e-01 -4.94563840e-01 1.21217591e+02] [-1.86504676e-01 9.75913193e-01 1.13178820e-01 -5.61414105e+01] [ 5.07340072e-01 -2.98131913e-03 8.61740775e-01 4.50885809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:-56.15, Z:45.12 [[ 8.39442019e-01 2.34610459e-01 -4.90198968e-01 1.21227050e+02] [-1.87501007e-01 9.71658986e-01 1.43952032e-01 -5.61524271e+01] [ 5.10078885e-01 -2.89265842e-02 8.59641079e-01 4.51186023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:-56.15, Z:45.12 [[ 8.38824034e-01 2.24623062e-01 -4.95901925e-01 1.21257408e+02] [-1.90167393e-01 9.74426595e-01 1.19704526e-01 -5.61465699e+01] [ 5.10108422e-01 -6.10665710e-03 8.60088430e-01 4.51235815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:-56.15, Z:45.14 [[ 8.38408135e-01 2.26817901e-01 -4.95606133e-01 1.21281701e+02] [-1.92806633e-01 9.73925934e-01 1.19557008e-01 -5.61497175e+01] [ 5.09801336e-01 -4.68141807e-03 8.60279421e-01 4.51380492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:-56.13, Z:45.13 [[ 8.42535350e-01 2.12722722e-01 -4.94856775e-01 1.21320019e+02] [-1.94949426e-01 9.76857465e-01 8.80012118e-02 -5.61348536e+01] [ 5.02124392e-01 2.23279127e-02 8.64507119e-01 4.51286167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:-56.16, Z:45.17 [[ 8.36089515e-01 2.45182473e-01 -4.90754396e-01 1.21324327e+02] [-2.00872768e-01 9.69267171e-01 1.42025638e-01 -5.61611177e+01] [ 5.10494322e-01 -2.01669530e-02 8.59644601e-01 4.51744657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:-56.16, Z:45.18 [[ 8.35475459e-01 2.35644429e-01 -4.96439786e-01 1.21354831e+02] [-2.03124934e-01 9.71838787e-01 1.19455572e-01 -5.61558724e+01] [ 5.10608479e-01 1.03710028e-03 8.59812715e-01 4.51805696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:-56.14, Z:45.17 [[ 8.40458757e-01 2.16652268e-01 -4.96679850e-01 1.21395533e+02] [-2.03145230e-01 9.75720947e-01 8.18574966e-02 -5.61395932e+01] [ 5.02355545e-01 3.21002924e-02 8.64065089e-01 4.51687900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:-56.15, Z:45.19 [[ 8.38977607e-01 2.32607453e-01 -4.91945473e-01 1.21411399e+02] [-2.05090968e-01 9.72533193e-01 1.10076712e-01 -5.61548171e+01] [ 5.04037965e-01 8.54167723e-03 8.63639259e-01 4.51932739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:121.42, Y:-56.18, Z:45.23 [[ 8.31633632e-01 2.54165748e-01 -4.93746164e-01 1.21420902e+02] [-2.08039896e-01 9.66957487e-01 1.47352028e-01 -5.61756311e+01] [ 5.14883389e-01 -1.98240013e-02 8.57030983e-01 4.52327683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:-56.17, Z:45.24 [[ 8.31294878e-01 2.42098511e-01 -5.00337023e-01 1.21450358e+02] [-2.10244526e-01 9.70237148e-01 1.20154552e-01 -5.61699816e+01] [ 5.14534804e-01 5.30925720e-03 8.57453058e-01 4.52391383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:-56.16, Z:45.23 [[ 8.36462788e-01 2.22761494e-01 -5.00706821e-01 1.21489843e+02] [-2.08171079e-01 9.74329782e-01 8.57104305e-02 -5.61578088e+01] [ 5.06946551e-01 3.25390934e-02 8.61363107e-01 4.52287493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:-56.19, Z:45.28 [[ 8.29300807e-01 2.57202824e-01 -4.96091604e-01 1.21492698e+02] [-2.12097185e-01 9.66221957e-01 1.46389596e-01 -5.61860983e+01] [ 5.16986418e-01 -1.61813774e-02 8.55840643e-01 4.52764874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:-56.18, Z:45.28 [[ 8.28918434e-01 2.44376161e-01 -5.03164509e-01 1.21524418e+02] [-2.12605736e-01 9.69655734e-01 1.20692001e-01 -5.61812309e+01] [ 5.17390599e-01 6.93183637e-03 8.55721285e-01 4.52819605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:-56.19, Z:45.30 [[ 8.28714672e-01 2.44485776e-01 -5.03446817e-01 1.21548007e+02] [-2.12802395e-01 9.69626107e-01 1.20583391e-01 -5.61859948e+01] [ 5.17636101e-01 7.20546312e-03 8.55570539e-01 4.52960461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:-56.19, Z:45.31 [[ 8.28856842e-01 2.44170930e-01 -5.03365565e-01 1.21571280e+02] [-2.12552092e-01 9.69705421e-01 1.20386898e-01 -5.61908357e+01] [ 5.17511298e-01 7.20789950e-03 8.55646015e-01 4.53110340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:-56.20, Z:45.33 [[ 8.29226096e-01 2.43612551e-01 -5.03027839e-01 1.21594866e+02] [-2.12050917e-01 9.69846991e-01 1.20130024e-01 -5.61962641e+01] [ 5.17125218e-01 7.05256389e-03 8.55880699e-01 4.53254894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:-56.20, Z:45.34 [[ 8.29533586e-01 2.42536578e-01 -5.03040792e-01 1.21617857e+02] [-2.10897708e-01 9.70119930e-01 1.19956148e-01 -5.62012811e+01] [ 5.17103652e-01 6.58249713e-03 8.55897473e-01 4.53402113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:-56.21, Z:45.35 [[ 8.30081617e-01 2.41132379e-01 -5.02811778e-01 1.21641167e+02] [-2.09392715e-01 9.70474283e-01 1.19726171e-01 -5.62061177e+01] [ 5.16835757e-01 5.90262967e-03 8.56064226e-01 4.53547337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:-56.21, Z:45.37 [[ 8.30937578e-01 2.37778476e-01 -5.02995167e-01 1.21664848e+02] [-2.05552859e-01 9.71311104e-01 1.19594149e-01 -5.62108554e+01] [ 5.17001705e-01 4.01682217e-03 8.55974942e-01 4.53684165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:-56.22, Z:45.38 [[ 8.31364162e-01 2.35926577e-01 -5.03162281e-01 1.21687333e+02] [-2.03471195e-01 9.71766047e-01 1.19458036e-01 -5.62161061e+01] [ 5.17139346e-01 3.06590115e-03 8.55895728e-01 4.53822887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:-56.22, Z:45.40 [[ 8.32226896e-01 2.33659560e-01 -5.02793799e-01 1.21711236e+02] [-2.00921028e-01 9.72316908e-01 1.19291960e-01 -5.62216326e+01] [ 5.16748618e-01 1.74386880e-03 8.56135401e-01 4.53967853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:-56.23, Z:45.41 [[ 8.33633970e-01 2.30007854e-01 -5.02146186e-01 1.21733901e+02] [-1.96853927e-01 9.73188719e-01 1.18963222e-01 -5.62271066e+01] [ 5.16045478e-01 -3.22334052e-04 8.56561125e-01 4.54117091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:-56.23, Z:45.43 [[ 8.34423125e-01 2.28157302e-01 -5.01679474e-01 1.21757345e+02] [-1.94866572e-01 9.73623459e-01 1.18677624e-01 -5.62322185e+01] [ 5.15524071e-01 -1.26679479e-03 8.56874161e-01 4.54258482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:-56.24, Z:45.44 [[ 8.35140591e-01 2.26409165e-01 -5.01277452e-01 1.21781168e+02] [-1.92991518e-01 9.74029926e-01 1.18405989e-01 -5.62371847e+01] [ 5.15067440e-01 -2.14335146e-03 8.57146976e-01 4.54407648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:-56.24, Z:45.46 [[ 8.35782438e-01 2.25155807e-01 -5.00771984e-01 1.21804738e+02] [-1.91709088e-01 9.74318996e-01 1.18110624e-01 -5.62420062e+01] [ 5.14504949e-01 -2.71224501e-03 8.57483120e-01 4.54555426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:-56.25, Z:45.47 [[ 8.36287633e-01 2.24080956e-01 -5.00410552e-01 1.21827630e+02] [-1.90613691e-01 9.74565372e-01 1.17850568e-01 -5.62457119e+01] [ 5.14090864e-01 -3.17187010e-03 8.57729866e-01 4.54697354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:-56.25, Z:45.48 [[ 8.36309488e-01 2.23987109e-01 -5.00416043e-01 1.21850740e+02] [-1.90549243e-01 9.74587039e-01 1.17775587e-01 -5.62504065e+01] [ 5.14079203e-01 -3.14294284e-03 8.57736961e-01 4.54836372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:-56.26, Z:45.50 [[ 8.36274010e-01 2.24207540e-01 -5.00376617e-01 1.21874004e+02] [-1.90857820e-01 9.74537045e-01 1.17689589e-01 -5.62555156e+01] [ 5.14022443e-01 -2.91995416e-03 8.57771766e-01 4.54977515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:-56.26, Z:45.51 [[ 8.35896793e-01 2.24805116e-01 -5.00738665e-01 1.21896440e+02] [-1.91606863e-01 9.74400897e-01 1.17599756e-01 -5.62600576e+01] [ 5.14357231e-01 -2.35629422e-03 8.57572788e-01 4.55113650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:-56.27, Z:45.53 [[ 8.35956131e-01 2.24545913e-01 -5.00755909e-01 1.21920456e+02] [-1.91348720e-01 9.74460486e-01 1.17526289e-01 -5.62655897e+01] [ 5.14356894e-01 -2.42781943e-03 8.57572790e-01 4.55258397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.94, Y:-56.27, Z:45.54 [[ 8.34778232e-01 2.26298391e-01 -5.01930614e-01 1.21944287e+02] [-1.93322398e-01 9.74057326e-01 1.17638324e-01 -5.62693364e+01] [ 5.15530555e-01 -1.16748206e-03 8.56870401e-01 4.55395991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:-56.27, Z:45.55 [[ 8.34319554e-01 2.27570167e-01 -5.02118214e-01 1.21968181e+02] [-1.94884354e-01 9.73761667e-01 1.17508738e-01 -5.62739652e+01] [ 5.15684952e-01 -1.84854143e-04 8.56778265e-01 4.55534379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.99, Y:-56.28, Z:45.57 [[ 8.33899648e-01 2.28051851e-01 -5.02596986e-01 1.21993358e+02] [-1.95483183e-01 9.73648940e-01 1.17448149e-01 -5.62785089e+01] [ 5.16137290e-01 3.09288353e-04 8.56505810e-01 4.55662042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:-56.28, Z:45.58 [[ 8.33837282e-01 2.29714952e-01 -5.01942654e-01 1.22014726e+02] [-1.97618076e-01 9.73256750e-01 1.17125549e-01 -5.62835707e+01] [ 5.15424566e-01 1.52929215e-03 8.56933590e-01 4.55812487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:-56.29, Z:45.60 [[ 8.33963466e-01 2.30513546e-01 -5.01366575e-01 1.22038101e+02] [-1.98674800e-01 9.73066838e-01 1.16915576e-01 -5.62889111e+01] [ 5.14813812e-01 2.10558498e-03 8.57299426e-01 4.55953349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:122.06, Y:-56.29, Z:45.61 [[ 8.33835941e-01 2.30722972e-01 -5.01482336e-01 1.22062974e+02] [-1.99004665e-01 9.73016454e-01 1.16773815e-01 -5.62942115e+01] [ 5.14892966e-01 2.42711990e-03 8.57251038e-01 4.56081788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:-56.30, Z:45.62 [[ 8.33578579e-01 2.33717492e-01 -5.00522613e-01 1.22084061e+02] [-2.02728096e-01 9.72294339e-01 1.16383146e-01 -5.63003576e+01] [ 5.13856080e-01 4.45549885e-03 8.57864836e-01 4.56238558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:-56.31, Z:45.64 [[ 8.32861862e-01 2.34937313e-01 -5.01144269e-01 1.22107149e+02] [-2.04113530e-01 9.71996069e-01 1.16453032e-01 -5.63059805e+01] [ 5.14469422e-01 5.30103714e-03 8.57492340e-01 4.56379101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:-56.31, Z:45.65 [[ 8.31818485e-01 2.38134843e-01 -5.01367933e-01 1.22130777e+02] [-2.07915050e-01 9.71203397e-01 1.16341280e-01 -5.63117670e+01] [ 5.14635152e-01 7.46711200e-03 8.57376756e-01 4.56504994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:-56.32, Z:45.66 [[ 8.31287875e-01 2.39984590e-01 -5.01366001e-01 1.22153677e+02] [-2.10118133e-01 9.70737777e-01 1.16269254e-01 -5.63176688e+01] [ 5.14597746e-01 8.69286664e-03 8.57387657e-01 4.56640330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32999999999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.18, Y:-56.32, Z:45.68 [[ 8.30691090e-01 2.40982624e-01 -5.01876168e-01 1.22178384e+02] [-2.11262797e-01 9.70483849e-01 1.16314789e-01 -5.63234723e+01] [ 5.15092558e-01 9.40610398e-03 8.57082949e-01 4.56765060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:-56.33, Z:45.69 [[ 8.30896259e-01 2.42443511e-01 -5.00831859e-01 1.22201281e+02] [-2.13203217e-01 9.70108947e-01 1.15900900e-01 -5.63299010e+01] [ 5.13960889e-01 1.04773392e-02 8.57749631e-01 4.56916962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:-56.34, Z:45.71 [[ 8.30746478e-01 2.43370423e-01 -5.00630728e-01 1.22224582e+02] [-2.14415418e-01 9.69868254e-01 1.15678863e-01 -5.63364789e+01] [ 5.13698664e-01 1.12431387e-02 8.57897007e-01 4.57058359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:-56.34, Z:45.72 [[ 8.30837324e-01 2.43687114e-01 -5.00325826e-01 1.22248535e+02] [-2.14927296e-01 9.69784200e-01 1.15433365e-01 -5.63432946e+01] [ 5.13337705e-01 1.16273289e-02 8.58107922e-01 4.57197239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:-56.35, Z:45.73 [[ 8.30900799e-01 2.43770592e-01 -5.00179729e-01 1.22271306e+02] [-2.15147360e-01 9.69760252e-01 1.15224418e-01 -5.63521460e+01] [ 5.13142745e-01 1.18722869e-02 8.58221167e-01 4.57331622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:-56.36, Z:45.75 [[ 8.30954956e-01 2.43592364e-01 -5.00176591e-01 1.22295036e+02] [-2.15043556e-01 9.69803979e-01 1.15050038e-01 -5.63597868e+01] [ 5.13098559e-01 1.19583537e-02 8.58246391e-01 4.57472183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:-56.37, Z:45.76 [[ 8.30786508e-01 2.43643901e-01 -5.00431241e-01 1.22318340e+02] [-2.15176688e-01 9.69788090e-01 1.14934999e-01 -5.63673095e+01] [ 5.13315469e-01 1.21946907e-02 8.58113349e-01 4.57609424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:-56.37, Z:45.78 [[ 8.30431990e-01 2.43831342e-01 -5.00928125e-01 1.22342031e+02] [-2.15439393e-01 9.69736792e-01 1.14875680e-01 -5.63747257e+01] [ 5.13778724e-01 1.25232122e-02 8.57831331e-01 4.57752433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:-56.37, Z:45.77 [[ 8.32851724e-01 2.30848755e-01 -5.03057510e-01 1.22377756e+02] [-2.15463681e-01 9.72400904e-01 8.95091312e-02 -5.63742350e+01] [ 5.09836649e-01 3.38427884e-02 8.59605292e-01 4.57729125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:-56.40, Z:45.81 [[ 8.28168819e-01 2.57038363e-01 -4.98063939e-01 1.22382798e+02] [-2.16872609e-01 9.66380237e-01 1.38114118e-01 -5.63993429e+01] [ 5.16819774e-01 -6.36538004e-03 8.56070560e-01 4.58100909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:-56.40, Z:45.82 [[ 8.27974852e-01 2.46016557e-01 -5.03918147e-01 1.22412893e+02] [-2.17895784e-01 9.69157518e-01 1.15130932e-01 -5.63982065e+01] [ 5.16700176e-01 1.44761231e-02 8.56044023e-01 4.58158137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:-56.41, Z:45.83 [[ 8.27837094e-01 2.46375459e-01 -5.03969124e-01 1.22435739e+02] [-2.18416523e-01 9.69059884e-01 1.14965921e-01 -5.64056837e+01] [ 5.16701043e-01 1.49021303e-02 8.56036190e-01 4.58296017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.46, Y:-56.41, Z:45.84 [[ 8.27652234e-01 2.46849987e-01 -5.04040538e-01 1.22458318e+02] [-2.19068580e-01 9.68931363e-01 1.14808414e-01 -5.64134246e+01] [ 5.16721140e-01 1.53980044e-02 8.56015283e-01 4.58432380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:-56.42, Z:45.86 [[ 8.27759699e-01 2.47341561e-01 -5.03622907e-01 1.22480570e+02] [-2.19739456e-01 9.68799925e-01 1.14635412e-01 -5.64212752e+01] [ 5.16263936e-01 1.57752494e-02 8.56284234e-01 4.58580340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:-56.43, Z:45.87 [[ 8.28256947e-01 2.47132358e-01 -5.02907573e-01 1.22503152e+02] [-2.19681925e-01 9.68852731e-01 1.14298895e-01 -5.64313232e+01] [ 5.15490331e-01 1.58108495e-02 8.56749517e-01 4.58726935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:-56.44, Z:45.89 [[ 8.28720831e-01 2.46306155e-01 -5.02548567e-01 1.22526632e+02] [-2.18861828e-01 9.69068462e-01 1.14043048e-01 -5.64389169e+01] [ 5.15093471e-01 1.54788488e-02 8.56994237e-01 4.58870990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:-56.45, Z:45.90 [[ 8.29370061e-01 2.45140525e-01 -5.02047234e-01 1.22548662e+02] [-2.17661549e-01 9.69372572e-01 1.13755290e-01 -5.64463323e+01] [ 5.14556851e-01 1.49311468e-02 8.57326256e-01 4.59003110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:-56.45, Z:45.91 [[ 8.30137992e-01 2.43479199e-01 -5.01586278e-01 1.22572129e+02] [-2.15820207e-01 9.69805495e-01 1.13573506e-01 -5.64543464e+01] [ 5.14093914e-01 1.39707722e-02 8.57620117e-01 4.59145505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:-56.46, Z:45.91 [[ 8.35738785e-01 2.24369123e-01 -5.01197745e-01 1.22605156e+02] [-2.08020002e-01 9.74050673e-01 8.91793950e-02 -5.64553775e+01] [ 5.08201103e-01 2.97284767e-02 8.60725192e-01 4.59118698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:-56.48, Z:45.95 [[ 8.32804993e-01 2.45160300e-01 -4.96318719e-01 1.22612092e+02] [-2.06444995e-01 9.69450768e-01 1.32460082e-01 -5.64824047e+01] [ 5.13630517e-01 -7.85090253e-03 8.57975556e-01 4.59515544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:-56.48, Z:45.96 [[ 8.34062568e-01 2.31453357e-01 -5.00768386e-01 1.22640753e+02] [-2.02025708e-01 9.72822267e-01 1.13147915e-01 -5.64842914e+01] [ 5.13347101e-01 6.79564744e-03 8.58154166e-01 4.59586134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:-56.48, Z:45.96 [[ 8.39331296e-01 2.13320455e-01 -5.00017358e-01 1.22673704e+02] [-1.94446202e-01 9.76747257e-01 9.03076383e-02 -5.64828567e+01] [ 5.07655050e-01 2.14284490e-02 8.61293894e-01 4.59565020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:-56.51, Z:45.99 [[ 8.38275668e-01 2.26909893e-01 -4.95788064e-01 1.22680978e+02] [-1.86892952e-01 9.73783538e-01 1.29679009e-01 -5.65110556e+01] [ 5.12215706e-01 -1.60474636e-02 8.58706906e-01 4.59942130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:-56.51, Z:46.00 [[ 8.39470214e-01 2.14476651e-01 -4.99289020e-01 1.22708867e+02] [-1.82672598e-01 9.76723948e-01 1.12432428e-01 -5.65129744e+01] [ 5.11781673e-01 -3.17725190e-03 8.59109669e-01 4.60021454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:-56.52, Z:46.02 [[ 8.40383799e-01 2.11055187e-01 -4.99210155e-01 1.22730757e+02] [-1.78808129e-01 9.77461046e-01 1.12238841e-01 -5.65205544e+01] [ 5.11647069e-01 -5.06086944e-03 8.59180810e-01 4.60163913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:-56.53, Z:46.03 [[ 8.41404641e-01 2.07905731e-01 -4.98812027e-01 1.22753948e+02] [-1.75248198e-01 9.78124655e-01 1.12072426e-01 -5.65284478e+01] [ 5.11200841e-01 -6.88235076e-03 8.59433728e-01 4.60309519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:-56.54, Z:46.05 [[ 8.42860530e-01 2.02555863e-01 -4.98555162e-01 1.22776873e+02] [-1.69166869e-01 9.79220323e-01 1.11848688e-01 -5.65379939e+01] [ 5.10850954e-01 -9.93382851e-03 8.59611902e-01 4.60456789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:-56.55, Z:46.06 [[ 8.43407472e-01 1.99926391e-01 -4.98691562e-01 1.22800555e+02] [-1.66194603e-01 9.79745359e-01 1.11706690e-01 -5.65451367e+01] [ 5.10923859e-01 -1.13344106e-02 8.59551244e-01 4.60599416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:-56.55, Z:46.07 [[ 8.43826417e-01 1.97584927e-01 -4.98915999e-01 1.22823715e+02] [-1.63543038e-01 9.80205247e-01 1.11585611e-01 -5.65519416e+01] [ 5.11087714e-01 -1.25646477e-02 8.59436721e-01 4.60741360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:-56.56, Z:46.09 [[ 8.43928439e-01 1.95855094e-01 -4.99425242e-01 1.22847117e+02] [-1.61558325e-01 9.80540799e-01 1.11528696e-01 -5.65587235e+01] [ 5.11550289e-01 -1.34359331e-02 8.59148286e-01 4.60886480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:-56.56, Z:46.10 [[ 8.44364892e-01 1.94899393e-01 -4.99061274e-01 1.22871301e+02] [-1.60604321e-01 9.80726049e-01 1.11277442e-01 -5.65634739e+01] [ 5.11130297e-01 -1.38073689e-02 8.59392329e-01 4.61025748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:-56.57, Z:46.12 [[ 8.43989784e-01 1.95097426e-01 -4.99618093e-01 1.22894383e+02] [-1.60852934e-01 9.80690800e-01 1.11228993e-01 -5.65677924e+01] [ 5.11671357e-01 -1.35110982e-02 8.59075010e-01 4.61162635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:-56.57, Z:46.13 [[ 8.43675451e-01 1.95258047e-01 -5.00086021e-01 1.22918394e+02] [-1.61014359e-01 9.80661122e-01 1.11257087e-01 -5.65726263e+01] [ 5.12138761e-01 -1.33438427e-02 8.58799064e-01 4.61302225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:-56.58, Z:46.14 [[ 8.43312676e-01 1.95419884e-01 -5.00634396e-01 1.22941479e+02] [-1.61223065e-01 9.80632603e-01 1.11206213e-01 -5.65773053e+01] [ 5.12670316e-01 -1.30677970e-02 8.58486098e-01 4.61439496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:-56.58, Z:46.16 [[ 8.42970683e-01 1.95680632e-01 -5.01108290e-01 1.22965481e+02] [-1.61500671e-01 9.80583631e-01 1.11235225e-01 -5.65822105e+01] [ 5.13145166e-01 -1.28387086e-02 8.58205807e-01 4.61581392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:-56.59, Z:46.17 [[ 8.42492624e-01 1.95786989e-01 -5.01870136e-01 1.22989213e+02] [-1.61613383e-01 9.80565459e-01 1.11231714e-01 -5.65868131e+01] [ 5.13894243e-01 -1.26029685e-02 8.57760964e-01 4.61723835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:-56.59, Z:46.19 [[ 8.42005814e-01 1.97001384e-01 -5.02211772e-01 1.23012730e+02] [-1.63077967e-01 9.80333650e-01 1.11137358e-01 -5.65905593e+01] [ 5.14229313e-01 -1.16786269e-02 8.57573218e-01 4.61857848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:-56.59, Z:46.20 [[ 8.41664241e-01 1.97948661e-01 -5.02411817e-01 1.23036281e+02] [-1.64196197e-01 9.80150435e-01 1.11106859e-01 -5.65942207e+01] [ 5.14432615e-01 -1.10205607e-02 8.57459989e-01 4.61997103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:-56.60, Z:46.21 [[ 8.41496965e-01 1.99126194e-01 -5.02226658e-01 1.23060636e+02] [-1.65663939e-01 9.79921150e-01 1.10950438e-01 -5.65980035e+01] [ 5.14235663e-01 -1.01636101e-02 8.57588703e-01 4.62139246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:-56.60, Z:46.23 [[ 8.41580747e-01 2.00351681e-01 -5.01598496e-01 1.23084034e+02] [-1.67281531e-01 9.79680761e-01 1.10645810e-01 -5.66014963e+01] [ 5.13574470e-01 -9.20921935e-03 8.57995602e-01 4.62277451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:-56.60, Z:46.24 [[ 8.41257787e-01 2.03085691e-01 -5.01040455e-01 1.23107994e+02] [-1.70611808e-01 9.79133013e-01 1.10409034e-01 -5.66041870e+01] [ 5.13007745e-01 -7.39904155e-03 8.58352089e-01 4.62421942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:-56.62, Z:46.27 [[ 8.39141203e-01 2.14492693e-01 -4.99834899e-01 1.23124151e+02] [-1.72899138e-01 9.76485999e-01 1.28767160e-01 -5.66160647e+01] [ 5.15701396e-01 -2.16328066e-02 8.56495237e-01 4.62686355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:-56.61, Z:46.27 [[ 8.40524575e-01 1.97778544e-01 -5.04382877e-01 1.23160380e+02] [-1.73645510e-01 9.80216165e-01 9.49921359e-02 -5.66062378e+01] [ 5.13191656e-01 7.74059732e-03 8.58239132e-01 4.62650109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:123.18, Y:-56.62, Z:46.29 [[ 8.40006051e-01 2.11662661e-01 -4.99588583e-01 1.23178354e+02] [-1.76508719e-01 9.77288231e-01 1.17270565e-01 -5.66211670e+01] [ 5.13063843e-01 -1.03262431e-02 8.58288333e-01 4.62906116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:-56.62, Z:46.30 [[ 8.40243464e-01 2.06921138e-01 -5.01173188e-01 1.23204275e+02] [-1.76342427e-01 9.78354141e-01 1.08289075e-01 -5.66182583e+01] [ 5.12732162e-01 -2.61109127e-03 8.58544648e-01 4.62982377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:-56.62, Z:46.31 [[ 8.40228772e-01 2.08611330e-01 -5.00496677e-01 1.23227660e+02] [-1.77524227e-01 9.77993235e-01 1.09610130e-01 -5.66224204e+01] [ 5.12348280e-01 -3.24729915e-03 8.58771620e-01 4.63129919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:-56.62, Z:46.33 [[ 8.39989669e-01 2.10446272e-01 -5.00129705e-01 1.23251614e+02] [-1.79807718e-01 9.77603504e-01 1.09364404e-01 -5.66244891e+01] [ 5.11943884e-01 -1.93778829e-03 8.59016708e-01 4.63273347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:-56.63, Z:46.34 [[ 8.39837320e-01 2.11128385e-01 -5.00098072e-01 1.23274989e+02] [-1.80705659e-01 9.77457433e-01 1.09189888e-01 -5.66280632e+01] [ 5.11877662e-01 -1.33119094e-03 8.59057325e-01 4.63413650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:-56.63, Z:46.36 [[ 8.39632437e-01 2.11835567e-01 -5.00143043e-01 1.23298765e+02] [-1.81591114e-01 9.77305019e-01 1.09085139e-01 -5.66319723e+01] [ 5.11900418e-01 -7.69888533e-04 8.59044451e-01 4.63559956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:-56.64, Z:46.37 [[ 8.38367720e-01 2.12569704e-01 -5.01949885e-01 1.23324700e+02] [-1.83830471e-01 9.77142005e-01 1.06770128e-01 -5.66350006e+01] [ 5.13172412e-01 2.76105479e-03 8.58281104e-01 4.63698036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:-56.64, Z:46.39 [[ 8.38201187e-01 2.16540624e-01 -5.00528649e-01 1.23346910e+02] [-1.85402834e-01 9.76273120e-01 1.11877542e-01 -5.66407105e+01] [ 5.12878699e-01 -9.76458177e-04 8.58460533e-01 4.63857468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:-56.64, Z:46.40 [[ 8.37433550e-01 2.16631983e-01 -5.01772492e-01 1.23370642e+02] [-1.87205203e-01 9.76249830e-01 1.09043481e-01 -5.66434560e+01] [ 5.13477616e-01 2.61775159e-03 8.58098995e-01 4.63977766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:-56.65, Z:46.41 [[ 8.36536552e-01 2.17928544e-01 -5.02706422e-01 1.23394665e+02] [-1.88645715e-01 9.75958419e-01 1.09169406e-01 -5.66472990e+01] [ 5.14411694e-01 3.50921344e-03 8.57536177e-01 4.64112619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.42, Y:-56.65, Z:46.43 [[ 8.36595198e-01 2.17619941e-01 -5.02742515e-01 1.23418806e+02] [-1.88385689e-01 9.76027245e-01 1.09002973e-01 -5.66523884e+01] [ 5.14411613e-01 3.51813104e-03 8.57536189e-01 4.64257235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:-56.66, Z:46.44 [[ 8.35832851e-01 2.18835073e-01 -5.03482528e-01 1.23442992e+02] [-1.89810108e-01 9.75751664e-01 1.08999141e-01 -5.66565008e+01] [ 5.15126750e-01 4.46100979e-03 8.57102404e-01 4.64394008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:-56.66, Z:46.45 [[ 8.33687176e-01 2.21190831e-01 -5.06004258e-01 1.23466509e+02] [-1.92357325e-01 9.75211135e-01 1.09370476e-01 -5.66605114e+01] [ 5.17652734e-01 6.15286285e-03 8.55568694e-01 4.64525572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:-56.67, Z:46.47 [[ 8.32798172e-01 2.21834953e-01 -5.07184837e-01 1.23490424e+02] [-1.93014470e-01 9.75061461e-01 1.09547077e-01 -5.66654696e+01] [ 5.18837759e-01 6.66340723e-03 8.54846758e-01 4.64669375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:-56.67, Z:46.48 [[ 8.32102472e-01 2.22249978e-01 -5.08144097e-01 1.23514026e+02] [-1.93491256e-01 9.74963559e-01 1.09577336e-01 -5.66708331e+01] [ 5.19775538e-01 7.14186754e-03 8.54273015e-01 4.64814636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:-56.68, Z:46.50 [[ 8.31763283e-01 2.23329997e-01 -5.08225888e-01 1.23536795e+02] [-1.93862044e-01 9.74723433e-01 1.11048359e-01 -5.66769068e+01] [ 5.20180112e-01 6.15976193e-03 8.54034372e-01 4.64964674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:-56.68, Z:46.51 [[ 8.31019903e-01 2.22528881e-01 -5.09790955e-01 1.23560845e+02] [-1.94427088e-01 9.74885824e-01 1.08608186e-01 -5.66818666e+01] [ 5.21156433e-01 8.86160646e-03 8.53415165e-01 4.65109963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:-56.69, Z:46.53 [[ 8.31113531e-01 2.23142528e-01 -5.09369916e-01 1.23583082e+02] [-1.94642588e-01 9.74751343e-01 1.09426153e-01 -5.66874661e+01] [ 5.20926638e-01 8.19952195e-03 8.53562069e-01 4.65256074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:-56.69, Z:46.54 [[ 8.31291742e-01 2.22938219e-01 -5.09168528e-01 1.23606080e+02] [-1.94475435e-01 9.74798444e-01 1.09303703e-01 -5.66928174e+01] [ 5.20704661e-01 8.15750543e-03 8.53697904e-01 4.65402255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:-56.69, Z:46.54 [[ 8.35335616e-01 2.06365133e-01 -5.09536888e-01 1.23640785e+02] [-1.92820992e-01 9.77969618e-01 7.99718125e-02 -5.66859631e+01] [ 5.14814989e-01 3.14461046e-02 8.56724384e-01 4.65365505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.65, Y:-56.71, Z:46.58 [[ 8.31034391e-01 2.34136623e-01 -5.04541260e-01 1.23645657e+02] [-1.93201511e-01 9.72117286e-01 1.32895293e-01 -5.67127692e+01] [ 5.21588936e-01 -1.29624251e-02 8.53098446e-01 4.65784006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:-56.70, Z:46.56 [[ 8.36653900e-01 2.03859223e-01 -5.08381421e-01 1.23689863e+02] [-1.92156263e-01 9.78409057e-01 7.61031416e-02 -5.66959145e+01] [ 5.12919314e-01 3.40166836e-02 8.57762579e-01 4.65643206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:-56.71, Z:46.59 [[ 8.37084524e-01 2.18613878e-01 -5.01495236e-01 1.23703488e+02] [-1.91684626e-01 9.75779531e-01 1.05410200e-01 -5.67142845e+01] [ 5.12392919e-01 7.89168002e-03 8.58714864e-01 4.65908752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:123.72, Y:-56.73, Z:46.61 [[ 8.35146656e-01 2.26137528e-01 -5.01389949e-01 1.23724720e+02] [-1.93249254e-01 9.74094653e-01 1.17449280e-01 -5.67284026e+01] [ 5.14960958e-01 -1.19413933e-03 8.57212801e-01 4.66130183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:-56.72, Z:46.61 [[ 8.37711366e-01 2.09721510e-01 -5.04238591e-01 1.23757443e+02] [-1.90096717e-01 9.77560341e-01 9.07690349e-02 -5.67208967e+01] [ 5.11959868e-01 1.98158484e-02 8.58780779e-01 4.66145911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:-56.75, Z:46.66 [[ 8.33377290e-01 2.35591904e-01 -4.99978747e-01 1.23761667e+02] [-1.90704273e-01 9.71618824e-01 1.39959786e-01 -5.67457320e+01] [ 5.18762154e-01 -2.12912236e-02 8.54653445e-01 4.66574445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:-56.73, Z:46.64 [[ 8.37981741e-01 1.99123715e-01 -5.08071203e-01 1.23809812e+02] [-1.86654625e-01 9.79479829e-01 7.60218139e-02 -5.67293742e+01] [ 5.12783241e-01 3.11289479e-02 8.57953575e-01 4.66386773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:-56.75, Z:46.66 [[ 8.37976200e-01 2.11207822e-01 -5.03177051e-01 1.23825418e+02] [-1.84777479e-01 9.77415790e-01 1.02545875e-01 -5.67458433e+01] [ 5.13471685e-01 7.04478412e-03 8.58077618e-01 4.66629541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:-56.75, Z:46.67 [[ 8.39182969e-01 2.05901278e-01 -5.03365284e-01 1.23852431e+02] [-1.82560671e-01 9.78506187e-01 9.59022592e-02 -5.67497674e+01] [ 5.12292442e-01 1.14151615e-02 8.58735202e-01 4.66732875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:123.87, Y:-56.76, Z:46.69 [[ 8.39164112e-01 2.04871573e-01 -5.03816665e-01 1.23874976e+02] [-1.79507198e-01 9.78761261e-01 9.90129247e-02 -5.67574966e+01] [ 5.13401168e-01 7.35062471e-03 8.58117247e-01 4.66869941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:123.90, Y:-56.77, Z:46.71 [[ 8.38679750e-01 2.06580017e-01 -5.03925564e-01 1.23896845e+02] [-1.78178696e-01 9.78427457e-01 1.04556507e-01 -5.67670814e+01] [ 5.14653893e-01 2.09937483e-03 8.57395453e-01 4.67059486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:-56.78, Z:46.73 [[ 8.39028271e-01 2.08489074e-01 -5.02557326e-01 1.23915997e+02] [-1.75502283e-01 9.78003879e-01 1.12726933e-01 -5.67781553e+01] [ 5.15005348e-01 -6.38112531e-03 8.57163212e-01 4.67262946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:-56.79, Z:46.76 [[ 8.36273489e-01 2.21390018e-01 -5.01630453e-01 1.23925851e+02] [-1.75307727e-01 9.74799388e-01 1.37961419e-01 -5.67936072e+01] [ 5.19532339e-01 -2.74337824e-02 8.54010267e-01 4.67593825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:-56.77, Z:46.74 [[ 8.40959846e-01 1.83173262e-01 -5.09150365e-01 1.23977276e+02] [-1.71932883e-01 9.82651084e-01 6.95408594e-02 -5.67746824e+01] [ 5.13055184e-01 2.90586195e-02 8.57863611e-01 4.67378055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:-56.79, Z:46.77 [[ 8.41788790e-01 2.00900822e-01 -5.01029434e-01 1.23988386e+02] [-1.70264027e-01 9.79601069e-01 1.06732872e-01 -5.67948444e+01] [ 5.12251691e-01 -4.53924583e-03 8.58823382e-01 4.67673981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:124.01, Y:-56.81, Z:46.79 [[ 8.40062839e-01 2.09742350e-01 -5.00302482e-01 1.24005702e+02] [-1.70101296e-01 9.77567367e-01 1.24207858e-01 -5.68102352e+01] [ 5.15131028e-01 -1.92403050e-02 8.56895463e-01 4.67946029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.7 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:124.03, Y:-56.81, Z:46.80 [[ 8.40682972e-01 2.02834194e-01 -5.02105995e-01 1.24033703e+02] [-1.69337432e-01 9.79170300e-01 1.12028383e-01 -5.68104490e+01] [ 5.14370465e-01 -9.15501453e-03 8.57519219e-01 4.68038042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:-56.81, Z:46.81 [[ 8.42084255e-01 1.95452778e-01 -5.02685110e-01 1.24062688e+02] [-1.67411464e-01 9.80712795e-01 1.00875244e-01 -5.68091655e+01] [ 5.12706066e-01 -7.90204567e-04 8.58563839e-01 4.68115625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:-56.81, Z:46.83 [[ 8.43621631e-01 1.98652962e-01 -4.98838194e-01 1.24084101e+02] [-1.67981520e-01 9.80052742e-01 1.06201844e-01 -5.68149894e+01] [ 5.09985051e-01 -5.79857478e-03 8.60163720e-01 4.68265744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:-56.82, Z:46.84 [[ 8.42725855e-01 1.99785089e-01 -4.99899042e-01 1.24108399e+02] [-1.68529104e-01 9.79819300e-01 1.07480607e-01 -5.68213195e+01] [ 5.11283752e-01 -6.32914891e-03 8.59388659e-01 4.68443291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:124.12, Y:-56.83, Z:46.87 [[ 8.40974195e-01 2.13734983e-01 -4.97071182e-01 1.24117455e+02] [-1.68925165e-01 9.76467541e-01 1.34072485e-01 -5.68333868e+01] [ 5.14029855e-01 -2.87836685e-02 8.57289221e-01 4.68747268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:-56.83, Z:46.88 [[ 8.41054538e-01 1.99507345e-01 -5.02816152e-01 1.24149260e+02] [-1.70004230e-01 9.79893496e-01 1.04438015e-01 -5.68277035e+01] [ 5.13542428e-01 -2.35719412e-03 8.58060964e-01 4.68784780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:-56.83, Z:46.89 [[ 8.41121002e-01 1.99919202e-01 -5.02541315e-01 1.24172695e+02] [-1.70621516e-01 9.79810528e-01 1.04209540e-01 -5.68323575e+01] [ 5.13228759e-01 -1.90847153e-03 8.58249730e-01 4.68930408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:-56.84, Z:46.91 [[ 8.40929652e-01 2.01683485e-01 -5.02156442e-01 1.24195408e+02] [-1.72827562e-01 9.79450544e-01 1.03957996e-01 -5.68354809e+01] [ 5.12804012e-01 -6.34887390e-04 8.58505470e-01 4.69067795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:124.22, Y:-56.84, Z:46.92 [[ 8.40695293e-01 2.02502933e-01 -5.02219062e-01 1.24219401e+02] [-1.73818844e-01 9.79281655e-01 1.03896343e-01 -5.68389937e+01] [ 5.12853229e-01 -5.00296427e-05 8.58476303e-01 4.69183425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:-56.84, Z:46.93 [[ 8.40203508e-01 2.04277357e-01 -5.02323427e-01 1.24242390e+02] [-1.75917647e-01 9.78912413e-01 1.03843488e-01 -5.68426313e+01] [ 5.12943512e-01 1.11789220e-03 8.58421636e-01 4.69340986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.0 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:124.27, Y:-56.85, Z:46.95 [[ 8.40097587e-01 2.04914678e-01 -5.02240998e-01 1.24266973e+02] [-1.76771106e-01 9.78778365e-01 1.03657556e-01 -5.68466285e+01] [ 5.12823577e-01 1.69923408e-03 8.58492336e-01 4.69466969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:-56.85, Z:46.96 [[ 8.39612199e-01 2.06590062e-01 -5.02366303e-01 1.24288868e+02] [-1.78811857e-01 9.78423229e-01 1.03509927e-01 -5.68508552e+01] [ 5.12910982e-01 2.92085385e-03 8.58436831e-01 4.69615346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:-56.85, Z:46.97 [[ 8.37673869e-01 2.02498421e-01 -5.07244398e-01 1.24314642e+02] [-1.79793653e-01 9.79203295e-01 9.39954701e-02 -5.68510979e+01] [ 5.15729321e-01 1.24617745e-02 8.56660943e-01 4.69723250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:-56.86, Z:46.99 [[ 8.37778404e-01 2.09259650e-01 -5.04319090e-01 1.24335092e+02] [-1.79885811e-01 9.77859443e-01 1.06920556e-01 -5.68604698e+01] [ 5.15527342e-01 1.14411559e-03 8.56872365e-01 4.69928809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:-56.86, Z:47.00 [[ 8.40517817e-01 2.00627260e-01 -5.03267822e-01 1.24369962e+02] [-1.80614773e-01 9.79533289e-01 8.88416538e-02 -5.68604295e+01] [ 5.10791643e-01 1.62246103e-02 8.59551429e-01 4.69957848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:-56.87, Z:47.01 [[ 8.42221332e-01 2.03460348e-01 -4.99266576e-01 1.24389988e+02] [-1.78963234e-01 9.79053828e-01 9.70863693e-02 -5.68653379e+01] [ 5.08562079e-01 7.58214964e-03 8.60991941e-01 4.70093151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:-56.87, Z:47.03 [[ 8.41645474e-01 2.06687234e-01 -4.98912101e-01 1.24414491e+02] [-1.80720179e-01 9.78390952e-01 1.00455770e-01 -5.68718556e+01] [ 5.08894010e-01 5.61534000e-03 8.60810870e-01 4.70256406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:124.44, Y:-56.88, Z:47.04 [[ 8.41375680e-01 2.07069241e-01 -4.99208668e-01 1.24437688e+02] [-1.79458586e-01 9.78322730e-01 1.03340463e-01 -5.68762626e+01] [ 5.09785819e-01 2.63912951e-03 8.60297306e-01 4.70402703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:-56.88, Z:47.05 [[ 8.41482830e-01 2.04528224e-01 -5.00074846e-01 1.24464279e+02] [-1.80812368e-01 9.78813841e-01 9.60747252e-02 -5.68796790e+01] [ 5.09130174e-01 9.57448544e-03 8.60636274e-01 4.70525365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:-56.88, Z:47.07 [[ 8.42302755e-01 2.03762572e-01 -4.99005895e-01 1.24486200e+02] [-1.78850638e-01 9.78996625e-01 9.78675506e-02 -5.68832216e+01] [ 5.08466831e-01 6.81341529e-03 8.61054621e-01 4.70652178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:-56.91, Z:47.11 [[ 8.35558010e-01 2.27160841e-01 -5.00240706e-01 1.24490870e+02] [-1.82243310e-01 9.73564259e-01 1.37695349e-01 -5.69053942e+01] [ 5.18295464e-01 -2.38869299e-02 8.54867959e-01 4.71102726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:-56.88, Z:47.08 [[ 8.42607192e-01 1.83972208e-01 -5.06129773e-01 1.24543663e+02] [-1.77499172e-01 9.82196467e-01 6.15153968e-02 -5.68789465e+01] [ 5.08435999e-01 3.80042999e-02 8.60260721e-01 4.70805153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:124.54, Y:-56.92, Z:47.14 [[ 8.35268422e-01 2.26270796e-01 -5.01126920e-01 1.24540512e+02] [-1.82158656e-01 9.73807353e-01 1.36078884e-01 -5.69153607e+01] [ 5.18791757e-01 -2.23777885e-02 8.54607715e-01 4.71376262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:-56.91, Z:47.14 [[ 8.34620148e-01 2.10356361e-01 -5.09077019e-01 1.24572078e+02] [-1.82696824e-01 9.77607294e-01 1.04431079e-01 -5.69082799e+01] [ 5.19645148e-01 5.84647227e-03 8.54362183e-01 4.71403231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:124.60, Y:-56.91, Z:47.15 [[ 8.34821401e-01 2.10292393e-01 -5.08773366e-01 1.24596752e+02] [-1.82703600e-01 9.77620801e-01 1.04292687e-01 -5.69125911e+01] [ 5.19319384e-01 5.88895846e-03 8.54559944e-01 4.71530137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:-56.92, Z:47.17 [[ 8.34232843e-01 2.10759211e-01 -5.09545011e-01 1.24619149e+02] [-1.83268689e-01 9.77517086e-01 1.04273360e-01 -5.69170695e+01] [ 5.20065526e-01 6.39538422e-03 8.54102423e-01 4.71673746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:-56.92, Z:47.18 [[ 8.34110564e-01 2.10429022e-01 -5.09881549e-01 1.24642865e+02] [-1.82890200e-01 9.77588939e-01 1.04264287e-01 -5.69223293e+01] [ 5.20394794e-01 6.28439542e-03 8.53902667e-01 4.71821053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:-56.93, Z:47.20 [[ 8.34071505e-01 2.09729243e-01 -5.10233641e-01 1.24666570e+02] [-1.82136331e-01 9.77740754e-01 1.04160331e-01 -5.69277135e+01] [ 5.20721693e-01 6.05491953e-03 8.53705017e-01 4.71967091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:-56.92, Z:47.19 [[ 8.39402242e-01 1.91200623e-01 -5.08769297e-01 1.24703019e+02] [-1.77105486e-01 9.81210496e-01 7.65480864e-02 -5.69202381e+01] [ 5.13845816e-01 2.58511983e-02 8.57492970e-01 4.71898478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:-56.93, Z:47.21 [[ 8.39538533e-01 1.98989398e-01 -5.05547496e-01 1.24722098e+02] [-1.76255093e-01 9.79939752e-01 9.30173314e-02 -5.69319879e+01] [ 5.13915550e-01 1.10136869e-02 8.57770077e-01 4.72105115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:-56.94, Z:47.23 [[ 8.39610626e-01 2.00251333e-01 -5.04929104e-01 1.24743490e+02] [-1.74790657e-01 9.79725853e-01 9.79054588e-02 -5.69390487e+01] [ 5.14297795e-01 6.05442613e-03 8.57590299e-01 4.72274566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:124.76, Y:-56.96, Z:47.26 [[ 8.35182763e-01 2.14880381e-01 -5.06257025e-01 1.24756536e+02] [-1.76436192e-01 9.76543460e-01 1.23422611e-01 -5.69572632e+01] [ 5.20903084e-01 -1.37583761e-02 8.53504941e-01 4.72608964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:-56.96, Z:47.27 [[ 8.35192212e-01 2.03792905e-01 -5.10805659e-01 1.24784783e+02] [-1.75313067e-01 9.79010193e-01 1.03944077e-01 -5.69555678e+01] [ 5.21267012e-01 2.73762299e-03 8.53389247e-01 4.72702765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:-56.96, Z:47.28 [[ 8.35935079e-01 2.01093909e-01 -5.10660145e-01 1.24807530e+02] [-1.72275610e-01 9.79571162e-01 1.03737424e-01 -5.69616676e+01] [ 5.21088916e-01 1.25653625e-03 8.53501472e-01 4.72837441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:-56.97, Z:47.30 [[ 8.36265282e-01 1.99870141e-01 -5.10599946e-01 1.24830114e+02] [-1.70896018e-01 9.79822223e-01 1.03648267e-01 -5.69671483e+01] [ 5.21013367e-01 5.82050139e-04 8.53548319e-01 4.72978527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:-56.96, Z:47.29 [[ 8.41131974e-01 1.82185384e-01 -5.09220472e-01 1.24864816e+02] [-1.65799572e-01 9.83081675e-01 7.78519201e-02 -5.69594816e+01] [ 5.14788796e-01 1.89447972e-02 8.57107689e-01 4.72921566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:-56.98, Z:47.33 [[ 8.37004745e-01 2.06703112e-01 -5.06652623e-01 1.24871638e+02] [-1.68633158e-01 9.78281778e-01 1.20530580e-01 -5.69848221e+01] [ 5.20563075e-01 -1.54462356e-02 8.53683489e-01 4.73348603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:-56.98, Z:47.34 [[ 8.37040886e-01 1.97610587e-01 -5.10208400e-01 1.24901065e+02] [-1.68411344e-01 9.80280410e-01 1.03382475e-01 -5.69835164e+01] [ 5.20576771e-01 -6.10475879e-04 8.53814648e-01 4.73428930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:-56.99, Z:47.36 [[ 8.37475698e-01 1.96958245e-01 -5.09746904e-01 1.24923004e+02] [-1.67808581e-01 9.80411535e-01 1.03118874e-01 -5.69886842e+01] [ 5.20071857e-01 -8.19646684e-04 8.54122118e-01 4.73570044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:-56.99, Z:47.37 [[ 8.38560383e-01 1.96098269e-01 -5.08293176e-01 1.24945268e+02] [-1.67030800e-01 9.80583441e-01 1.02746419e-01 -5.69941674e+01] [ 5.18572267e-01 -1.25846099e-03 8.55032877e-01 4.73719580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:-56.98, Z:47.36 [[ 8.44489846e-01 1.75738131e-01 -5.05917987e-01 1.24982881e+02] [-1.62231689e-01 9.84189835e-01 7.10721290e-02 -5.69829420e+01] [ 5.10409423e-01 2.20562382e-02 8.59648616e-01 4.73623596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:-57.00, Z:47.39 [[ 8.44009939e-01 1.88109878e-01 -5.02256803e-01 1.24999492e+02] [-1.62522764e-01 9.82146567e-01 9.47336939e-02 -5.69966942e+01] [ 5.11110138e-01 1.67198456e-03 8.59513601e-01 4.73871132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:-57.02, Z:47.42 [[ 8.38598172e-01 2.05948581e-01 -5.04319628e-01 1.25011198e+02] [-1.66683879e-01 9.78386746e-01 1.22375894e-01 -5.70152732e+01] [ 5.18622782e-01 -1.85622489e-02 8.54801646e-01 4.74244576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:-57.01, Z:47.43 [[ 8.38685001e-01 1.94493341e-01 -5.08704049e-01 1.25041944e+02] [-1.65111554e-01 9.80901290e-01 1.02814563e-01 -5.70129855e+01] [ 5.18985205e-01 -2.23611586e-03 8.54780297e-01 4.74306187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:-57.00, Z:47.42 [[ 8.44366547e-01 1.73569276e-01 -5.06871622e-01 1.25078555e+02] [-1.59464320e-01 9.84609553e-01 7.15203390e-02 -5.70014692e+01] [ 5.11484374e-01 2.04385566e-02 8.59049475e-01 4.74202338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:-57.03, Z:47.47 [[ 8.38764412e-01 2.03504724e-01 -5.05034739e-01 1.25083007e+02] [-1.63338311e-01 9.78852813e-01 1.23157486e-01 -5.70301803e+01] [ 5.19417806e-01 -2.08085955e-02 8.54267022e-01 4.74683686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:-57.03, Z:47.47 [[ 8.38640786e-01 1.92066961e-01 -5.09697866e-01 1.25112944e+02] [-1.62360727e-01 9.81376128e-01 1.02663964e-01 -5.70269728e+01] [ 5.19923674e-01 -3.34327135e-03 8.54206179e-01 4.74745624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:-57.03, Z:47.49 [[ 8.38703745e-01 1.91617566e-01 -5.09763413e-01 1.25136650e+02] [-1.61933871e-01 9.81463710e-01 1.02500771e-01 -5.70307986e+01] [ 5.19955238e-01 -3.41981819e-03 8.54186663e-01 4.74889421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.16, Y:-57.03, Z:47.50 [[ 8.39125930e-01 1.91064556e-01 -5.09275965e-01 1.25161172e+02] [-1.61455036e-01 9.81571028e-01 1.02228123e-01 -5.70343437e+01] [ 5.19422704e-01 -3.55709945e-03 8.54510036e-01 4.75015653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:-57.04, Z:47.52 [[ 8.38941198e-01 1.91702864e-01 -5.09340434e-01 1.25183819e+02] [-1.62300983e-01 9.81448548e-01 1.02064381e-01 -5.70372188e+01] [ 5.19457464e-01 -2.95956128e-03 8.54491185e-01 4.75175216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:-57.02, Z:47.50 [[ 8.45564699e-01 1.68099736e-01 -5.06717691e-01 1.25223545e+02] [-1.57905708e-01 9.85416417e-01 6.34056152e-02 -5.70215413e+01] [ 5.09986399e-01 2.64000658e-02 8.59777244e-01 4.75033042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:-57.05, Z:47.56 [[ 8.38857496e-01 2.06390671e-01 -5.03707248e-01 1.25223427e+02] [-1.63640962e-01 9.78145877e-01 1.28266441e-01 -5.70542948e+01] [ 5.19172164e-01 -2.51701266e-02 8.54298969e-01 4.75585339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:-57.05, Z:47.56 [[ 8.38554539e-01 1.93881914e-01 -5.09152323e-01 1.25255878e+02] [-1.65017458e-01 9.81023962e-01 1.01790098e-01 -5.70474159e+01] [ 5.19225889e-01 -1.33752678e-03 8.54635997e-01 4.75620908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:-57.03, Z:47.55 [[ 8.45408967e-01 1.69817889e-01 -5.06404545e-01 1.25297225e+02] [-1.60618563e-01 9.85055571e-01 6.21868121e-02 -5.70305244e+01] [ 5.09397051e-01 2.87646818e-02 8.60050718e-01 4.75465961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:-57.06, Z:47.60 [[ 8.38147901e-01 2.09717078e-01 -5.03514492e-01 1.25296416e+02] [-1.67375551e-01 9.77481147e-01 1.28514720e-01 -5.70641513e+01] [ 5.19127654e-01 -2.34383270e-02 8.54375283e-01 4.76022320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:-57.06, Z:47.61 [[ 8.37853042e-01 1.96400000e-01 -5.09342046e-01 1.25328677e+02] [-1.68052517e-01 9.80523764e-01 1.01643984e-01 -5.70577980e+01] [ 5.19384858e-01 4.33491469e-04 8.54540333e-01 4.76059850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:-57.06, Z:47.62 [[ 8.37279957e-01 1.97229819e-01 -5.09963403e-01 1.25352241e+02] [-1.69056149e-01 9.80356605e-01 1.01592055e-01 -5.70616333e+01] [ 5.19982973e-01 1.15145731e-03 8.54175849e-01 4.76202591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:-57.06, Z:47.63 [[ 8.36157537e-01 1.98537253e-01 -5.11295935e-01 1.25375501e+02] [-1.70535880e-01 9.80090935e-01 1.01682210e-01 -5.70646559e+01] [ 5.21304218e-01 2.17195572e-03 8.53368148e-01 4.76336720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:-57.05, Z:47.62 [[ 8.42502880e-01 1.74066299e-01 -5.09793900e-01 1.25417644e+02] [-1.66456053e-01 9.84163575e-01 6.09462120e-02 -5.70479160e+01] [ 5.12329268e-01 3.35109214e-02 8.58135035e-01 4.76170312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:-57.08, Z:47.67 [[ 8.35113889e-01 2.14228846e-01 -5.06646617e-01 1.25415525e+02] [-1.71453268e-01 9.76536738e-01 1.30306472e-01 -5.70828897e+01] [ 5.22674439e-01 -2.19545263e-02 8.52249628e-01 4.76734261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:-57.08, Z:47.68 [[ 8.35021125e-01 1.99722370e-01 -5.12689668e-01 1.25448758e+02] [-1.72006065e-01 9.79846693e-01 1.01559695e-01 -5.70767132e+01] [ 5.22641019e-01 3.38124166e-03 8.52546147e-01 4.76767587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:-57.08, Z:47.69 [[ 8.34605422e-01 2.00379485e-01 -5.13109980e-01 1.25472894e+02] [-1.72836844e-01 9.79710192e-01 1.01466078e-01 -5.70806472e+01] [ 5.23030797e-01 4.00017087e-03 8.52304396e-01 4.76914131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:-57.08, Z:47.71 [[ 8.34066999e-01 2.00588916e-01 -5.13903033e-01 1.25496129e+02] [-1.73098853e-01 9.79665878e-01 1.01447300e-01 -5.70849678e+01] [ 5.23802470e-01 4.34218013e-03 8.51828690e-01 4.77058573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:-57.09, Z:47.72 [[ 8.33830144e-01 2.00545744e-01 -5.14304089e-01 1.25520049e+02] [-1.73109753e-01 9.79673906e-01 1.01351133e-01 -5.70893362e+01] [ 5.24175833e-01 4.52142422e-03 8.51598058e-01 4.77205291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:-57.08, Z:47.71 [[ 8.38810230e-01 1.81234060e-01 -5.13372782e-01 1.25558111e+02] [-1.70051372e-01 9.83004186e-01 6.91758711e-02 -5.70775391e+01] [ 5.17184618e-01 2.92743177e-02 8.55373068e-01 4.77083741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:-57.10, Z:47.75 [[ 8.33769161e-01 2.08345001e-01 -5.11293797e-01 1.25563600e+02] [-1.73760174e-01 9.78028953e-01 1.15181465e-01 -5.71033388e+01] [ 5.24057619e-01 -7.19225415e-03 8.51652443e-01 4.77516410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:-57.11, Z:47.76 [[ 8.35317455e-01 2.04482657e-01 -5.10324987e-01 1.25589695e+02] [-1.74378246e-01 9.78870163e-01 1.06796218e-01 -5.71055650e+01] [ 5.21379877e-01 -2.19168432e-04 8.53324660e-01 4.77639737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-57.10, Z:47.76 [[ 8.40544706e-01 1.85522183e-01 -5.08985379e-01 1.25627662e+02] [-1.72414663e-01 9.82292478e-01 7.33121495e-02 -5.70956628e+01] [ 5.13573540e-01 2.61344036e-02 8.57647487e-01 4.77563465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-57.12, Z:47.80 [[ 8.35862858e-01 2.12894908e-01 -5.05973360e-01 1.25632731e+02] [-1.76263921e-01 9.77012742e-01 1.19904678e-01 -5.71201853e+01] [ 5.19869515e-01 -1.10390186e-02 8.54174354e-01 4.77995402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:-57.12, Z:47.81 [[ 8.36145788e-01 2.03297503e-01 -5.09441211e-01 1.25662660e+02] [-1.77519717e-01 9.79089327e-01 9.93520965e-02 -5.71170999e+01] [ 5.18986485e-01 7.36302258e-03 8.54750732e-01 4.78066486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:-57.12, Z:47.82 [[ 8.36286906e-01 2.05842451e-01 -5.08186085e-01 1.25686570e+02] [-1.80732753e-01 9.78542819e-01 9.89425306e-02 -5.71212536e+01] [ 5.17648417e-01 9.10152725e-03 8.55545019e-01 4.78212776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:-57.13, Z:47.84 [[ 8.35976046e-01 2.07122365e-01 -5.08177505e-01 1.25709816e+02] [-1.82337484e-01 9.78262967e-01 9.87654310e-02 -5.71255277e+01] [ 5.17587764e-01 1.00942732e-02 8.55570577e-01 4.78360378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:-57.13, Z:47.85 [[ 8.35364232e-01 2.08563285e-01 -5.08594098e-01 1.25732656e+02] [-1.84087532e-01 9.77944740e-01 9.86704894e-02 -5.71297297e+01] [ 5.17955965e-01 1.12000346e-02 8.55333957e-01 4.78499472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:-57.13, Z:47.86 [[ 8.34731491e-01 2.09776435e-01 -5.09133760e-01 1.25756755e+02] [-1.85499424e-01 9.77675037e-01 9.86989600e-02 -5.71339827e+01] [ 5.18472084e-01 1.20568895e-02 8.55009549e-01 4.78644169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:-57.14, Z:47.88 [[ 8.32964409e-01 2.12260602e-01 -5.10994844e-01 1.25779676e+02] [-1.88333902e-01 9.77114610e-01 9.88806407e-02 -5.71383250e+01] [ 5.20288992e-01 1.38735984e-02 8.53877560e-01 4.78780829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:-57.14, Z:47.89 [[ 8.32307294e-01 2.13033456e-01 -5.11743408e-01 1.25802949e+02] [-1.89241258e-01 9.76936939e-01 9.89038106e-02 -5.71429648e+01] [ 5.21010859e-01 1.45246032e-02 8.53426459e-01 4.78922416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:-57.15, Z:47.91 [[ 8.31864926e-01 2.13620429e-01 -5.12217783e-01 1.25825835e+02] [-1.89993063e-01 9.76799793e-01 9.88170029e-02 -5.71473415e+01] [ 5.21443555e-01 1.51154264e-02 8.53151887e-01 4.79059075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:-57.15, Z:47.92 [[ 8.31383688e-01 2.13744230e-01 -5.12946944e-01 1.25849756e+02] [-1.90115596e-01 9.76769641e-01 9.88793676e-02 -5.71519141e+01] [ 5.22165896e-01 1.53125205e-02 8.52706458e-01 4.79203420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:-57.16, Z:47.93 [[ 8.30964098e-01 2.12569705e-01 -5.14113595e-01 1.25873409e+02] [-1.88729744e-01 9.77033466e-01 9.89276962e-02 -5.71571372e+01] [ 5.23335219e-01 1.48231635e-02 8.51997959e-01 4.79345461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:-57.15, Z:47.94 [[ 8.33725417e-01 2.02458850e-01 -5.13723996e-01 1.25902662e+02] [-1.85267654e-01 9.78992077e-01 8.51493377e-02 -5.71549803e+01] [ 5.20170959e-01 2.41852723e-02 8.53719653e-01 4.79377667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:-57.17, Z:47.97 [[ 8.31613483e-01 2.14189317e-01 -5.12388478e-01 1.25916500e+02] [-1.85386678e-01 9.76775818e-01 1.07428029e-01 -5.71709365e+01] [ 5.23498610e-01 5.65140062e-03 8.52007786e-01 4.79679560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:-57.17, Z:47.98 [[ 8.32443389e-01 2.06920908e-01 -5.14025040e-01 1.25942255e+02] [-1.82333377e-01 9.78287655e-01 9.85281871e-02 -5.71723323e+01] [ 5.23251893e-01 1.17047837e-02 8.52097679e-01 4.79791363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:-57.18, Z:47.99 [[ 8.34368325e-01 2.01141127e-01 -5.13197570e-01 1.25964798e+02] [-1.75738967e-01 9.79527447e-01 9.81926444e-02 -5.71765387e+01] [ 5.22441685e-01 8.25997884e-03 8.52635009e-01 4.79926306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:-57.18, Z:48.01 [[ 8.35692841e-01 1.98375137e-01 -5.12117936e-01 1.25987846e+02] [-1.72655962e-01 9.80103957e-01 9.79089023e-02 -5.71818430e+01] [ 5.21351508e-01 6.59844622e-03 8.53316510e-01 4.80080796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:-57.19, Z:48.02 [[ 8.37093481e-01 1.95856064e-01 -5.10798303e-01 1.26010789e+02] [-1.69947512e-01 9.80618868e-01 9.74909207e-02 -5.71876488e+01] [ 5.19992641e-01 5.19988656e-03 8.54154912e-01 4.80237566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:-57.18, Z:48.01 [[ 8.43690755e-01 1.73927826e-01 -5.07873036e-01 1.26046577e+02] [-1.62972046e-01 9.84394748e-01 6.63859414e-02 -5.71772928e+01] [ 5.11493911e-01 2.67599027e-02 8.58870122e-01 4.80145014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:-57.21, Z:48.06 [[ 8.38335049e-01 2.01387233e-01 -5.06594046e-01 1.26050789e+02] [-1.64180970e-01 9.79389814e-01 1.17644382e-01 -5.72063498e+01] [ 5.19845125e-01 -1.54523068e-02 8.54120760e-01 4.80626556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:-57.18, Z:48.04 [[ 8.44337827e-01 1.68497373e-01 -5.08627830e-01 1.26094374e+02] [-1.57719850e-01 9.85367870e-01 6.46112149e-02 -5.71849511e+01] [ 5.12072341e-01 2.56670123e-02 8.58558747e-01 4.80419037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:-57.21, Z:48.09 [[ 8.37496775e-01 1.99625573e-01 -5.08673552e-01 1.26099468e+02] [-1.61904980e-01 9.79734918e-01 1.17924837e-01 -5.72137415e+01] [ 5.21906054e-01 -1.64048898e-02 8.52845209e-01 4.80903692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:-57.21, Z:48.10 [[ 8.37235511e-01 1.88522713e-01 -5.13318503e-01 1.26129619e+02] [-1.61255378e-01 9.82068314e-01 9.76653942e-02 -5.72101265e+01] [ 5.22525982e-01 1.00643312e-03 8.52622768e-01 4.80961266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:-57.21, Z:48.11 [[ 8.36686019e-01 1.88070662e-01 -5.14379171e-01 1.26153336e+02] [-1.61277665e-01 9.82153477e-01 9.67680845e-02 -5.72143071e+01] [ 5.23398529e-01 1.99336807e-03 8.52085680e-01 4.81094923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:-57.20, Z:48.10 [[ 8.41403178e-01 1.67137379e-01 -5.13912238e-01 1.26190062e+02] [-1.56068769e-01 9.85603856e-01 6.50198319e-02 -5.72022151e+01] [ 5.17381128e-01 2.54977572e-02 8.55375142e-01 4.80989409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:-57.22, Z:48.12 [[ 8.40469055e-01 1.80374468e-01 -5.10956769e-01 1.26205766e+02] [-1.56846851e-01 9.83584512e-01 8.92220460e-02 -5.72170367e+01] [ 5.18662543e-01 5.15359166e-03 8.54963512e-01 4.81243792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:-57.22, Z:48.14 [[ 8.40120829e-01 1.78052034e-01 -5.12342137e-01 1.26229540e+02] [-1.56097250e-01 9.83990747e-01 8.59991782e-02 -5.72203072e+01] [ 5.19452251e-01 7.72549768e-03 8.54464555e-01 4.81379638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:-57.24, Z:48.18 [[ 8.35673704e-01 1.98560199e-01 -5.12077443e-01 1.26239876e+02] [-1.59311075e-01 9.79910572e-01 1.19980217e-01 -5.72414809e+01] [ 5.25613396e-01 -1.86847045e-02 8.50518336e-01 4.81791150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:-57.24, Z:48.19 [[ 8.36364404e-01 1.86478381e-01 -5.15480744e-01 1.26270807e+02] [-1.58675810e-01 9.82459055e-01 9.79601574e-02 -5.72376741e+01] [ 5.24706176e-01 -1.36064015e-04 8.51283390e-01 4.81851887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:-57.24, Z:48.20 [[ 8.36734061e-01 1.85642301e-01 -5.15182538e-01 1.26294040e+02] [-1.57836829e-01 9.82617284e-01 9.77282395e-02 -5.72417311e+01] [ 5.24369762e-01 -4.57768533e-04 8.51490542e-01 4.82000600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:-57.25, Z:48.22 [[ 8.37996558e-01 1.84596592e-01 -5.13503522e-01 1.26317408e+02] [-1.56913120e-01 9.82813956e-01 9.72368261e-02 -5.72461421e+01] [ 5.22628015e-01 -9.08685911e-04 8.52560340e-01 4.82155203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:-57.25, Z:48.23 [[ 8.38560332e-01 1.83826652e-01 -5.12858978e-01 1.26341109e+02] [-1.56192060e-01 9.82957961e-01 9.69416696e-02 -5.72501576e+01] [ 5.21939278e-01 -1.18693837e-03 8.52981818e-01 4.82305451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:-57.25, Z:48.24 [[ 8.38644381e-01 1.81548746e-01 -5.13532526e-01 1.26365807e+02] [-1.55786224e-01 9.83380289e-01 9.32408651e-02 -5.72525590e+01] [ 5.21925526e-01 1.80536532e-03 8.52989148e-01 4.82433788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:-57.24, Z:48.23 [[ 8.45403273e-01 1.64298288e-01 -5.08231620e-01 1.26400712e+02] [-1.51432258e-01 9.86199933e-01 6.69175881e-02 -5.72407219e+01] [ 5.12212434e-01 2.03903137e-02 8.58616712e-01 4.82344103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:-57.25, Z:48.26 [[ 8.45132019e-01 1.73233756e-01 -5.05709339e-01 1.26420242e+02] [-1.51788640e-01 9.84862339e-01 8.37041349e-02 -5.72519483e+01] [ 5.12554465e-01 6.01988813e-03 8.58633613e-01 4.82561623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.43, Y:-57.27, Z:48.30 [[ 8.39026275e-01 1.95990928e-01 -5.07565234e-01 1.26430328e+02] [-1.56835391e-01 9.80391363e-01 1.19312347e-01 -5.72735243e+01] [ 5.20996709e-01 -2.05020026e-02 8.53312427e-01 4.82985774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:-57.27, Z:48.30 [[ 8.38806929e-01 1.85751229e-01 -5.11761094e-01 1.26460442e+02] [-1.58670076e-01 9.82596786e-01 9.65782716e-02 -5.72669867e+01] [ 5.20794339e-01 1.90647907e-04 8.53682154e-01 4.83032772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.48, Y:-57.27, Z:48.32 [[ 8.38096737e-01 1.86309089e-01 -5.12720960e-01 1.26484363e+02] [-1.59260234e-01 9.82490983e-01 9.66832288e-02 -5.72702021e+01] [ 5.21756684e-01 6.26161388e-04 8.53094116e-01 4.83173552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:-57.27, Z:48.33 [[ 8.37234727e-01 1.86867646e-01 -5.13924601e-01 1.26508363e+02] [-1.59880964e-01 9.82384401e-01 9.67417489e-02 -5.72736820e+01] [ 5.22949414e-01 1.17120909e-03 8.52362915e-01 4.83314743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:-57.28, Z:48.35 [[ 8.36504646e-01 1.87443044e-01 -5.14902984e-01 1.26532560e+02] [-1.60553551e-01 9.82273936e-01 9.67495360e-02 -5.72769830e+01] [ 5.23910808e-01 1.73806622e-03 8.51771357e-01 4.83454141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:-57.28, Z:48.36 [[ 8.35878562e-01 1.87911572e-01 -5.15748263e-01 1.26556123e+02] [-1.61118599e-01 9.82183390e-01 9.67294418e-02 -5.72801261e+01] [ 5.24735959e-01 2.24257075e-03 8.51262089e-01 4.83591450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:-57.26, Z:48.34 [[ 8.42364497e-01 1.64409318e-01 -5.13216942e-01 1.26595755e+02] [-1.57101020e-01 9.85879649e-01 5.79705715e-02 -5.72625775e+01] [ 5.15501041e-01 3.17945536e-02 8.56298887e-01 4.83448365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:-57.30, Z:48.40 [[ 8.34678244e-01 2.02707988e-01 -5.12075874e-01 1.26597162e+02] [-1.62762805e-01 9.79060571e-01 1.22264744e-01 -5.72965228e+01] [ 5.26137338e-01 -1.87048161e-02 8.50193879e-01 4.83985427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:-57.29, Z:48.40 [[ 8.34625438e-01 1.89657281e-01 -5.17136823e-01 1.26628361e+02] [-1.63087392e-01 9.81844168e-01 9.68737998e-02 -5.72910094e+01] [ 5.26120595e-01 3.48515809e-03 8.50402830e-01 4.84033545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:-57.29, Z:48.42 [[ 8.34509549e-01 1.89753540e-01 -5.17288514e-01 1.26651871e+02] [-1.63294958e-01 9.81824575e-01 9.67225948e-02 -5.72947497e+01] [ 5.26240031e-01 3.75467713e-03 8.50327779e-01 4.84179147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:-57.30, Z:48.43 [[ 8.34673169e-01 1.89732189e-01 -5.17032299e-01 1.26674548e+02] [-1.63407926e-01 9.81827961e-01 9.64971753e-02 -5.72987100e+01] [ 5.25945388e-01 3.94357275e-03 8.50509199e-01 4.84318262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:-57.30, Z:48.45 [[ 8.34854455e-01 1.89576140e-01 -5.16796793e-01 1.26698526e+02] [-1.63298298e-01 9.81858148e-01 9.63755324e-02 -5.73027994e+01] [ 5.25691644e-01 3.93249436e-03 8.50666110e-01 4.84465614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:-57.31, Z:48.46 [[ 8.35049981e-01 1.89705729e-01 -5.16433214e-01 1.26721973e+02] [-1.63599823e-01 9.81831949e-01 9.61307587e-02 -5.73066994e+01] [ 5.25287185e-01 4.21439421e-03 8.50914574e-01 4.84607324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:-57.29, Z:48.44 [[ 8.39877589e-01 1.63573064e-01 -5.17541774e-01 1.26762403e+02] [-1.59809802e-01 9.85765842e-01 5.22162063e-02 -5.72865634e+01] [ 5.18716167e-01 3.88530270e-02 8.54063218e-01 4.84434468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:-57.30, Z:48.47 [[ 8.39414564e-01 1.79394198e-01 -5.13031102e-01 1.26778259e+02] [-1.60124796e-01 9.83686871e-01 8.19767691e-02 -5.73031564e+01] [ 5.19368116e-01 1.33365063e-02 8.54446545e-01 4.84696780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:-57.31, Z:48.49 [[ 8.39751539e-01 1.84148854e-01 -5.10790125e-01 1.26800979e+02] [-1.61743942e-01 9.82862819e-01 8.84283693e-02 -5.73100033e+01] [ 5.18320605e-01 8.35934913e-03 8.55145526e-01 4.84868306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:-57.31, Z:48.50 [[ 8.39215008e-01 1.82823802e-01 -5.12146100e-01 1.26824807e+02] [-1.62188320e-01 9.83077391e-01 8.51692005e-02 -5.73130922e+01] [ 5.19050209e-01 1.15888445e-02 8.54665185e-01 4.85006335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:-57.34, Z:48.55 [[ 8.31893902e-01 2.07501188e-01 -5.14680283e-01 1.26832660e+02] [-1.67688847e-01 9.78099585e-01 1.23294982e-01 -5.73372878e+01] [ 5.28992426e-01 -1.62622004e-02 8.48470715e-01 4.85450387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:-57.33, Z:48.55 [[ 8.31542429e-01 1.95110085e-01 -5.20066576e-01 1.26863736e+02] [-1.69111728e-01 9.80757546e-01 9.75492631e-02 -5.73316400e+01] [ 5.29092064e-01 6.83300629e-03 8.48536916e-01 4.85495025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:-57.34, Z:48.56 [[ 8.31208293e-01 1.95378086e-01 -5.20499930e-01 1.26887237e+02] [-1.69456931e-01 9.80701921e-01 9.75094413e-02 -5.73354179e+01] [ 5.29506489e-01 7.15166471e-03 8.48275740e-01 4.85631749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:-57.32, Z:48.55 [[ 8.37878306e-01 1.70974514e-01 -5.18389487e-01 1.26927210e+02] [-1.64442859e-01 9.84623123e-01 5.89563572e-02 -5.73192963e+01] [ 5.20498310e-01 3.58471966e-02 8.53109892e-01 4.85492514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:-57.35, Z:48.60 [[ 8.30201762e-01 2.08983757e-01 -5.16808304e-01 1.26927522e+02] [-1.68900207e-01 9.77792819e-01 1.24072248e-01 -5.73540662e+01] [ 5.31260533e-01 -1.57159697e-02 8.47062722e-01 4.86023523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:-57.35, Z:48.61 [[ 8.30272991e-01 1.94202143e-01 -5.22429219e-01 1.26959448e+02] [-1.67975820e-01 9.80939002e-01 9.76872435e-02 -5.73490231e+01] [ 5.31442269e-01 6.64839657e-03 8.47068423e-01 4.86073827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:-57.36, Z:48.62 [[ 8.30604636e-01 1.91709857e-01 -5.22822407e-01 1.26982925e+02] [-1.65096990e-01 9.81437550e-01 9.75874910e-02 -5.73554817e+01] [ 5.31826026e-01 5.25978327e-03 8.46837300e-01 4.86223031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:-57.36, Z:48.64 [[ 8.31086909e-01 1.89864529e-01 -5.22729386e-01 1.27006318e+02] [-1.63037807e-01 9.81800960e-01 9.73937792e-02 -5.73611333e+01] [ 5.31707837e-01 4.28195752e-03 8.46917022e-01 4.86376562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:-57.37, Z:48.65 [[ 8.31564965e-01 1.87887997e-01 -5.22683278e-01 1.27028243e+02] [-1.60820414e-01 9.82185167e-01 9.72064408e-02 -5.73662541e+01] [ 5.31635686e-01 3.22467074e-03 8.46967000e-01 4.86521237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:-57.37, Z:48.67 [[ 8.33263519e-01 1.83756173e-01 -5.21445660e-01 1.27051675e+02] [-1.56132958e-01 9.82971625e-01 9.68983155e-02 -5.73716809e+01] [ 5.30371952e-01 6.73022222e-04 8.47764791e-01 4.86669714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:-57.38, Z:48.68 [[ 8.34146997e-01 1.81851372e-01 -5.20700361e-01 1.27074099e+02] [-1.54083153e-01 9.83325972e-01 9.65837194e-02 -5.73758789e+01] [ 5.29582070e-01 -3.33866087e-04 8.48258639e-01 4.86813472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:-57.38, Z:48.70 [[ 8.34841450e-01 1.80137212e-01 -5.20182986e-01 1.27097940e+02] [-1.52171260e-01 9.83640591e-01 9.64110713e-02 -5.73801841e+01] [ 5.29040321e-01 -1.33105825e-03 8.48595644e-01 4.86960263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:-57.38, Z:48.71 [[ 8.35343299e-01 1.78524322e-01 -5.19933303e-01 1.27120541e+02] [-1.50408267e-01 9.83933148e-01 9.61920694e-02 -5.73843095e+01] [ 5.28752236e-01 -2.15113362e-03 8.48773495e-01 4.87098169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:-57.39, Z:48.72 [[ 8.36007135e-01 1.76706527e-01 -5.19487125e-01 1.27144079e+02] [-1.48367428e-01 9.84258348e-01 9.60344237e-02 -5.73889286e+01] [ 5.28279449e-01 -3.21049504e-03 8.49064495e-01 4.87242904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:-57.39, Z:48.74 [[ 8.36528730e-01 1.76016045e-01 -5.18881523e-01 1.27166787e+02] [-1.47734914e-01 9.84381287e-01 9.57490277e-02 -5.73926084e+01] [ 5.27630627e-01 -3.43989529e-03 8.49466944e-01 4.87386819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:-57.40, Z:48.75 [[ 8.36767107e-01 1.75597222e-01 -5.18639011e-01 1.27190119e+02] [-1.47317687e-01 9.84455458e-01 9.56292304e-02 -5.73964275e+01] [ 5.27369233e-01 -3.61469507e-03 8.49628522e-01 4.87539620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:-57.40, Z:48.77 [[ 8.36519383e-01 1.75423768e-01 -5.19097123e-01 1.27213958e+02] [-1.47165191e-01 9.84486689e-01 9.55424851e-02 -5.73989286e+01] [ 5.27804631e-01 -3.53011338e-03 8.49358470e-01 4.87684501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:-57.40, Z:48.77 [[ 8.38221141e-01 1.66713286e-01 -5.19222495e-01 1.27245036e+02] [-1.45432888e-01 9.85980939e-01 8.17976891e-02 -5.73955374e+01] [ 5.25580245e-01 6.94747503e-03 8.50715663e-01 4.87724358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:-57.41, Z:48.80 [[ 8.35882730e-01 1.81308098e-01 -5.18099832e-01 1.27259001e+02] [-1.47566597e-01 9.83350844e-01 1.06043465e-01 -5.74095474e+01] [ 5.28700446e-01 -1.21856718e-02 8.48721007e-01 4.88016237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.29, Y:-57.41, Z:48.81 [[ 8.35610488e-01 1.76006614e-01 -5.20362165e-01 1.27285083e+02] [-1.47970662e-01 9.84385361e-01 9.53422464e-02 -5.74090258e+01] [ 5.29017764e-01 -2.67064710e-03 8.48606548e-01 4.88120752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:-57.41, Z:48.83 [[ 8.35638585e-01 1.76309829e-01 -5.20214378e-01 1.27308692e+02] [-1.48394382e-01 9.84331829e-01 9.52363232e-02 -5.74126235e+01] [ 5.28854670e-01 -2.38625517e-03 8.48709045e-01 4.88265230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.9 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.33, Y:-57.42, Z:48.84 [[ 8.35556192e-01 1.76398699e-01 -5.20316585e-01 1.27331729e+02] [-1.48599902e-01 9.84316515e-01 9.50740114e-02 -5.74155797e+01] [ 5.28927140e-01 -2.12068538e-03 8.48664588e-01 4.88411986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:-57.42, Z:48.86 [[ 8.35118150e-01 1.77785784e-01 -5.20547684e-01 1.27355776e+02] [-1.50256574e-01 9.84068539e-01 9.50372207e-02 -5.74170663e+01] [ 5.29150865e-01 -1.15159654e-03 8.48526980e-01 4.88554558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:-57.42, Z:48.87 [[ 8.34976240e-01 1.78198593e-01 -5.20634170e-01 1.27379163e+02] [-1.50844369e-01 9.83994306e-01 9.48745585e-02 -5.74196473e+01] [ 5.29207572e-01 -6.83269475e-04 8.48492121e-01 4.88700178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:-57.42, Z:48.88 [[ 8.34957149e-01 1.79166905e-01 -5.20332374e-01 1.27402077e+02] [-1.52132340e-01 9.83818683e-01 9.46390540e-02 -5.74224604e+01] [ 5.28868897e-01 1.39826987e-04 8.48703523e-01 4.88842833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:-57.43, Z:48.90 [[ 8.34543696e-01 1.80053763e-01 -5.20689410e-01 1.27425462e+02] [-1.53186322e-01 9.83656451e-01 9.46252496e-02 -5.74255961e+01] [ 5.29217129e-01 7.93590240e-04 8.48486064e-01 4.88990035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:-57.43, Z:48.91 [[ 8.34108146e-01 1.81525968e-01 -5.20876111e-01 1.27449341e+02] [-1.55014573e-01 9.83384239e-01 9.44770874e-02 -5.74284411e+01] [ 5.29371403e-01 1.93927964e-03 8.48387975e-01 4.89144291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:-57.43, Z:48.93 [[ 8.34130117e-01 1.81872140e-01 -5.20720149e-01 1.27472567e+02] [-1.55553229e-01 9.83319335e-01 9.42670622e-02 -5.74315316e+01] [ 5.29178743e-01 2.36870498e-03 8.48507070e-01 4.89294378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:-57.43, Z:48.94 [[ 8.34181302e-01 1.82091048e-01 -5.20561625e-01 1.27495676e+02] [-1.55941415e-01 9.83277922e-01 9.40574427e-02 -5.74339963e+01] [ 5.28983771e-01 2.71615617e-03 8.48627594e-01 4.89438655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:-57.44, Z:48.96 [[ 8.34338754e-01 1.81710771e-01 -5.20442158e-01 1.27520041e+02] [-1.55555323e-01 9.83348674e-01 9.39570518e-02 -5.74352921e+01] [ 5.28849114e-01 2.56553880e-03 8.48711984e-01 4.89588637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:-57.44, Z:48.97 [[ 8.34500957e-01 1.80618190e-01 -5.20562409e-01 1.27544204e+02] [-1.54365877e-01 9.83551086e-01 9.37999823e-02 -5.74383137e+01] [ 5.28941706e-01 2.08089770e-03 8.48655608e-01 4.89737072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:-57.44, Z:48.99 [[ 8.34823867e-01 1.78975095e-01 -5.20612165e-01 1.27567961e+02] [-1.52534467e-01 9.83852816e-01 9.36315761e-02 -5.74411553e+01] [ 5.28963465e-01 1.24542451e-03 8.48643684e-01 4.89882128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:-57.44, Z:49.00 [[ 8.34900766e-01 1.77575857e-01 -5.20967874e-01 1.27590641e+02] [-1.50958070e-01 9.84106952e-01 9.35156071e-02 -5.74445777e+01] [ 5.29294221e-01 5.68052767e-04 8.48438156e-01 4.90028019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:-57.45, Z:49.02 [[ 8.35719257e-01 1.74140395e-01 -5.20815176e-01 1.27614124e+02] [-1.46975546e-01 9.84719666e-01 9.34096777e-02 -5.74479081e+01] [ 5.29123344e-01 -1.51717180e-03 8.48543567e-01 4.90179105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:-57.45, Z:49.03 [[ 8.36070164e-01 1.72312970e-01 -5.20859790e-01 1.27636517e+02] [-1.44928769e-01 9.85039164e-01 9.32389201e-02 -5.74510272e+01] [ 5.29133568e-01 -2.46671077e-03 8.48534963e-01 4.90319639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:-57.45, Z:49.05 [[ 8.36375899e-01 1.70685838e-01 -5.20904694e-01 1.27659438e+02] [-1.43055024e-01 9.85319613e-01 9.31693072e-02 -5.74537932e+01] [ 5.29160293e-01 -3.40652964e-03 8.48515044e-01 4.90459369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:-57.46, Z:49.06 [[ 8.36803203e-01 1.69058663e-01 -5.20749046e-01 1.27683601e+02] [-1.41230307e-01 9.85596626e-01 9.30230689e-02 -5.74564141e+01] [ 5.28974858e-01 -4.29645454e-03 8.48626620e-01 4.90601524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:-57.46, Z:49.07 [[ 8.38957500e-01 1.62254227e-01 -5.19445743e-01 1.27711993e+02] [-1.38245960e-01 9.86748835e-01 8.49399278e-02 -5.74554660e+01] [ 5.26344344e-01 5.50286215e-04 8.50271327e-01 4.90690217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:-57.46, Z:49.09 [[ 8.37509782e-01 1.69711077e-01 -5.19399187e-01 1.27729359e+02] [-1.37924530e-01 9.85423630e-01 9.95846040e-02 -5.74642786e+01] [ 5.28728842e-01 -1.17651914e-02 8.48709250e-01 4.90916566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.77, Y:-57.45, Z:49.09 [[ 8.40560351e-01 1.50535550e-01 -5.20381921e-01 1.27768068e+02] [-1.37150916e-01 9.88454321e-01 6.44024921e-02 -5.74546727e+01] [ 5.24068623e-01 1.72366761e-02 8.51501600e-01 4.90878886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:127.78, Y:-57.47, Z:49.12 [[ 8.38829403e-01 1.71702074e-01 -5.16607811e-01 1.27782916e+02] [-1.39197710e-01 9.85061416e-01 1.01380496e-01 -5.74738867e+01] [ 5.26297663e-01 -1.31303165e-02 8.50199015e-01 4.91188478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:-57.47, Z:49.13 [[ 8.39361410e-01 1.64332719e-01 -5.18138187e-01 1.27811218e+02] [-1.38902754e-01 9.86403412e-01 8.78312851e-02 -5.74703990e+01] [ 5.25526829e-01 -1.75137008e-03 8.50775226e-01 4.91259322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:-57.48, Z:49.16 [[ 8.35661185e-01 1.82681737e-01 -5.17974677e-01 1.27820479e+02] [-1.40403875e-01 9.82783680e-01 1.20095757e-01 -5.74843778e+01] [ 5.30996361e-01 -2.76337112e-02 8.46923398e-01 4.91582073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:-57.46, Z:49.14 [[ 8.38323406e-01 1.49306391e-01 -5.24329542e-01 1.27871957e+02] [-1.43929507e-01 9.88257792e-01 5.12916552e-02 -5.74611912e+01] [ 5.25830927e-01 3.24674972e-02 8.49969233e-01 4.91391669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:-57.50, Z:49.19 [[ 8.33047969e-01 1.94369620e-01 -5.17930046e-01 1.27865881e+02] [-1.46519549e-01 9.80329504e-01 1.32234963e-01 -5.74955869e+01] [ 5.33444564e-01 -3.42711907e-02 8.45140451e-01 4.91912188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:-57.48, Z:49.19 [[ 8.33036858e-01 1.73409318e-01 -5.25336846e-01 1.27901126e+02] [-1.46536721e-01 9.84849806e-01 9.27245894e-02 -5.74848356e+01] [ 5.33457199e-01 -2.61861933e-04 8.45827021e-01 4.91925250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:-57.49, Z:49.21 [[ 8.32086252e-01 1.75254247e-01 -5.26230386e-01 1.27924644e+02] [-1.48726407e-01 9.84522573e-01 9.27133138e-02 -5.74888322e+01] [ 5.34334095e-01 1.11888095e-03 8.45272632e-01 4.92071582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:-57.49, Z:49.22 [[ 8.31532183e-01 1.77249303e-01 -5.26437948e-01 1.27947972e+02] [-1.51178985e-01 9.84162518e-01 9.25691798e-02 -5.74926356e+01] [ 5.34508319e-01 2.61210228e-03 8.45159177e-01 4.92210480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:-57.50, Z:49.24 [[ 8.31095430e-01 1.79206643e-01 -5.26464970e-01 1.27971602e+02] [-1.53543731e-01 9.83803467e-01 9.24935683e-02 -5.74967447e+01] [ 5.34513525e-01 3.96441372e-03 8.45150623e-01 4.92356481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:-57.50, Z:49.25 [[ 8.30725363e-01 1.83420481e-01 -5.25597087e-01 1.27994162e+02] [-1.58735206e-01 9.83010535e-01 9.21597636e-02 -5.75011110e+01] [ 5.33571462e-01 6.87130893e-03 8.45727072e-01 4.92496294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:-57.51, Z:49.26 [[ 8.30685254e-01 1.85092961e-01 -5.25073905e-01 1.28018125e+02] [-1.60816862e-01 9.82688227e-01 9.19879601e-02 -5.75051395e+01] [ 5.33010269e-01 8.02769581e-03 8.46070688e-01 4.92646958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:-57.51, Z:49.28 [[ 8.30855880e-01 1.86404119e-01 -5.24339596e-01 1.28041735e+02] [-1.62553016e-01 9.82431376e-01 9.16793732e-02 -5.75094202e+01] [ 5.32217083e-01 9.06063655e-03 8.46559437e-01 4.92794028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:-57.51, Z:49.29 [[ 8.31142224e-01 1.88569572e-01 -5.23110045e-01 1.28064186e+02] [-1.65343801e-01 9.82002376e-01 9.12839549e-02 -5.75148838e+01] [ 5.30908684e-01 1.06230537e-02 8.47362449e-01 4.92937893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:-57.52, Z:49.31 [[ 8.31075533e-01 1.89440940e-01 -5.22901127e-01 1.28086535e+02] [-1.66442151e-01 9.81827500e-01 9.11689082e-02 -5.75194868e+01] [ 5.30669830e-01 1.12645392e-02 8.47503771e-01 4.93080351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:-57.52, Z:49.32 [[ 8.31354521e-01 1.90057614e-01 -5.22233439e-01 1.28110227e+02] [-1.67281558e-01 9.81702885e-01 9.09743131e-02 -5.75241406e+01] [ 5.29968435e-01 1.17281167e-02 8.47936265e-01 4.93226639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:-57.53, Z:49.34 [[ 8.31405064e-01 1.90596285e-01 -5.21956584e-01 1.28133704e+02] [-1.68058616e-01 9.81591738e-01 9.07411768e-02 -5.75285813e+01] [ 5.29643202e-01 1.22766271e-02 8.48131690e-01 4.93372672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:-57.52, Z:49.33 [[ 8.36271600e-01 1.72003711e-01 -5.20638583e-01 1.28172551e+02] [-1.65801920e-01 9.84398649e-01 5.88984092e-02 -5.75185974e+01] [ 5.22646663e-01 3.70678095e-02 8.51743179e-01 4.93301654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:-57.55, Z:49.38 [[ 8.30413045e-01 2.06095978e-01 -5.17627880e-01 1.28174122e+02] [-1.69850765e-01 9.78487351e-01 1.17103462e-01 -5.75488781e+01] [ 5.30626886e-01 -9.32475120e-03 8.47554221e-01 4.93750509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:-57.54, Z:49.38 [[ 8.30553354e-01 1.92034770e-01 -5.22784635e-01 1.28204329e+02] [-1.69909662e-01 9.81293287e-01 9.05217703e-02 -5.75437565e+01] [ 5.30388380e-01 1.36430008e-02 8.47644993e-01 4.93798115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:-57.55, Z:49.39 [[ 8.30532784e-01 1.91628144e-01 -5.22966490e-01 1.28227868e+02] [-1.69463359e-01 9.81374984e-01 9.04727028e-02 -5.75494708e+01] [ 5.30563347e-01 1.34831123e-02 8.47538047e-01 4.93947895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:-57.56, Z:49.41 [[ 8.30442876e-01 1.90312255e-01 -5.23589415e-01 1.28250200e+02] [-1.67966003e-01 9.81639190e-01 9.03986903e-02 -5.75570573e+01] [ 5.31179868e-01 1.28742730e-02 8.47161260e-01 4.94096781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:-57.56, Z:49.42 [[ 8.30735023e-01 1.89308065e-01 -5.23489997e-01 1.28272527e+02] [-1.66902863e-01 9.81838927e-01 9.01984254e-02 -5.75626796e+01] [ 5.31058146e-01 1.24409885e-02 8.47244042e-01 4.94233680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:-57.57, Z:49.44 [[ 8.30883390e-01 1.87798770e-01 -5.23798066e-01 1.28296363e+02] [-1.65169831e-01 9.82138647e-01 9.01254963e-02 -5.75684904e+01] [ 5.31367781e-01 1.16318603e-02 8.47061380e-01 4.94374831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:-57.57, Z:49.45 [[ 8.30946855e-01 1.86242251e-01 -5.24252943e-01 1.28319255e+02] [-1.63403381e-01 9.82443797e-01 9.00195585e-02 -5.75744841e+01] [ 5.31814497e-01 1.08632342e-02 8.46791197e-01 4.94514385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:-57.58, Z:49.46 [[ 8.31532053e-01 1.82027127e-01 -5.24805269e-01 1.28341256e+02] [-1.58446321e-01 9.83258266e-01 8.99885821e-02 -5.75832368e+01] [ 5.32399482e-01 8.32507386e-03 8.46452293e-01 4.94646755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:-57.59, Z:49.48 [[ 8.32211093e-01 1.79678365e-01 -5.24538256e-01 1.28364309e+02] [-1.55773259e-01 9.83700785e-01 8.98190238e-02 -5.75901578e+01] [ 5.32127229e-01 6.96064583e-03 8.46635790e-01 4.94792170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:-57.60, Z:49.49 [[ 8.32708700e-01 1.77182306e-01 -5.24597609e-01 1.28387045e+02] [-1.52930519e-01 9.84162254e-01 8.96488341e-02 -5.75971416e+01] [ 5.32173352e-01 5.57562059e-03 8.46617054e-01 4.94934427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:-57.61, Z:49.51 [[ 8.33384823e-01 1.72768779e-01 -5.24995891e-01 1.28409266e+02] [-1.47723664e-01 9.84958282e-01 8.96376159e-02 -5.76076077e+01] [ 5.32585632e-01 2.85168795e-03 8.46371321e-01 4.95085432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:-57.61, Z:49.52 [[ 8.33866208e-01 1.70637973e-01 -5.24928405e-01 1.28432505e+02] [-1.45325312e-01 9.85332328e-01 8.94469489e-02 -5.76143798e+01] [ 5.32491973e-01 1.69859620e-03 8.46433348e-01 4.95238665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:-57.62, Z:49.54 [[ 8.34503800e-01 1.68654139e-01 -5.24556183e-01 1.28454755e+02] [-1.43134665e-01 9.85675083e-01 8.92025726e-02 -5.76206354e+01] [ 5.32086342e-01 6.42287700e-04 8.46689856e-01 4.95382700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:-57.63, Z:49.55 [[ 8.34764616e-01 1.67421218e-01 -5.24536149e-01 1.28477715e+02] [-1.41730707e-01 9.85885456e-01 8.91194339e-02 -5.76263263e+01] [ 5.32053044e-01 -5.08706891e-05 8.46711022e-01 4.95531774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:-57.63, Z:49.57 [[ 8.35361979e-01 1.67989083e-01 -5.23402362e-01 1.28501372e+02] [-1.42634200e-01 9.85788719e-01 8.87473164e-02 -5.76301227e+01] [ 5.30872725e-01 5.18943375e-04 8.47451403e-01 4.95674272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:-57.63, Z:49.58 [[ 8.35250787e-01 1.68945366e-01 -5.23272000e-01 1.28523668e+02] [-1.43889089e-01 9.85624512e-01 8.85451907e-02 -5.76337170e+01] [ 5.30709010e-01 1.33569109e-03 8.47553044e-01 4.95818393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:-57.62, Z:49.58 [[ 8.39692061e-01 1.55357595e-01 -5.20366467e-01 1.28554582e+02] [-1.40718259e-01 9.87724167e-01 6.78184475e-02 -5.76238475e+01] [ 5.24514646e-01 1.62784512e-02 8.51245792e-01 4.95778382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:-57.64, Z:49.62 [[ 8.33666264e-01 1.77228317e-01 -5.23058968e-01 1.28568641e+02] [-1.48094223e-01 9.84162581e-01 9.74274864e-02 -5.76449384e+01] [ 5.32041973e-01 -3.75999707e-03 8.46709632e-01 4.96151321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:-57.65, Z:49.63 [[ 8.33216951e-01 1.73528834e-01 -5.25011672e-01 1.28595159e+02] [-1.49172486e-01 9.84819144e-01 8.87627371e-02 -5.76455063e+01] [ 5.32444440e-01 4.35867928e-03 8.46453732e-01 4.96267270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:-57.65, Z:49.64 [[ 8.32987393e-01 1.74015574e-01 -5.25214797e-01 1.28619277e+02] [-1.49836000e-01 9.84730844e-01 8.86247006e-02 -5.76492082e+01] [ 5.32617288e-01 4.87282574e-03 8.46342177e-01 4.96416404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:-57.65, Z:49.66 [[ 8.32888942e-01 1.75149495e-01 -5.24993967e-01 1.28643042e+02] [-1.51312190e-01 9.84524734e-01 8.84062727e-02 -5.76518273e+01] [ 5.32353859e-01 5.80537987e-03 8.46502018e-01 4.96550414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:-57.65, Z:49.67 [[ 8.32071927e-01 1.72048667e-01 -5.27309742e-01 1.28669162e+02] [-1.51708750e-01 9.85018145e-01 8.19982335e-02 -5.76526276e+01] [ 5.33517351e-01 1.17690735e-02 8.45707234e-01 4.96675985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.69, Y:-57.66, Z:49.69 [[ 8.33371270e-01 1.79232922e-01 -5.22845949e-01 1.28688944e+02] [-1.52376146e-01 9.83806141e-01 9.43768386e-02 -5.76607797e+01] [ 5.31294492e-01 1.01830466e-03 8.47186594e-01 4.96869971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:-57.65, Z:49.68 [[ 8.38253397e-01 1.60893541e-01 -5.21003369e-01 1.28721958e+02] [-1.48474492e-01 9.86722673e-01 6.58307782e-02 -5.76470349e+01] [ 5.24677584e-01 2.21728370e-02 8.51012220e-01 4.96799951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:-57.67, Z:49.72 [[ 8.33105311e-01 1.82376811e-01 -5.22182190e-01 1.28735066e+02] [-1.54042877e-01 9.83228297e-01 9.76366165e-02 -5.76693394e+01] [ 5.31230960e-01 -9.03136693e-04 8.47226564e-01 4.97181238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:-57.67, Z:49.73 [[ 8.32589841e-01 1.78876867e-01 -5.24211048e-01 1.28760160e+02] [-1.55993663e-01 9.83834370e-01 8.79540217e-02 -5.76691579e+01] [ 5.31469786e-01 8.54397687e-03 8.47034159e-01 4.97286631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:-57.67, Z:49.74 [[ 8.32268282e-01 1.79473846e-01 -5.24517536e-01 1.28783734e+02] [-1.56720429e-01 9.83721352e-01 8.79261594e-02 -5.76728772e+01] [ 5.31759546e-01 9.02445969e-03 8.46847297e-01 4.97429999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:-57.68, Z:49.76 [[ 8.32059135e-01 1.79763604e-01 -5.24750076e-01 1.28807381e+02] [-1.57153308e-01 9.83664714e-01 8.77870635e-02 -5.76765090e+01] [ 5.31959052e-01 9.42218216e-03 8.46717656e-01 4.97572202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:-57.68, Z:49.77 [[ 8.32047283e-01 1.80351586e-01 -5.24567082e-01 1.28831203e+02] [-1.57976541e-01 9.83551381e-01 8.75790749e-02 -5.76809579e+01] [ 5.31733703e-01 9.99936163e-03 8.46852574e-01 4.97718405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:-57.67, Z:49.77 [[ 8.36673765e-01 1.66192216e-01 -5.21878489e-01 1.28861116e+02] [-1.53386609e-01 9.85821987e-01 6.80261590e-02 -5.76716449e+01] [ 5.25784708e-01 2.31334690e-02 8.50303054e-01 4.97691168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:-57.68, Z:49.79 [[ 8.35762290e-01 1.72143232e-01 -5.21409726e-01 1.28882228e+02] [-1.53828794e-01 9.84965146e-01 7.86152927e-02 -5.76809779e+01] [ 5.27103498e-01 1.45041322e-02 8.49677311e-01 4.97898913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:-57.70, Z:49.82 [[ 8.31713206e-01 1.82883131e-01 -5.24220282e-01 1.28901626e+02] [-1.57685844e-01 9.83119383e-01 9.27979219e-02 -5.76961350e+01] [ 5.32342294e-01 5.48086023e-03 8.46511454e-01 4.98194170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:-57.70, Z:49.83 [[ 8.31160378e-01 1.79676860e-01 -5.26202101e-01 1.28925970e+02] [-1.57151903e-01 9.83676508e-01 8.76573298e-02 -5.76976268e+01] [ 5.33362639e-01 9.83636207e-03 8.45829499e-01 4.98310572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:-57.70, Z:49.85 [[ 8.31075522e-01 1.79348812e-01 -5.26447984e-01 1.28949966e+02] [-1.56792209e-01 9.83737466e-01 8.76173547e-02 -5.77016912e+01] [ 5.33600674e-01 9.72630323e-03 8.45680625e-01 4.98460770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:-57.71, Z:49.86 [[ 8.31398324e-01 1.78878461e-01 -5.26098207e-01 1.28973781e+02] [-1.56382096e-01 9.83824080e-01 8.73774581e-02 -5.77055494e+01] [ 5.33218030e-01 9.62686840e-03 8.45923079e-01 4.98613226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:-57.71, Z:49.88 [[ 8.31633966e-01 1.78339652e-01 -5.25908657e-01 1.28996756e+02] [-1.55875941e-01 9.83923250e-01 8.71649519e-02 -5.77092288e+01] [ 5.32998722e-01 9.48717226e-03 8.46062856e-01 4.98756462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:-57.71, Z:49.89 [[ 8.31675174e-01 1.77831592e-01 -5.26015523e-01 1.29020216e+02] [-1.55315390e-01 9.84017394e-01 8.71028023e-02 -5.77132480e+01] [ 5.33098054e-01 9.25706767e-03 8.46002820e-01 4.98909834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:-57.72, Z:49.90 [[ 8.31853356e-01 1.77480170e-01 -5.25852434e-01 1.29042899e+02] [-1.55028152e-01 9.84081020e-01 8.68954399e-02 -5.77168788e+01] [ 5.32903618e-01 9.23766761e-03 8.46125523e-01 4.99049299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:-57.72, Z:49.92 [[ 8.31846063e-01 1.77245790e-01 -5.25943017e-01 1.29066927e+02] [-1.54792731e-01 9.84123781e-01 8.68308378e-02 -5.77201987e+01] [ 5.32983431e-01 9.18226536e-03 8.46075853e-01 4.99193779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:-57.72, Z:49.93 [[ 8.31144656e-01 1.77642638e-01 -5.26917123e-01 1.29090545e+02] [-1.55286359e-01 9.84047565e-01 8.68132316e-02 -5.77235128e+01] [ 5.33933243e-01 9.66868778e-03 8.45471353e-01 4.99333419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.11, Y:-57.73, Z:49.95 [[ 8.30509347e-01 1.78033934e-01 -5.27786077e-01 1.29113759e+02] [-1.55786017e-01 9.83971956e-01 8.67750345e-02 -5.77270626e+01] [ 5.34775600e-01 1.01542139e-02 8.44933104e-01 4.99475047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:-57.73, Z:49.96 [[ 8.29650795e-01 1.78227995e-01 -5.29069315e-01 1.29137809e+02] [-1.55952006e-01 9.83934168e-01 8.69052645e-02 -5.77302104e+01] [ 5.36058328e-01 1.04083992e-02 8.44116778e-01 4.99618366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:-57.73, Z:49.98 [[ 8.28700175e-01 1.78861031e-01 -5.30343994e-01 1.29161286e+02] [-1.56704745e-01 9.83812114e-01 8.69330091e-02 -5.77334014e+01] [ 5.37307773e-01 1.10660206e-02 8.43313643e-01 4.99759573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:-57.74, Z:49.99 [[ 8.26641830e-01 1.80184142e-01 -5.33101266e-01 1.29185713e+02] [-1.58114123e-01 9.83557742e-01 8.72587690e-02 -5.77364981e+01] [ 5.40058524e-01 1.21590905e-02 8.41539629e-01 4.99897587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:-57.74, Z:50.00 [[ 8.26036137e-01 1.80574455e-01 -5.33907451e-01 1.29209720e+02] [-1.58623917e-01 9.83479946e-01 8.72103722e-02 -5.77404203e+01] [ 5.40835237e-01 1.26515723e-02 8.41033403e-01 5.00043748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:-57.74, Z:50.02 [[ 8.25635641e-01 1.80448074e-01 -5.34569248e-01 1.29232841e+02] [-1.58531699e-01 9.83501200e-01 8.71383379e-02 -5.77442559e+01] [ 5.41473442e-01 1.28016539e-02 8.40620384e-01 5.00190217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:-57.75, Z:50.03 [[ 8.25649637e-01 1.80171287e-01 -5.34640987e-01 1.29254728e+02] [-1.58312379e-01 9.83551517e-01 8.69689853e-02 -5.77477070e+01] [ 5.41516268e-01 1.28343753e-02 8.40592298e-01 5.00336629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.28, Y:-57.75, Z:50.05 [[ 8.26693503e-01 1.78898367e-01 -5.33454053e-01 1.29277686e+02] [-1.56952466e-01 9.83793677e-01 8.66944357e-02 -5.77513703e+01] [ 5.40318217e-01 1.20572026e-02 8.41374381e-01 5.00493500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:-57.76, Z:50.06 [[ 8.27378897e-01 1.77615332e-01 -5.32819815e-01 1.29301038e+02] [-1.55597843e-01 9.84033826e-01 8.64103052e-02 -5.77550673e+01] [ 5.39660516e-01 1.14115509e-02 8.41805384e-01 5.00645833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:-57.76, Z:50.08 [[ 8.28135310e-01 1.76111633e-01 -5.32143403e-01 1.29323480e+02] [-1.53985651e-01 9.84312871e-01 8.61196283e-02 -5.77589294e+01] [ 5.38962270e-01 1.06237433e-02 8.42262909e-01 5.00791468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:-57.76, Z:50.09 [[ 8.29449617e-01 1.74216709e-01 -5.30718260e-01 1.29346664e+02] [-1.51913657e-01 9.84661991e-01 8.58079515e-02 -5.77630868e+01] [ 5.37527277e-01 9.44997927e-03 8.43193408e-01 5.00941718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:-57.77, Z:50.11 [[ 8.31894062e-01 1.70461343e-01 -5.28105293e-01 1.29369713e+02] [-1.47811350e-01 9.85338233e-01 8.52078074e-02 -5.77688147e+01] [ 5.34886974e-01 7.17608745e-03 8.44893146e-01 5.01102586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:-57.77, Z:50.13 [[ 8.31925295e-01 1.70220658e-01 -5.28133724e-01 1.29393726e+02] [-1.47638316e-01 9.85379424e-01 8.50312755e-02 -5.77725182e+01] [ 5.34886185e-01 7.23310471e-03 8.44893160e-01 5.01252863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:-57.78, Z:50.14 [[ 8.33284448e-01 1.68198165e-01 -5.26636882e-01 1.29416526e+02] [-1.45454093e-01 9.85734691e-01 8.46771914e-02 -5.77774196e+01] [ 5.33366792e-01 6.04130338e-03 8.45862499e-01 5.01404770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:-57.78, Z:50.16 [[ 8.34350135e-01 1.66150131e-01 -5.25598693e-01 1.29438325e+02] [-1.43242924e-01 9.86088158e-01 8.43303544e-02 -5.77820704e+01] [ 5.32298147e-01 4.92725094e-03 8.46542619e-01 5.01559660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:-57.79, Z:50.17 [[ 8.34969322e-01 1.64498410e-01 -5.25134749e-01 1.29461648e+02] [-1.41412188e-01 9.86369190e-01 8.41333110e-02 -5.77866891e+01] [ 5.31816533e-01 4.01172012e-03 8.46850094e-01 5.01716634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:-57.79, Z:50.19 [[ 8.35193089e-01 1.61802781e-01 -5.25616176e-01 1.29485382e+02] [-1.38292572e-01 9.86819936e-01 8.40332009e-02 -5.77899729e+01] [ 5.32285327e-01 2.50486410e-03 8.46561313e-01 5.01863519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:-57.79, Z:50.20 [[ 8.35403120e-01 1.60493790e-01 -5.25683717e-01 1.29509517e+02] [-1.36852082e-01 9.87035060e-01 8.38647654e-02 -5.77928485e+01] [ 5.32328033e-01 1.88002444e-03 8.46536078e-01 5.02005460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:-57.80, Z:50.21 [[ 8.35537197e-01 1.59407221e-01 -5.25801227e-01 1.29532241e+02] [-1.35668633e-01 9.87211928e-01 8.37056263e-02 -5.77957576e+01] [ 5.32420524e-01 1.39556918e-03 8.46478847e-01 5.02144735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:-57.80, Z:50.23 [[ 8.35078304e-01 1.57990234e-01 -5.26956651e-01 1.29555674e+02] [-1.35150482e-01 9.87436570e-01 8.18740968e-02 -5.77980790e+01] [ 5.33271576e-01 2.84716349e-03 8.45939312e-01 5.02277673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:-57.80, Z:50.24 [[ 8.34844410e-01 1.56470334e-01 -5.27780111e-01 1.29579985e+02] [-1.31981898e-01 9.87682528e-01 8.40476261e-02 -5.78019180e+01] [ 5.34430154e-01 -5.09270194e-04 8.45212489e-01 5.02439146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:-57.79, Z:50.24 [[ 8.39398514e-01 1.37925429e-01 -5.25724939e-01 1.29612839e+02] [-1.25002648e-01 9.90326582e-01 6.02295609e-02 -5.77891199e+01] [ 5.28946569e-01 1.51604055e-02 8.48519704e-01 5.02378307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:-57.81, Z:50.28 [[ 8.34015822e-01 1.58763451e-01 -5.28404934e-01 1.29625842e+02] [-1.27925595e-01 9.87250873e-01 9.47140760e-02 -5.78121456e+01] [ 5.36705366e-01 -1.13965221e-02 8.43692758e-01 5.02775977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:-57.81, Z:50.29 [[ 8.34408808e-01 1.48492441e-01 -5.30765425e-01 1.29652889e+02] [-1.22429484e-01 9.88899491e-01 8.41951209e-02 -5.78115529e+01] [ 5.37375997e-01 -5.27181325e-03 8.43326298e-01 5.02885424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:-57.82, Z:50.30 [[ 8.35175354e-01 1.45556840e-01 -5.30372827e-01 1.29675969e+02] [-1.19108861e-01 9.89325527e-01 8.39528548e-02 -5.78150952e+01] [ 5.36931288e-01 -6.94325208e-03 8.43597406e-01 5.03034765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:-57.82, Z:50.32 [[ 8.36307126e-01 1.42760081e-01 -5.29348610e-01 1.29698945e+02] [-1.16025712e-01 9.89720767e-01 8.36112266e-02 -5.78186835e+01] [ 5.35843657e-01 -8.50661518e-03 8.44274370e-01 5.03182443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:-57.82, Z:50.33 [[ 8.38631464e-01 1.37149711e-01 -5.27150097e-01 1.29721589e+02] [-1.09693889e-01 9.90478407e-01 8.31851888e-02 -5.78220337e+01] [ 5.33539613e-01 -1.19365725e-02 8.45690841e-01 5.03338147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:-57.81, Z:50.33 [[ 8.44501724e-01 1.17520563e-01 -5.22499527e-01 1.29753844e+02] [-1.01492260e-01 9.93066119e-01 5.93212041e-02 -5.78102471e+01] [ 5.25848039e-01 2.93279883e-03 8.50573476e-01 5.03283502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:-57.82, Z:50.35 [[ 8.45492493e-01 1.20294008e-01 -5.20261277e-01 1.29775067e+02] [-9.96596218e-02 9.92724236e-01 6.75762682e-02 -5.78169972e+01] [ 5.24604998e-01 -5.28618543e-03 8.51329344e-01 5.03462684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:-57.84, Z:50.38 [[ 8.40314921e-01 1.39277985e-01 -5.23901209e-01 1.29788825e+02] [-1.04311256e-01 9.89914550e-01 9.58558551e-02 -5.78357977e+01] [ 5.31968040e-01 -2.59003120e-02 8.46368228e-01 5.03848380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:-57.81, Z:50.37 [[ 8.45722804e-01 1.10939312e-01 -5.21963033e-01 1.29830153e+02] [-9.98531867e-02 9.93773642e-01 4.94296438e-02 -5.78137967e+01] [ 5.24196795e-01 1.03158951e-02 8.51534675e-01 5.03680703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:-57.84, Z:50.42 [[ 8.39477650e-01 1.45585682e-01 -5.23528494e-01 1.29835270e+02] [-1.07357940e-01 9.88886667e-01 1.02846643e-01 -5.78434471e+01] [ 5.32683347e-01 -3.01325175e-02 8.45778035e-01 5.04178998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:-57.84, Z:50.42 [[ 8.38617920e-01 1.37319601e-01 -5.27127415e-01 1.29864131e+02] [-1.10111779e-01 9.90460851e-01 8.28414078e-02 -5.78371369e+01] [ 5.33474817e-01 -1.14293516e-02 8.45738724e-01 5.04243279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:-57.82, Z:50.42 [[ 8.42289169e-01 1.24169132e-01 -5.24529296e-01 1.29899569e+02] [-1.12273386e-01 9.92177017e-01 5.45843703e-02 -5.78203333e+01] [ 5.27203606e-01 1.29148562e-02 8.49640845e-01 5.04166711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:-57.85, Z:50.46 [[ 8.36540990e-01 1.55090840e-01 -5.25495960e-01 1.29907479e+02] [-1.19821008e-01 9.87670227e-01 1.00749433e-01 -5.78452405e+01] [ 5.34642028e-01 -2.13155748e-02 8.44809770e-01 5.04605574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:-57.84, Z:50.47 [[ 8.35110523e-01 1.50767109e-01 -5.29017668e-01 1.29935992e+02] [-1.25955414e-01 9.88565891e-01 8.29018249e-02 -5.78385719e+01] [ 5.35467691e-01 -2.59954701e-03 8.44551712e-01 5.04675187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:-57.84, Z:50.48 [[ 8.34611207e-01 1.52657763e-01 -5.29263395e-01 1.29960134e+02] [-1.28218402e-01 9.88278264e-01 8.28620206e-02 -5.78411648e+01] [ 5.35709040e-01 -1.29626438e-03 8.44401649e-01 5.04824179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:-57.84, Z:50.50 [[ 8.34207348e-01 1.54207254e-01 -5.29450870e-01 1.29984157e+02] [-1.30147669e-01 9.88038518e-01 8.27131798e-02 -5.78440099e+01] [ 5.35872825e-01 -9.31455220e-05 8.44298707e-01 5.04971780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:-57.85, Z:50.51 [[ 8.33850268e-01 1.55373001e-01 -5.29672503e-01 1.30008151e+02] [-1.31619605e-01 9.87855497e-01 8.25699460e-02 -5.78472522e+01] [ 5.36069035e-01 8.64314055e-04 8.44173704e-01 5.05121485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:-57.85, Z:50.53 [[ 8.33526862e-01 1.56470366e-01 -5.29858467e-01 1.30031164e+02] [-1.33014902e-01 9.87681051e-01 8.24207303e-02 -5.78507837e+01] [ 5.36227570e-01 1.77917943e-03 8.44071577e-01 5.05270246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:-57.85, Z:50.54 [[ 8.33256689e-01 1.57550186e-01 -5.29963423e-01 1.30053840e+02] [-1.34397001e-01 9.87507340e-01 8.22599504e-02 -5.78544936e+01] [ 5.36302841e-01 2.68184083e-03 8.44021369e-01 5.05418368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:-57.86, Z:50.56 [[ 8.32818095e-01 1.59470091e-01 -5.30078589e-01 1.30077210e+02] [-1.36738938e-01 9.87194407e-01 8.21563462e-02 -5.78588029e+01] [ 5.36392098e-01 4.06109145e-03 8.43959137e-01 5.05573821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:-57.86, Z:50.57 [[ 8.32529324e-01 1.60417107e-01 -5.30246429e-01 1.30100917e+02] [-1.37956944e-01 9.87037267e-01 8.20080238e-02 -5.78629019e+01] [ 5.36528476e-01 4.87709237e-03 8.43868123e-01 5.05727133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:-57.87, Z:50.59 [[ 8.32419909e-01 1.61127880e-01 -5.30202699e-01 1.30124692e+02] [-1.38913976e-01 9.86918001e-01 8.18276589e-02 -5.78666272e+01] [ 5.36451306e-01 5.53759281e-03 8.43913107e-01 5.05871849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:-57.87, Z:50.60 [[ 8.32229631e-01 1.62139689e-01 -5.30192949e-01 1.30147292e+02] [-1.40229714e-01 9.86747051e-01 8.16448744e-02 -5.78700772e+01] [ 5.36404203e-01 6.40152186e-03 8.43936936e-01 5.06011344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:-57.87, Z:50.62 [[ 8.31873537e-01 1.64685047e-01 -5.29967219e-01 1.30170734e+02] [-1.43318512e-01 9.86312684e-01 8.15297100e-02 -5.78744643e+01] [ 5.36140114e-01 8.13170486e-03 8.44089837e-01 5.06158547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:-57.88, Z:50.63 [[ 8.31674113e-01 1.65782893e-01 -5.29937923e-01 1.30194595e+02] [-1.44732152e-01 9.86120840e-01 8.13528910e-02 -5.78787248e+01] [ 5.36069747e-01 9.03996241e-03 8.44125290e-01 5.06308221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.22, Y:-57.88, Z:50.65 [[ 8.31301971e-01 1.66863106e-01 -5.30182739e-01 1.30218279e+02] [-1.46108553e-01 9.85929806e-01 8.12078139e-02 -5.78829565e+01] [ 5.36273552e-01 9.95601690e-03 8.43985518e-01 5.06457402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:-57.86, Z:50.63 [[ 8.38260163e-01 1.41065624e-01 -5.26707119e-01 1.30259648e+02] [-1.42561962e-01 9.89055947e-01 3.80055262e-02 -5.78645604e+01] [ 5.26304081e-01 4.32298815e-02 8.49196792e-01 5.06304002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:-57.90, Z:50.69 [[ 8.29481042e-01 1.85804540e-01 -5.26723717e-01 1.30257811e+02] [-1.48842414e-01 9.82477496e-01 1.12178010e-01 -5.79045881e+01] [ 5.38337382e-01 -1.46507034e-02 8.42602053e-01 5.06874292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:-57.90, Z:50.69 [[ 8.29632511e-01 1.68389702e-01 -5.32310816e-01 1.30290251e+02] [-1.47901348e-01 9.85655842e-01 8.12880837e-02 -5.78967212e+01] [ 5.38363341e-01 1.12902503e-02 8.42637195e-01 5.06906982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:-57.90, Z:50.71 [[ 8.29543915e-01 1.66914139e-01 -5.32913279e-01 1.30313465e+02] [-1.46216820e-01 9.85914817e-01 8.11949161e-02 -5.79011192e+01] [ 5.38959678e-01 1.05661366e-02 8.42265292e-01 5.07053294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:-57.91, Z:50.72 [[ 8.29546164e-01 1.64235900e-01 -5.33741259e-01 1.30335551e+02] [-1.43080795e-01 9.86379481e-01 8.11381850e-02 -5.79073587e+01] [ 5.39797229e-01 9.06025362e-03 8.41746318e-01 5.07200212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:-57.91, Z:50.73 [[ 8.29455813e-01 1.62396726e-01 -5.34443971e-01 1.30358600e+02] [-1.40886025e-01 9.86693320e-01 8.11629183e-02 -5.79123732e+01] [ 5.40512888e-01 7.97463226e-03 8.41297940e-01 5.07347760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:-57.92, Z:50.75 [[ 8.29819389e-01 1.60343934e-01 -5.34499396e-01 1.30381621e+02] [-1.38554970e-01 9.87037441e-01 8.09914217e-02 -5.79171122e+01] [ 5.40557399e-01 6.84929564e-03 8.41279255e-01 5.07491944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:-57.92, Z:50.76 [[ 8.30516040e-01 1.58479181e-01 -5.33973273e-01 1.30404652e+02] [-1.36435733e-01 9.87345742e-01 8.08311615e-02 -5.79221776e+01] [ 5.40026294e-01 5.72145884e-03 8.41628699e-01 5.07641811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:-57.91, Z:50.75 [[ 8.38272150e-01 1.31377072e-01 -5.29187933e-01 1.30441998e+02] [-1.27378546e-01 9.90868056e-01 4.42176680e-02 -5.79083953e+01] [ 5.30164606e-01 3.03407497e-02 8.47351715e-01 5.07515146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:-57.94, Z:50.80 [[ 8.31780635e-01 1.66085349e-01 -5.29675969e-01 1.30443512e+02] [-1.30835483e-01 9.85965589e-01 1.03701170e-01 -5.79431199e+01] [ 5.39465524e-01 -1.69562139e-02 8.41836941e-01 5.08049576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:-57.94, Z:50.81 [[ 8.32464102e-01 1.52460355e-01 -5.32690679e-01 1.30472946e+02] [-1.29537445e-01 9.88307459e-01 8.04264742e-02 -5.79387348e+01] [ 5.38724020e-01 2.05123680e-03 8.42479806e-01 5.08108386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:-57.94, Z:50.83 [[ 8.33006326e-01 1.51260228e-01 -5.32184934e-01 1.30495568e+02] [-1.28211791e-01 9.88493032e-01 8.02699334e-02 -5.79432237e+01] [ 5.38202748e-01 1.36702098e-03 8.42814294e-01 5.08255150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:-57.95, Z:50.84 [[ 8.33560066e-01 1.49929394e-01 -5.31694266e-01 1.30518774e+02] [-1.26757978e-01 9.88696492e-01 8.00728540e-02 -5.79471731e+01] [ 5.37689530e-01 6.50956702e-04 8.43142660e-01 5.08407672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:-57.95, Z:50.86 [[ 8.34635635e-01 1.48575156e-01 -5.30385501e-01 1.30541434e+02] [-1.25392509e-01 9.88901119e-01 7.96950179e-02 -5.79509022e+01] [ 5.36339515e-01 -9.93329304e-06 8.44002325e-01 5.08557784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:-57.95, Z:50.87 [[ 8.34990621e-01 1.47836045e-01 -5.30033175e-01 1.30565374e+02] [-1.24601309e-01 9.89011805e-01 7.95623202e-02 -5.79541461e+01] [ 5.35971246e-01 -3.90963751e-04 8.44236146e-01 5.08708613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:-57.96, Z:50.89 [[ 8.35417546e-01 1.47601873e-01 -5.29425359e-01 1.30588481e+02] [-1.24496604e-01 9.89046803e-01 7.92907117e-02 -5.79569977e+01] [ 5.35329916e-01 -3.29192696e-04 8.44642985e-01 5.08851525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:-57.96, Z:50.90 [[ 8.35235635e-01 1.47584398e-01 -5.29717169e-01 1.30611816e+02] [-1.24498607e-01 9.89049435e-01 7.92547320e-02 -5.79600453e+01] [ 5.35613229e-01 -2.47326628e-04 8.44463385e-01 5.09002425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:-57.96, Z:50.91 [[ 8.35062557e-01 1.48172828e-01 -5.29825763e-01 1.30636032e+02] [-1.25299699e-01 9.88961423e-01 7.90903859e-02 -5.79619985e+01] [ 5.35696286e-01 3.41588644e-04 8.44410665e-01 5.09145812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:-57.96, Z:50.93 [[ 8.34951855e-01 1.48744374e-01 -5.29840081e-01 1.30660419e+02] [-1.26088922e-01 9.88875254e-01 7.89133416e-02 -5.79644607e+01] [ 5.35683660e-01 9.18123588e-04 8.44418245e-01 5.09292847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:-57.97, Z:50.94 [[ 8.34928628e-01 1.49399748e-01 -5.29692270e-01 1.30684371e+02] [-1.26994066e-01 9.88775662e-01 7.87095757e-02 -5.79667573e+01] [ 5.35506016e-01 1.55089679e-03 8.44529989e-01 5.09436669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:-57.96, Z:50.94 [[ 8.39250341e-01 1.36622142e-01 -5.26301487e-01 1.30715320e+02] [-1.23956174e-01 9.90504526e-01 5.94613350e-02 -5.79567704e+01] [ 5.29427740e-01 1.53353730e-02 8.48216420e-01 5.09416097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:-57.98, Z:50.98 [[ 8.34531558e-01 1.56699953e-01 -5.28206591e-01 1.30729084e+02] [-1.30044532e-01 9.87636631e-01 8.75345905e-02 -5.79750453e+01] [ 5.35392844e-01 -4.35999948e-03 8.44591909e-01 5.09773002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:-57.96, Z:50.97 [[ 8.38988536e-01 1.39795718e-01 -5.25885343e-01 1.30763301e+02] [-1.29357606e-01 9.89970559e-01 5.67882272e-02 -5.79588132e+01] [ 5.28549757e-01 2.03825976e-02 8.48657589e-01 5.09701653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:-57.97, Z:50.99 [[ 8.37776811e-01 1.48935057e-01 -5.25307875e-01 1.30782996e+02] [-1.32343352e-01 9.88780276e-01 6.92733858e-02 -5.79670075e+01] [ 5.29731301e-01 1.14853688e-02 8.48087752e-01 5.09914884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:-57.97, Z:51.00 [[ 8.38314576e-01 1.47993190e-01 -5.24715816e-01 1.30808592e+02] [-1.33962644e-01 9.88860474e-01 6.48766012e-02 -5.79670990e+01] [ 5.28472025e-01 1.59053175e-02 8.48801708e-01 5.10037923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:-57.97, Z:51.02 [[ 8.38316977e-01 1.49499162e-01 -5.24284891e-01 1.30832271e+02] [-1.35626728e-01 9.88622799e-01 6.50411501e-02 -5.79694687e+01] [ 5.28043594e-01 1.65819437e-02 8.49055359e-01 5.10179250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:-57.99, Z:51.05 [[ 8.32426514e-01 1.71591382e-01 -5.26898944e-01 1.30846307e+02] [-1.43465150e-01 9.85164219e-01 9.41764927e-02 -5.79876213e+01] [ 5.35241861e-01 -2.80337326e-03 8.44694200e-01 5.10547229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:-57.99, Z:51.06 [[ 8.32619153e-01 1.63225845e-01 -5.29247267e-01 1.30874741e+02] [-1.43280218e-01 9.86536210e-01 7.88484991e-02 -5.79851336e+01] [ 5.34991706e-01 1.01798931e-02 8.44795978e-01 5.10643018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:-57.99, Z:51.08 [[ 8.32079032e-01 1.64251125e-01 -5.29779249e-01 1.30897627e+02] [-1.44560370e-01 9.86356641e-01 7.87583431e-02 -5.79875335e+01] [ 5.35487426e-01 1.10519181e-02 8.44470882e-01 5.10787312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:-57.99, Z:51.09 [[ 8.31967692e-01 1.65002357e-01 -5.29720664e-01 1.30922037e+02] [-1.45505614e-01 9.86224649e-01 7.86705625e-02 -5.79903379e+01] [ 5.35404404e-01 1.16259639e-02 8.44515814e-01 5.10932087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:-57.99, Z:51.11 [[ 8.31512242e-01 1.65218870e-01 -5.30367906e-01 1.30945593e+02] [-1.45828216e-01 9.86183929e-01 7.85836540e-02 -5.79930994e+01] [ 5.36023808e-01 1.19993351e-02 8.44117583e-01 5.11082582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:-58.00, Z:51.12 [[ 8.31313066e-01 1.64905870e-01 -5.30777392e-01 1.30969729e+02] [-1.45542561e-01 9.86235990e-01 7.84597674e-02 -5.79952391e+01] [ 5.36410243e-01 1.20260713e-02 8.43871687e-01 5.11222285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:-58.00, Z:51.14 [[ 8.31470249e-01 1.64264155e-01 -5.30730169e-01 1.30992403e+02] [-1.44900575e-01 9.86345527e-01 7.82708415e-02 -5.79981164e+01] [ 5.36340422e-01 1.18232306e-02 8.43918932e-01 5.11361488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:-58.00, Z:51.15 [[ 8.31383391e-01 1.63686385e-01 -5.31044654e-01 1.31015814e+02] [-1.44241751e-01 9.86444766e-01 7.82370765e-02 -5.80017105e+01] [ 5.36652564e-01 1.15538049e-02 8.43724206e-01 5.11512678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:-58.01, Z:51.17 [[ 8.31441154e-01 1.63131218e-01 -5.31125044e-01 1.31039532e+02] [-1.43691299e-01 9.86538421e-01 7.80689135e-02 -5.80053030e+01] [ 5.36710739e-01 1.14083399e-02 8.43689180e-01 5.11660875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:-58.01, Z:51.18 [[ 8.31397724e-01 1.62731714e-01 -5.31315550e-01 1.31063477e+02] [-1.43316471e-01 9.86604891e-01 7.79177592e-02 -5.80086659e+01] [ 5.36878211e-01 1.13656221e-02 8.43583197e-01 5.11811303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:-58.01, Z:51.20 [[ 8.31480110e-01 1.62287439e-01 -5.31322515e-01 1.31087090e+02] [-1.42903983e-01 9.86678927e-01 7.77376740e-02 -5.80116342e+01] [ 5.36860577e-01 1.12907740e-02 8.43595424e-01 5.11958224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:-57.99, Z:51.18 [[ 8.38147263e-01 1.37732365e-01 -5.27767905e-01 1.31124718e+02] [-1.37661432e-01 9.89685021e-01 3.96596795e-02 -5.79937529e+01] [ 5.27786411e-01 3.94126338e-02 8.48462226e-01 5.11830374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:-58.03, Z:51.23 [[ 8.30893917e-01 1.75052223e-01 -5.28178017e-01 1.31127034e+02] [-1.41947044e-01 9.84502094e-01 1.02988658e-01 -5.80285045e+01] [ 5.38020757e-01 -1.05993416e-02 8.42864947e-01 5.12349405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:-58.02, Z:51.24 [[ 8.31028634e-01 1.60780188e-01 -5.32485812e-01 1.31157752e+02] [-1.41150676e-01 9.86933509e-01 7.77093036e-02 -5.80218677e+01] [ 5.38022207e-01 1.05820760e-02 8.42864238e-01 5.12406473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:-58.03, Z:51.26 [[ 8.30911157e-01 1.59860121e-01 -5.32945955e-01 1.31181965e+02] [-1.40138957e-01 9.87086836e-01 7.75928559e-02 -5.80253790e+01] [ 5.38467940e-01 1.02137204e-02 8.42584095e-01 5.12553319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:-58.03, Z:51.27 [[ 8.30549518e-01 1.58764325e-01 -5.33836480e-01 1.31205975e+02] [-1.38883756e-01 9.87268453e-01 7.75390491e-02 -5.80290473e+01] [ 5.39350350e-01 9.74119526e-03 8.42025124e-01 5.12698099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:-58.03, Z:51.28 [[ 8.30240514e-01 1.58158835e-01 -5.34496465e-01 1.31228644e+02] [-1.38229072e-01 9.87367212e-01 7.74513488e-02 -5.80324501e+01] [ 5.39993900e-01 9.57970283e-03 8.41614411e-01 5.12841778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:-58.02, Z:51.27 [[ 8.35926516e-01 1.35751022e-01 -5.31788041e-01 1.31266734e+02] [-1.33677643e-01 9.90108092e-01 4.26175410e-02 -5.80175022e+01] [ 5.32313017e-01 3.54630395e-02 8.45804484e-01 5.12745855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:-58.03, Z:51.30 [[ 8.34635238e-01 1.51277866e-01 -5.29621588e-01 1.31281978e+02] [-1.33211121e-01 9.88439461e-01 7.24032354e-02 -5.80339189e+01] [ 5.34451884e-01 1.01211940e-02 8.45138299e-01 5.13020682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:-58.03, Z:51.31 [[ 8.35382750e-01 1.44249965e-01 -5.30403250e-01 1.31307657e+02] [-1.29370188e-01 9.89441680e-01 6.53338829e-02 -5.80347648e+01] [ 5.34227493e-01 1.40395695e-02 8.45224157e-01 5.13127232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:-58.05, Z:51.33 [[ 8.34860829e-01 1.46034582e-01 -5.30736561e-01 1.31326671e+02] [-1.25803305e-01 9.89268179e-01 7.43101494e-02 -5.80451162e+01] [ 5.35892642e-01 4.72978067e-03 8.44272885e-01 5.13336707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:-58.06, Z:51.37 [[ 8.31071251e-01 1.59284492e-01 -5.32868676e-01 1.31340352e+02] [-1.27426748e-01 9.87157755e-01 9.63430885e-02 -5.80623540e+01] [ 5.41371406e-01 -1.21662485e-02 8.40695536e-01 5.13682037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:-58.04, Z:51.35 [[ 8.36607827e-01 1.28714905e-01 -5.32465790e-01 1.31381061e+02] [-1.22095772e-01 9.91366130e-01 4.78102416e-02 -5.80430176e+01] [ 5.34022440e-01 2.50133996e-02 8.45100209e-01 5.13547423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:-58.06, Z:51.38 [[ 8.36384699e-01 1.39754887e-01 -5.30027553e-01 1.31398031e+02] [-1.21656412e-01 9.90163589e-01 6.91070467e-02 -5.80566413e+01] [ 5.34472032e-01 6.68117400e-03 8.45159754e-01 5.13791040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:-58.06, Z:51.40 [[ 8.36293366e-01 1.40346998e-01 -5.30015214e-01 1.31421090e+02] [-1.20868992e-01 9.90093036e-01 7.14595505e-02 -5.80612123e+01] [ 5.34793505e-01 4.30125678e-03 8.44971837e-01 5.13966430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:-58.06, Z:51.41 [[ 8.36111597e-01 1.39284746e-01 -5.30581904e-01 1.31445519e+02] [-1.20742877e-01 9.90235357e-01 6.96785166e-02 -5.80639382e+01] [ 5.35106115e-01 5.80496972e-03 8.44764907e-01 5.14114719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:-58.08, Z:51.45 [[ 8.32113258e-01 1.55772421e-01 -5.32280451e-01 1.31458287e+02] [-1.24340905e-01 9.87712676e-01 9.46731729e-02 -5.80804859e+01] [ 5.40487618e-01 -1.25945692e-02 8.41257696e-01 5.14458863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:-58.06, Z:51.44 [[ 8.36171135e-01 1.30249548e-01 -5.32778460e-01 1.31497850e+02] [-1.21054144e-01 9.91264647e-01 5.23478214e-02 -5.80630703e+01] [ 5.34942732e-01 2.07233031e-02 8.44634132e-01 5.14361540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:-58.08, Z:51.46 [[ 8.34728459e-01 1.44966571e-01 -5.31237322e-01 1.31512472e+02] [-1.21787030e-01 9.89436103e-01 7.86391632e-02 -5.80771241e+01] [ 5.37025436e-01 -9.44531669e-04 8.43565522e-01 5.14635366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:-58.08, Z:51.47 [[ 8.35140652e-01 1.39411642e-01 -5.32075639e-01 1.31538834e+02] [-1.21959628e-01 9.90201509e-01 6.80207329e-02 -5.80751266e+01] [ 5.36344983e-01 8.08486764e-03 8.43960126e-01 5.14732552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:-58.09, Z:51.50 [[ 8.31816320e-01 1.53353583e-01 -5.33445675e-01 1.31554531e+02] [-1.25604264e-01 9.88150825e-01 8.82129050e-02 -5.80903842e+01] [ 5.40652549e-01 -6.37388270e-03 8.41221847e-01 5.15047244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:-58.09, Z:51.52 [[ 8.32271992e-01 1.47001932e-01 -5.34521996e-01 1.31581378e+02] [-1.25314178e-01 9.89131731e-01 7.69075826e-02 -5.80898229e+01] [ 5.40018230e-01 2.97515753e-03 8.41648062e-01 5.15161540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:-58.09, Z:51.53 [[ 8.33098802e-01 1.45755459e-01 -5.33574487e-01 1.31604007e+02] [-1.24032440e-01 9.89317804e-01 7.65913549e-02 -5.80931267e+01] [ 5.39038348e-01 2.37237972e-03 8.42277882e-01 5.15311305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:-58.10, Z:51.55 [[ 8.33319600e-01 1.44778482e-01 -5.33495675e-01 1.31627960e+02] [-1.22929849e-01 9.89462396e-01 7.65011087e-02 -5.80962677e+01] [ 5.38949623e-01 1.83266956e-03 8.42336005e-01 5.15462487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:-58.10, Z:51.56 [[ 8.33600348e-01 1.43721406e-01 -5.33342870e-01 1.31651430e+02] [-1.21802912e-01 9.89617255e-01 7.63003230e-02 -5.80990347e+01] [ 5.38771296e-01 1.35873886e-03 8.42450974e-01 5.15604104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:-58.10, Z:51.58 [[ 8.33705899e-01 1.42252410e-01 -5.33571669e-01 1.31674829e+02] [-1.20088392e-01 9.89830289e-01 7.62546917e-02 -5.81018992e+01] [ 5.38992813e-01 5.01777453e-04 8.42310213e-01 5.15752327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:-58.10, Z:51.59 [[ 8.33991984e-01 1.40653059e-01 -5.33548580e-01 1.31698329e+02] [-1.18304985e-01 9.90058893e-01 7.60744284e-02 -5.81049097e+01] [ 5.38944617e-01 -3.24006985e-04 8.42341139e-01 5.15899112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:-58.11, Z:51.61 [[ 8.34354102e-01 1.37721938e-01 -5.33747038e-01 1.31722394e+02] [-1.14923414e-01 9.90468903e-01 7.59207501e-02 -5.81080886e+01] [ 5.39115796e-01 -2.00475777e-03 8.42229268e-01 5.16050118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:-58.11, Z:51.62 [[ 8.34423396e-01 1.36250977e-01 -5.34016167e-01 1.31745859e+02] [-1.13268029e-01 9.90670553e-01 7.57773643e-02 -5.81111112e+01] [ 5.39358832e-01 -2.74344722e-03 8.42071567e-01 5.16200696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:-58.11, Z:51.63 [[ 8.34516531e-01 1.34739893e-01 -5.34253986e-01 1.31769799e+02] [-1.11566814e-01 9.90874786e-01 7.56307167e-02 -5.81144102e+01] [ 5.39569278e-01 -3.51006814e-03 8.41933889e-01 5.16346690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:-58.12, Z:51.65 [[ 8.34409898e-01 1.32908793e-01 -5.34878842e-01 1.31792299e+02] [-1.09450339e-01 9.91118129e-01 7.55346162e-02 -5.81178220e+01] [ 5.40167332e-01 -4.48416095e-03 8.41545689e-01 5.16485105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:-58.12, Z:51.66 [[ 8.34278614e-01 1.32199111e-01 -5.35259366e-01 1.31815714e+02] [-1.08651219e-01 9.91211559e-01 7.54622919e-02 -5.81210709e+01] [ 5.40531319e-01 -4.79999347e-03 8.41310200e-01 5.16639652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:-58.12, Z:51.68 [[ 8.33994977e-01 1.32082878e-01 -5.35729868e-01 1.31838588e+02] [-1.08584846e-01 9.91227695e-01 7.53457901e-02 -5.81237726e+01] [ 5.40982171e-01 -4.66586532e-03 8.41021118e-01 5.16785719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:-58.13, Z:51.69 [[ 8.33648212e-01 1.32243104e-01 -5.36229820e-01 1.31862473e+02] [-1.08778761e-01 9.91207221e-01 7.53354212e-02 -5.81266876e+01] [ 5.41477460e-01 -4.47282359e-03 8.40703369e-01 5.16938815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:-58.13, Z:51.71 [[ 8.33419623e-01 1.32691298e-01 -5.36474371e-01 1.31886432e+02] [-1.09405194e-01 9.91149463e-01 7.51880697e-02 -5.81290901e+01] [ 5.41703087e-01 -3.97012994e-03 8.40560529e-01 5.17089041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:-58.13, Z:51.72 [[ 8.31630429e-01 1.34840616e-01 -5.38710346e-01 1.31909284e+02] [-1.11869932e-01 9.90864465e-01 7.53175337e-02 -5.81305379e+01] [ 5.43944801e-01 -2.37086296e-03 8.39117651e-01 5.17225399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:-58.13, Z:51.74 [[ 8.31158926e-01 1.36162551e-01 -5.39105370e-01 1.31933692e+02] [-1.13461422e-01 9.90685504e-01 7.52910167e-02 -5.81331074e+01] [ 5.44335692e-01 -1.41113868e-03 8.38866296e-01 5.17371036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:-58.14, Z:51.75 [[ 8.30960702e-01 1.37235804e-01 -5.39138800e-01 1.31956360e+02] [-1.14856083e-01 9.90538284e-01 7.51131750e-02 -5.81354941e+01] [ 5.44345839e-01 -4.92725970e-04 8.38860754e-01 5.17510906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:-58.12, Z:51.75 [[ 8.35298940e-01 1.23191986e-01 -5.35816587e-01 1.31987254e+02] [-1.13836162e-01 9.92207056e-01 5.06604925e-02 -5.81227848e+01] [ 5.37881966e-01 1.86786481e-02 8.42813205e-01 5.17470458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:-58.15, Z:51.79 [[ 8.30540501e-01 1.47892339e-01 -5.36963996e-01 1.31999102e+02] [-1.19466577e-01 9.88966013e-01 8.76011560e-02 -5.81462590e+01] [ 5.43994682e-01 -8.60705752e-03 8.39044519e-01 5.17867716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:-58.14, Z:51.80 [[ 8.30589603e-01 1.40833124e-01 -5.38782835e-01 1.32026707e+02] [-1.19327407e-01 9.90031039e-01 7.48298902e-02 -5.81444514e+01] [ 5.43950257e-01 2.13862966e-03 8.39114739e-01 5.17974534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:-58.13, Z:51.80 [[ 8.33514876e-01 1.29029605e-01 -5.37219055e-01 1.32056638e+02] [-1.17899327e-01 9.91489507e-01 5.52114744e-02 -5.81342525e+01] [ 5.39770971e-01 1.73181798e-02 8.41633756e-01 5.17961971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:-58.15, Z:51.83 [[ 8.29905420e-01 1.48702873e-01 -5.37721536e-01 1.32071323e+02] [-1.22317482e-01 9.88871653e-01 8.46834497e-02 -5.81540062e+01] [ 5.44330257e-01 -4.50650978e-03 8.38858905e-01 5.18308204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:-58.15, Z:51.84 [[ 8.30115156e-01 1.43888954e-01 -5.38706596e-01 1.32097719e+02] [-1.23189281e-01 9.89583487e-01 7.44910938e-02 -5.81532097e+01] [ 5.43813597e-01 4.52669240e-03 8.39193828e-01 5.18427547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:-58.16, Z:51.86 [[ 8.30837471e-01 1.44878408e-01 -5.37326105e-01 1.32120271e+02] [-1.24599418e-01 9.89434894e-01 7.41186532e-02 -5.81567773e+01] [ 5.42387391e-01 5.36996536e-03 8.40111351e-01 5.18585819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:-58.16, Z:51.87 [[ 8.30740012e-01 1.44843235e-01 -5.37486250e-01 1.32142343e+02] [-1.24662868e-01 9.89438965e-01 7.39574424e-02 -5.81598800e+01] [ 5.42522074e-01 5.56517088e-03 8.40023111e-01 5.18737290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:-58.16, Z:51.89 [[ 8.30854451e-01 1.44685798e-01 -5.37351749e-01 1.32164914e+02] [-1.24566570e-01 9.89461764e-01 7.38145466e-02 -5.81631150e+01] [ 5.42368926e-01 5.60691981e-03 8.40121724e-01 5.18885155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:-58.15, Z:51.89 [[ 8.35098733e-01 1.28609751e-01 -5.34854781e-01 1.32196055e+02] [-1.19969496e-01 9.91462157e-01 5.10892450e-02 -5.81521548e+01] [ 5.36858850e-01 2.15016950e-02 8.43398039e-01 5.18860174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:-58.18, Z:51.92 [[ 8.31004138e-01 1.49034163e-01 -5.35929977e-01 1.32209219e+02] [-1.22118194e-01 9.88815595e-01 8.56204761e-02 -5.81752849e+01] [ 5.42696295e-01 -5.70416895e-03 8.39909634e-01 5.19235448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:-58.17, Z:51.93 [[ 8.31033008e-01 1.41525139e-01 -5.37917071e-01 1.32236526e+02] [-1.20877645e-01 9.89927475e-01 7.37033889e-02 -5.81744103e+01] [ 5.42929770e-01 3.77219959e-03 8.39769632e-01 5.19344676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:-58.18, Z:51.95 [[ 8.30859507e-01 1.40558949e-01 -5.38438168e-01 1.32259251e+02] [-1.19801209e-01 9.90066607e-01 7.35920133e-02 -5.81782594e+01] [ 5.43433666e-01 3.36091944e-03 8.39445385e-01 5.19493930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:-58.18, Z:51.96 [[ 8.31072858e-01 1.39182210e-01 -5.38466543e-01 1.32283091e+02] [-1.18210825e-01 9.90263489e-01 7.35147872e-02 -5.81819579e+01] [ 5.43455708e-01 2.55642977e-03 8.39433951e-01 5.19643259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:-58.19, Z:51.98 [[ 8.31584798e-01 1.36724484e-01 -5.38305804e-01 1.32306892e+02] [-1.15415228e-01 9.90608427e-01 7.33094024e-02 -5.81863754e+01] [ 5.43273456e-01 1.16570277e-03 8.39554997e-01 5.19795287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:-58.17, Z:51.97 [[ 8.36710958e-01 1.15731470e-01 -5.35276564e-01 1.32341202e+02] [-1.09611351e-01 9.93028166e-01 4.33637335e-02 -5.81725674e+01] [ 5.36563254e-01 2.23894767e-02 8.43563030e-01 5.19727228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:-58.18, Z:51.99 [[ 8.36639952e-01 1.23514113e-01 -5.33645815e-01 1.32360634e+02] [-1.08537573e-01 9.92309495e-01 5.95101784e-02 -5.81822572e+01] [ 5.36892156e-01 8.13202860e-03 8.43611690e-01 5.19927505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:-58.19, Z:52.01 [[ 8.36392139e-01 1.24532071e-01 -5.33797671e-01 1.32383952e+02] [-1.08501257e-01 9.92194239e-01 6.14659949e-02 -5.81863544e+01] [ 5.37285461e-01 6.50804339e-03 8.43375348e-01 5.20090381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:-58.21, Z:52.05 [[ 8.30518616e-01 1.45036168e-01 -5.37776291e-01 1.32395412e+02] [-1.11793312e-01 9.89261252e-01 9.41511101e-02 -5.82079601e+01] [ 5.45656562e-01 -1.80744573e-02 8.37813959e-01 5.20484264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:-58.19, Z:52.04 [[ 8.33909199e-01 1.17909576e-01 -5.39159326e-01 1.32434697e+02] [-1.09059661e-01 9.92853863e-01 4.84478740e-02 -5.81889847e+01] [ 5.41018888e-01 1.83994057e-02 8.40809149e-01 5.20375197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:-58.21, Z:52.08 [[ 8.29694759e-01 1.43302687e-01 -5.39509913e-01 1.32445264e+02] [-1.12264422e-01 9.89576016e-01 9.01998243e-02 -5.82132393e+01] [ 5.46811947e-01 -1.42705531e-02 8.37133828e-01 5.20790378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:-58.21, Z:52.09 [[ 8.29335413e-01 1.35821343e-01 -5.41992007e-01 1.32472676e+02] [-1.14253737e-01 9.90732829e-01 7.34475658e-02 -5.82093379e+01] [ 5.46945021e-01 1.01194492e-03 8.37167916e-01 5.20883150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:-58.21, Z:52.10 [[ 8.29312663e-01 1.36571686e-01 -5.41838242e-01 1.32496479e+02] [-1.15246918e-01 9.90628804e-01 7.32988452e-02 -5.82121965e+01] [ 5.46771117e-01 1.65752667e-03 8.37280478e-01 5.21039004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:-58.22, Z:52.12 [[ 8.29348456e-01 1.36257861e-01 -5.41862467e-01 1.32520433e+02] [-1.14989295e-01 9.90672003e-01 7.31193909e-02 -5.82152727e+01] [ 5.46771068e-01 1.66692905e-03 8.37280491e-01 5.21192163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:-58.22, Z:52.13 [[ 8.29741830e-01 1.37910611e-01 -5.40841158e-01 1.32544083e+02] [-1.17160855e-01 9.90440282e-01 7.28105875e-02 -5.82166036e+01] [ 5.45712222e-01 2.95142242e-03 8.37967458e-01 5.21346877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:-58.22, Z:52.15 [[ 8.30158058e-01 1.39055486e-01 -5.39908483e-01 1.32566291e+02] [-1.18721978e-01 9.90276875e-01 7.25038164e-02 -5.82188748e+01] [ 5.44740939e-01 3.90937537e-03 8.38595270e-01 5.21491749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:-58.22, Z:52.16 [[ 8.30398420e-01 1.40111426e-01 -5.39265474e-01 1.32588237e+02] [-1.20084764e-01 9.90124645e-01 7.23383543e-02 -5.82212032e+01] [ 5.44075466e-01 4.68791228e-03 8.39023189e-01 5.21642658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:-58.22, Z:52.18 [[ 8.30671820e-01 1.42285953e-01 -5.38274125e-01 1.32611732e+02] [-1.22805777e-01 9.89806245e-01 7.21272395e-02 -5.82232950e+01] [ 5.43049784e-01 6.18910695e-03 8.39677692e-01 5.21804288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:-58.23, Z:52.20 [[ 8.30613400e-01 1.43128381e-01 -5.38140917e-01 1.32635427e+02] [-1.23938667e-01 9.89679699e-01 7.19256505e-02 -5.82255044e+01] [ 5.42881743e-01 6.95405899e-03 8.39780361e-01 5.21956508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:-58.23, Z:52.21 [[ 8.30505914e-01 1.44032758e-01 -5.38065509e-01 1.32659320e+02] [-1.25139630e-01 9.89542508e-01 7.17335216e-02 -5.82279355e+01] [ 5.42770670e-01 7.75820475e-03 8.39845111e-01 5.22110383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:-58.23, Z:52.23 [[ 8.29943733e-01 1.45764901e-01 -5.38466334e-01 1.32682127e+02] [-1.27294290e-01 9.89277232e-01 7.16011320e-02 -5.82300769e+01] [ 5.43129417e-01 9.11877900e-03 8.39599479e-01 5.22261253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:-58.23, Z:52.24 [[ 8.29634333e-01 1.46181061e-01 -5.38830187e-01 1.32705950e+02] [-1.27846255e-01 9.89211754e-01 7.15223136e-02 -5.82326182e+01] [ 5.43472362e-01 9.55005460e-03 8.39372735e-01 5.22415776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:-58.23, Z:52.26 [[ 8.29402036e-01 1.46400845e-01 -5.39128051e-01 1.32729274e+02] [-1.28205369e-01 9.89175636e-01 7.13788775e-02 -5.82348609e+01] [ 5.43742261e-01 9.91732416e-03 8.39193661e-01 5.22561965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:-58.24, Z:52.27 [[ 8.28854343e-01 1.46214739e-01 -5.40020118e-01 1.32752766e+02] [-1.28037556e-01 9.89201993e-01 7.13148008e-02 -5.82373456e+01] [ 5.44616252e-01 1.00332739e-02 8.38625346e-01 5.22710505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:-58.24, Z:52.29 [[ 8.28425846e-01 1.44868860e-01 -5.41039399e-01 1.32776744e+02] [-1.26477075e-01 9.89406297e-01 7.12652066e-02 -5.82405441e+01] [ 5.45631898e-01 9.39114163e-03 8.37972338e-01 5.22859390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:-58.24, Z:52.30 [[ 8.28341505e-01 1.43368521e-01 -5.41567926e-01 1.32799944e+02] [-1.24767020e-01 9.89631713e-01 7.11495864e-02 -5.82438830e+01] [ 5.46153405e-01 8.63366072e-03 8.37640685e-01 5.23008325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:-58.25, Z:52.32 [[ 8.28501598e-01 1.41327786e-01 -5.41859353e-01 1.32822623e+02] [-1.22427063e-01 9.89934360e-01 7.10040610e-02 -5.82471398e+01] [ 5.46440039e-01 7.51127087e-03 8.37464545e-01 5.23153986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:-58.25, Z:52.33 [[ 8.28979995e-01 1.39095568e-01 -5.41705263e-01 1.32846012e+02] [-1.19854507e-01 9.90259637e-01 7.08572379e-02 -5.82505920e+01] [ 5.46284785e-01 6.18658441e-03 8.37576659e-01 5.23310181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:-58.25, Z:52.35 [[ 8.29763646e-01 1.34364269e-01 -5.41699672e-01 1.32869387e+02] [-1.14324559e-01 9.90926549e-01 7.06715570e-02 -5.82544878e+01] [ 5.46280319e-01 3.28888697e-03 8.37595963e-01 5.23466318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:-58.26, Z:52.36 [[ 8.30509641e-01 1.31311921e-01 -5.41304827e-01 1.32892785e+02] [-1.10832708e-01 9.91339971e-01 7.04355868e-02 -5.82576587e+01] [ 5.45866144e-01 1.49684605e-03 8.37871060e-01 5.23619044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:-58.26, Z:52.38 [[ 8.31497073e-01 1.28119700e-01 -5.40553383e-01 1.32916227e+02] [-1.07206233e-01 9.91758638e-01 7.01543122e-02 -5.82610801e+01] [ 5.45086636e-01 -3.82413372e-04 8.38379635e-01 5.23770520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:-58.26, Z:52.39 [[ 8.32159775e-01 1.25173979e-01 -5.40223642e-01 1.32938111e+02] [-1.03840654e-01 9.92132596e-01 6.99287593e-02 -5.82645449e+01] [ 5.44726745e-01 -2.09472439e-03 8.38610985e-01 5.23918061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:-58.27, Z:52.41 [[ 8.33321233e-01 1.19275004e-01 -5.39767724e-01 1.32961838e+02] [-9.69032560e-02 9.92844012e-01 6.97891540e-02 -5.82682812e+01] [ 5.44229255e-01 -5.85153395e-03 8.38916133e-01 5.24072200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:-58.27, Z:52.42 [[ 8.33961552e-01 1.16546332e-01 -5.39374714e-01 1.32985385e+02] [-9.38068006e-02 9.93157603e-01 6.95575997e-02 -5.82713594e+01] [ 5.43790781e-01 -7.41134758e-03 8.39188095e-01 5.24217599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:-58.27, Z:52.44 [[ 8.34625444e-01 1.13917076e-01 -5.38909332e-01 1.33009026e+02] [-9.08403258e-02 9.93450436e-01 6.93128123e-02 -5.82741632e+01] [ 5.43275623e-01 -8.89553753e-03 8.39507276e-01 5.24363795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:-58.26, Z:52.43 [[ 8.38430576e-01 9.61804722e-02 -5.36454551e-01 1.33043110e+02] [-8.56668687e-02 9.95326806e-01 4.45616129e-02 -5.82647262e+01] [ 5.38233552e-01 8.59456283e-03 8.42751907e-01 5.24338676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.05, Y:-58.29, Z:52.47 [[ 8.35040245e-01 1.19197691e-01 -5.37121680e-01 1.33050629e+02] [-8.46261201e-02 9.92458602e-01 8.86811294e-02 -5.82871335e+01] [ 5.43641618e-01 -2.85977882e-02 8.38830113e-01 5.24735562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:-58.28, Z:52.48 [[ 8.34449783e-01 1.07741155e-01 -5.40449260e-01 1.33078947e+02] [-8.35592580e-02 9.94099713e-01 6.91636566e-02 -5.82817523e+01] [ 5.44712226e-01 -1.25540591e-02 8.38529061e-01 5.24809044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:-58.28, Z:52.50 [[ 8.33602875e-01 1.07872704e-01 -5.41728462e-01 1.33102857e+02] [-8.36696161e-02 9.94087888e-01 6.92001962e-02 -5.82821153e+01] [ 5.45990515e-01 -1.23592700e-02 8.37700189e-01 5.24953828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:-58.28, Z:52.51 [[ 8.33072698e-01 1.08203188e-01 -5.42477603e-01 1.33126990e+02] [-8.41101759e-02 9.94057032e-01 6.91093019e-02 -5.82843089e+01] [ 5.46731522e-01 -1.19451860e-02 8.37222763e-01 5.25105930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:-58.29, Z:52.52 [[ 8.32662505e-01 1.09084415e-01 -5.42930698e-01 1.33149847e+02] [-8.52381476e-02 9.93969845e-01 6.89811964e-02 -5.82864585e+01] [ 5.47181515e-01 -1.11596488e-02 8.36939575e-01 5.25248987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:-58.27, Z:52.52 [[ 8.37189561e-01 8.74647947e-02 -5.39873641e-01 1.33187730e+02] [-8.28193340e-02 9.96020173e-01 3.29358885e-02 -5.82707496e+01] [ 5.40605768e-01 1.71383933e-02 8.41101468e-01 5.25158264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:-58.30, Z:52.57 [[ 8.31898412e-01 1.26572498e-01 -5.40300319e-01 1.33189677e+02] [-8.82495298e-02 9.91424987e-01 9.63769437e-02 -5.83020890e+01] [ 5.47865907e-01 -3.24945774e-02 8.35934836e-01 5.25666624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:-58.29, Z:52.57 [[ 8.31837056e-01 1.15581631e-01 -5.42851727e-01 1.33220116e+02] [-9.31368456e-02 9.93275773e-01 6.87660234e-02 -5.82919173e+01] [ 5.47149559e-01 -6.64262893e-03 8.37008504e-01 5.25715945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:-58.29, Z:52.59 [[ 8.31918422e-01 1.17614366e-01 -5.42290144e-01 1.33244049e+02] [-9.56970345e-02 9.93045999e-01 6.85691054e-02 -5.82931277e+01] [ 5.46583770e-01 -5.14834326e-03 8.37388606e-01 5.25868695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:-58.28, Z:52.58 [[ 8.37358171e-01 9.91504652e-02 -5.37587647e-01 1.33281595e+02] [-9.49519844e-02 9.94845595e-01 3.55859805e-02 -5.82778320e+01] [ 5.38345070e-01 2.12468023e-02 8.42456622e-01 5.25799845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:-58.30, Z:52.63 [[ 8.32664408e-01 1.35437773e-01 -5.36960513e-01 1.33285434e+02] [-1.01278711e-01 9.90521693e-01 9.27868488e-02 -5.83048268e+01] [ 5.44437880e-01 -2.28776379e-02 8.38489122e-01 5.26270800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.32, Y:-58.30, Z:52.63 [[ 8.33057778e-01 1.24333398e-01 -5.39032415e-01 1.33315836e+02] [-1.04167749e-01 9.92240417e-01 6.78825030e-02 -5.82963708e+01] [ 5.43289811e-01 -4.00253868e-04 8.39545127e-01 5.26338145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:-58.30, Z:52.65 [[ 8.33461555e-01 1.28128751e-01 -5.37517311e-01 1.33338954e+02] [-1.08925960e-01 9.91754912e-01 6.75079987e-02 -5.82960274e+01] [ 5.41735149e-01 2.28426757e-03 8.40546139e-01 5.26493758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60999999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.36, Y:-58.30, Z:52.66 [[ 8.33314602e-01 1.29622462e-01 -5.37387004e-01 1.33362615e+02] [-1.10831967e-01 9.91557345e-01 6.73075594e-02 -5.82974125e+01] [ 5.41574602e-01 3.47128641e-03 8.40645526e-01 5.26648615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:-58.30, Z:52.68 [[ 8.33187142e-01 1.31388853e-01 -5.37155616e-01 1.33386111e+02] [-1.13069943e-01 9.91319120e-01 6.70938898e-02 -5.82968063e+01] [ 5.41308022e-01 4.83438865e-03 8.40810475e-01 5.26792426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.42, Y:-58.28, Z:52.68 [[ 8.37198116e-01 1.15084397e-01 -5.34653996e-01 1.33420080e+02] [-1.10198642e-01 9.93055347e-01 4.11987574e-02 -5.82848986e+01] [ 5.35682343e-01 2.44266224e-02 8.44066210e-01 5.26762804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:-58.31, Z:52.72 [[ 8.32493948e-01 1.41401057e-01 -5.35686072e-01 1.33429537e+02] [-1.12699283e-01 9.89887345e-01 8.61505429e-02 -5.83066235e+01] [ 5.42450642e-01 -1.13483690e-02 8.40011021e-01 5.27152502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:-58.30, Z:52.72 [[ 8.32423262e-01 1.30044667e-01 -5.38664922e-01 1.33457924e+02] [-1.11467421e-01 9.91499335e-01 6.71124579e-02 -5.83005115e+01] [ 5.42813529e-01 4.17761843e-03 8.39842854e-01 5.27226470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:-58.30, Z:52.74 [[ 8.32482023e-01 1.28464656e-01 -5.38953164e-01 1.33481957e+02] [-1.09616626e-01 9.91708773e-01 6.70664147e-02 -5.83023428e+01] [ 5.43100245e-01 3.24664260e-03 8.39661588e-01 5.27370226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:-58.30, Z:52.75 [[ 8.32267460e-01 1.25032142e-01 -5.40090583e-01 1.33505736e+02] [-1.05556015e-01 9.92151934e-01 6.70258769e-02 -5.83041639e+01] [ 5.44232306e-01 1.22635330e-03 8.38933665e-01 5.27514984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:-58.31, Z:52.77 [[ 8.32231146e-01 1.22902376e-01 -5.40635112e-01 1.33529250e+02] [-1.03092766e-01 9.92418764e-01 6.69094778e-02 -5.83067705e+01] [ 5.44759764e-01 5.14180032e-05 8.38592152e-01 5.27665874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:-58.31, Z:52.78 [[ 8.32285144e-01 1.21095893e-01 -5.40959539e-01 1.33551695e+02] [-1.01030549e-01 9.92640391e-01 6.67673767e-02 -5.83092892e+01] [ 5.45063544e-01 -9.16056455e-04 8.38394236e-01 5.27812626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:-58.31, Z:52.79 [[ 8.34108237e-01 1.12613187e-01 -5.39983074e-01 1.33579108e+02] [-9.69898412e-02 9.93628740e-01 5.74011958e-02 -5.83063244e+01] [ 5.43006833e-01 4.49406242e-03 8.39716251e-01 5.27897543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.60, Y:-58.32, Z:52.81 [[ 8.32705438e-01 1.20287254e-01 -5.40492950e-01 1.33597165e+02] [-9.63659680e-02 9.92704810e-01 7.24621287e-02 -5.83153596e+01] [ 5.45266222e-01 -8.25448230e-03 8.38222292e-01 5.28130298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:-58.31, Z:52.82 [[ 8.34517528e-01 1.09897280e-01 -5.39910255e-01 1.33625136e+02] [-9.33600307e-02 9.93940948e-01 5.80111690e-02 -5.83107715e+01] [ 5.43014180e-01 1.99470061e-03 8.39721157e-01 5.28204372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:-58.32, Z:52.84 [[ 8.33400094e-01 1.18603949e-01 -5.39793838e-01 1.33643359e+02] [-9.44490715e-02 9.92898053e-01 7.23382933e-02 -5.83202232e+01] [ 5.44539858e-01 -9.30371362e-03 8.38683363e-01 5.28430007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:-58.32, Z:52.86 [[ 8.33540559e-01 1.14662830e-01 -5.40428138e-01 1.33667678e+02] [-9.37274588e-02 9.93394126e-01 6.62062932e-02 -5.83203512e+01] [ 5.44449539e-01 -4.53267460e-03 8.38781351e-01 5.28566987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:-58.32, Z:52.87 [[ 8.33538702e-01 1.14158471e-01 -5.40537766e-01 1.33691378e+02] [-9.32356226e-02 9.93451685e-01 6.60368770e-02 -5.83228325e+01] [ 5.44536823e-01 -4.64691758e-03 8.38724064e-01 5.28720178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:-58.32, Z:52.89 [[ 8.33392876e-01 1.13776277e-01 -5.40843113e-01 1.33714561e+02] [-9.28722105e-02 9.93495352e-01 6.58918689e-02 -5.83249138e+01] [ 5.44822050e-01 -4.68451871e-03 8.38538603e-01 5.28870165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:-58.33, Z:52.90 [[ 8.33244633e-01 1.13492927e-01 -5.41130979e-01 1.33738497e+02] [-9.26277878e-02 9.93527885e-01 6.57452298e-02 -5.83266959e+01] [ 5.45090335e-01 -4.65809440e-03 8.38364377e-01 5.29018315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:-58.33, Z:52.92 [[ 8.32214610e-01 1.12860704e-01 -5.42845561e-01 1.33762614e+02] [-9.18450759e-02 9.93598847e-01 6.57709193e-02 -5.83274915e+01] [ 5.46793676e-01 -4.87782812e-03 8.37253177e-01 5.29161132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:-58.33, Z:52.93 [[ 8.31636178e-01 1.12185838e-01 -5.43870946e-01 1.33786824e+02] [-9.10724078e-02 9.93674083e-01 6.57086963e-02 -5.83295540e+01] [ 5.47802049e-01 -5.11409241e-03 8.36592351e-01 5.29311371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.81, Y:-58.33, Z:52.95 [[ 8.31337622e-01 1.11430909e-01 -5.44482242e-01 1.33810629e+02] [-9.02386866e-02 9.93757512e-01 6.55971589e-02 -5.83319685e+01] [ 5.48392869e-01 -5.40002372e-03 8.36203385e-01 5.29464224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:-58.32, Z:52.95 [[ 8.34167080e-01 9.37258559e-02 -5.43489417e-01 1.33844515e+02] [-8.71951184e-02 9.95472284e-01 3.78410212e-02 -5.83216981e+01] [ 5.44575333e-01 1.58238899e-02 8.38562646e-01 5.29456932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:-58.33, Z:52.97 [[ 8.34095386e-01 1.06033096e-01 -5.41333418e-01 1.33863227e+02] [-8.70313184e-02 9.94356473e-01 6.06692166e-02 -5.83340672e+01] [ 5.44711333e-01 -3.49095263e-03 8.38616347e-01 5.29692011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:-58.35, Z:53.00 [[ 8.30635272e-01 1.22161003e-01 -5.43251079e-01 1.33875586e+02] [-8.77456990e-02 9.92164101e-01 8.89443033e-02 -5.83492909e+01] [ 5.49859744e-01 -2.62123298e-02 8.34845600e-01 5.30023867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:-58.34, Z:53.01 [[ 8.30836211e-01 1.08667123e-01 -5.45804586e-01 1.33904634e+02] [-8.71000467e-02 9.94055374e-01 6.53260638e-02 -5.83418118e+01] [ 5.49658777e-01 -6.73565440e-03 8.35362113e-01 5.30092407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:-58.33, Z:53.01 [[ 8.35523121e-01 8.98571264e-02 -5.42057940e-01 1.33940265e+02] [-8.43328996e-02 9.95819680e-01 3.50874066e-02 -5.83292934e+01] [ 5.42944819e-01 1.63969784e-02 8.39608280e-01 5.30060510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:-58.36, Z:53.05 [[ 8.32475038e-01 1.20471492e-01 -5.40806740e-01 1.33946742e+02] [-8.56850713e-02 9.92325179e-01 8.91560850e-02 -5.83550807e+01] [ 5.47396912e-01 -2.78811512e-02 8.36408550e-01 5.30479430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:-58.33, Z:53.03 [[ 8.37763924e-01 8.67324965e-02 -5.39100252e-01 1.33987864e+02] [-8.19487229e-02 9.96093149e-01 3.29066102e-02 -5.83313511e+01] [ 5.39848140e-01 1.66106062e-02 8.41598523e-01 5.30346289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:-58.36, Z:53.08 [[ 8.34176250e-01 1.19838242e-01 -5.38320332e-01 1.33994116e+02] [-8.62211484e-02 9.92441565e-01 8.73249917e-02 -5.83602292e+01] [ 5.44716346e-01 -2.64298370e-02 8.38203774e-01 5.30800088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:-58.35, Z:53.09 [[ 8.33874717e-01 1.08038005e-01 -5.41276959e-01 1.34023233e+02] [-8.71406375e-02 9.94126480e-01 6.41798374e-02 -5.83537757e+01] [ 5.45031620e-01 -6.35072440e-03 8.38391437e-01 5.30883816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.06, Y:-58.34, Z:53.08 [[ 8.39723174e-01 8.52083849e-02 -5.36287723e-01 1.34061475e+02] [-8.41901021e-02 9.96098860e-01 2.64402757e-02 -5.83362488e+01] [ 5.36448523e-01 2.29476059e-02 8.43620999e-01 5.30788004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:-58.35, Z:53.11 [[ 8.37861257e-01 1.08468567e-01 -5.34998210e-01 1.34076371e+02] [-8.93337063e-02 9.94092407e-01 6.16423129e-02 -5.83534118e+01] [ 5.38523911e-01 -3.85433281e-03 8.42601413e-01 5.31080201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:-58.35, Z:53.12 [[ 8.38628267e-01 1.02860782e-01 -5.34904000e-01 1.34105727e+02] [-9.14387882e-02 9.94657443e-01 4.79115695e-02 -5.83497136e+01] [ 5.36974466e-01 8.73097697e-03 8.43553313e-01 5.31160557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:-58.35, Z:53.13 [[ 8.39019159e-01 1.04766080e-01 -5.33920330e-01 1.34128827e+02] [-9.19184549e-02 9.94475356e-01 5.06928430e-02 -5.83514791e+01] [ 5.36281501e-01 6.54486527e-03 8.44013813e-01 5.31300923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:-58.36, Z:53.15 [[ 8.37911138e-01 1.08236854e-01 -5.34967016e-01 1.34152644e+02] [-9.50557210e-02 9.94099966e-01 5.22462212e-02 -5.83556985e+01] [ 5.37465659e-01 7.07398473e-03 8.43255966e-01 5.31469965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:-58.37, Z:53.17 [[ 8.35278224e-01 1.19763287e-01 -5.36625608e-01 1.34173511e+02] [-9.95663300e-02 9.92800052e-01 6.65928159e-02 -5.83669384e+01] [ 5.40737306e-01 -2.19368663e-03 8.41188655e-01 5.31720047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:-58.38, Z:53.20 [[ 8.30174717e-01 1.35900101e-01 -5.40685770e-01 1.34187153e+02] [-1.04229853e-01 9.90568305e-01 8.89413902e-02 -5.83776952e+01] [ 5.47673330e-01 -1.74812954e-02 8.36509610e-01 5.32018901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:-58.35, Z:53.19 [[ 8.34499708e-01 1.03022104e-01 -5.41291680e-01 1.34230697e+02] [-1.03768301e-01 9.94171614e-01 2.92393833e-02 -5.83539790e+01] [ 5.41149126e-01 3.17686610e-02 8.40326350e-01 5.31877101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:-58.38, Z:53.23 [[ 8.29215258e-01 1.39851771e-01 -5.41150199e-01 1.34234417e+02] [-1.06610864e-01 9.89990183e-01 9.24854605e-02 -5.83830473e+01] [ 5.48667640e-01 -1.89978648e-02 8.35824683e-01 5.32330500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:-58.37, Z:53.24 [[ 8.29605143e-01 1.24068794e-01 -5.44391624e-01 1.34264208e+02] [-1.06713357e-01 9.92258928e-01 6.35175443e-02 -5.83738140e+01] [ 5.48057995e-01 5.39937645e-03 8.36422908e-01 5.32380794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:-58.36, Z:53.23 [[ 8.35162526e-01 1.02026675e-01 -5.40457319e-01 1.34300086e+02] [-1.02701158e-01 9.94289505e-01 2.89974678e-02 -5.83586721e+01] [ 5.40329555e-01 3.12879938e-02 8.40871592e-01 5.32300093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.31, Y:-58.39, Z:53.28 [[ 8.29872530e-01 1.35964001e-01 -5.41133416e-01 1.34305264e+02] [-1.04668002e-01 9.90573044e-01 8.83722456e-02 -5.83898519e+01] [ 5.48047620e-01 -1.66983457e-02 8.36280439e-01 5.32778615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:-58.38, Z:53.28 [[ 8.30583812e-01 1.20188629e-01 -5.43769459e-01 1.34333842e+02] [-1.02313958e-01 9.92745955e-01 6.31452489e-02 -5.83838349e+01] [ 5.47414272e-01 3.18778400e-03 8.36855694e-01 5.32846923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:-58.39, Z:53.30 [[ 8.30782577e-01 1.18078545e-01 -5.43928090e-01 1.34357331e+02] [-9.98354136e-02 9.93002445e-01 6.30795919e-02 -5.83873269e+01] [ 5.47570270e-01 1.89785997e-03 8.36757550e-01 5.32988544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.38, Y:-58.39, Z:53.31 [[ 8.31168690e-01 1.17119984e-01 -5.43545323e-01 1.34379686e+02] [-9.88386821e-02 9.93116664e-01 6.28506741e-02 -5.83904815e+01] [ 5.47164988e-01 1.48379090e-03 8.37023461e-01 5.33129588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:-58.39, Z:53.33 [[ 8.31229242e-01 1.16331750e-01 -5.43621992e-01 1.34401898e+02] [-9.79438590e-02 9.93209846e-01 6.27789900e-02 -5.83939715e+01] [ 5.47233905e-01 1.06070348e-03 8.36979049e-01 5.33280970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:-58.39, Z:53.33 [[ 8.34916540e-01 1.03785541e-01 -5.40502481e-01 1.34432037e+02] [-9.45939357e-02 9.94505493e-01 4.48420690e-02 -5.83876574e+01] [ 5.42186645e-01 1.36888718e-02 8.40146569e-01 5.33303356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:-58.41, Z:53.36 [[ 8.31279321e-01 1.21684386e-01 -5.42372197e-01 1.34445811e+02] [-9.68824505e-02 9.92526886e-01 7.41900989e-02 -5.84059999e+01] [ 5.47346765e-01 -9.12634745e-03 8.36856158e-01 5.33630753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:-58.41, Z:53.37 [[ 8.30709183e-01 1.15106339e-01 -5.44676770e-01 1.34472472e+02] [-9.65957031e-02 9.93352989e-01 6.26027950e-02 -5.84050107e+01] [ 5.48262276e-01 6.08718906e-04 8.36306227e-01 5.33745820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:-58.41, Z:53.39 [[ 8.29217523e-01 1.15120331e-01 -5.46942052e-01 1.34495876e+02] [-9.65650303e-02 9.93351197e-01 6.26784930e-02 -5.84100123e+01] [ 5.50521111e-01 8.41371147e-04 8.34820818e-01 5.33894949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:-58.41, Z:53.40 [[ 8.28758185e-01 1.15210371e-01 -5.47618883e-01 1.34518254e+02] [-9.67467997e-02 9.93340476e-01 6.25680078e-02 -5.84135337e+01] [ 5.51180486e-01 1.12662584e-03 8.34385284e-01 5.34034648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:-58.42, Z:53.42 [[ 8.28483653e-01 1.15116237e-01 -5.48053910e-01 1.34541595e+02] [-9.66576507e-02 9.93351344e-01 6.25332367e-02 -5.84172415e+01] [ 5.51608679e-01 1.16583905e-03 8.34102215e-01 5.34184321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:-58.42, Z:53.43 [[ 8.28465372e-01 1.14777158e-01 -5.48152654e-01 1.34565250e+02] [-9.63682815e-02 9.93390582e-01 6.23562850e-02 -5.84209758e+01] [ 5.51686761e-01 1.16450644e-03 8.34050575e-01 5.34338201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.59, Y:-58.43, Z:53.45 [[ 8.29147680e-01 1.13449320e-01 -5.47396909e-01 1.34587812e+02] [-9.49553537e-02 9.93543658e-01 6.20844585e-02 -5.84262855e+01] [ 5.50906167e-01 5.01082364e-04 8.34567040e-01 5.34488497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:-58.43, Z:53.46 [[ 8.29760227e-01 1.12419416e-01 -5.46680748e-01 1.34610951e+02] [-9.38299502e-02 9.93660841e-01 6.19198884e-02 -5.84308823e+01] [ 5.50176250e-01 -8.36333828e-05 8.35048554e-01 5.34645462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:-58.44, Z:53.48 [[ 8.30394900e-01 1.10996767e-01 -5.46007351e-01 1.34634173e+02] [-9.22985788e-02 9.93820440e-01 6.16595857e-02 -5.84353064e+01] [ 5.49477281e-01 -8.06103086e-04 8.35508270e-01 5.34803557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:-58.44, Z:53.50 [[ 8.31622444e-01 1.08844805e-01 -5.44570398e-01 1.34656976e+02] [-8.99551208e-02 9.94056738e-01 6.13129450e-02 -5.84412789e+01] [ 5.48007469e-01 -2.00232523e-03 8.36471042e-01 5.34960428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:-58.45, Z:53.51 [[ 8.31871228e-01 1.07935700e-01 -5.44371330e-01 1.34679486e+02] [-8.90048081e-02 9.94155027e-01 6.11058634e-02 -5.84451446e+01] [ 5.47784998e-01 -2.38054387e-03 8.36615759e-01 5.35105986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.70, Y:-58.45, Z:53.53 [[ 8.32030058e-01 1.07273622e-01 -5.44259453e-01 1.34703167e+02] [-8.83052339e-02 9.94225964e-01 6.09665314e-02 -5.84493420e+01] [ 5.47656980e-01 -2.66502838e-03 8.36698709e-01 5.35258787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:-58.44, Z:53.52 [[ 8.35823104e-01 9.17378084e-02 -5.41279885e-01 1.34733444e+02] [-8.42355328e-02 9.95694838e-01 3.86802805e-02 -5.84398734e+01] [ 5.42498032e-01 1.32651274e-02 8.39952333e-01 5.35247033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:-58.46, Z:53.56 [[ 8.31589383e-01 1.13960447e-01 -5.43573467e-01 1.34746531e+02] [-8.78913540e-02 9.93392207e-01 7.38040126e-02 -5.84629402e+01] [ 5.48392384e-01 -1.35992253e-02 8.36110551e-01 5.35604695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:-58.46, Z:53.57 [[ 8.30933299e-01 1.07623348e-01 -5.45863598e-01 1.34773414e+02] [-8.87500354e-02 9.94189365e-01 6.09174685e-02 -5.84616396e+01] [ 5.49247926e-01 -2.17293940e-03 8.35656625e-01 5.35710118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:-58.45, Z:53.57 [[ 8.34022907e-01 9.28901612e-02 -5.43854032e-01 1.34805289e+02] [-8.64857479e-02 9.95550443e-01 3.74103068e-02 -5.84525030e+01] [ 5.44909172e-01 1.58345698e-02 8.38345550e-01 5.35695347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:-58.48, Z:53.61 [[ 8.29247714e-01 1.18047358e-01 -5.46271957e-01 1.34816244e+02] [-9.11956938e-02 9.92918722e-01 7.61298667e-02 -5.84754970e+01] [ 5.51390583e-01 -1.33128678e-02 8.34140991e-01 5.36071595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:-58.46, Z:53.60 [[ 8.32883375e-01 9.54313059e-02 -5.45158830e-01 1.34852886e+02] [-9.13474602e-02 9.95215861e-01 3.46558971e-02 -5.84601796e+01] [ 5.45857972e-01 2.09345540e-02 8.37616153e-01 5.35976846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:-58.49, Z:53.64 [[ 8.27885291e-01 1.23068874e-01 -5.47229383e-01 1.34862325e+02] [-9.56260736e-02 9.92317412e-01 7.84971856e-02 -5.84855091e+01] [ 5.52685805e-01 -1.26572681e-02 8.33293582e-01 5.36379409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:-58.47, Z:53.63 [[ 8.31655679e-01 9.94941870e-02 -5.46305535e-01 1.34898763e+02] [-9.46809174e-02 9.94818251e-01 3.70428434e-02 -5.84712523e+01] [ 5.47160264e-01 2.09178182e-02 8.36766449e-01 5.36292584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.91, Y:-58.50, Z:53.67 [[ 8.27714532e-01 1.23801105e-01 -5.47322519e-01 1.34909263e+02] [-9.81772585e-02 9.92264886e-01 7.59711947e-02 -5.84953149e+01] [ 5.52494234e-01 -9.14783752e-03 8.33466519e-01 5.36677953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:-58.49, Z:53.68 [[ 8.28188887e-01 1.15450120e-01 -5.48429063e-01 1.34936866e+02] [-9.84952496e-02 9.93305119e-01 6.03624533e-02 -5.84937318e+01] [ 5.51726249e-01 4.02614448e-03 8.34015549e-01 5.36780738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:-58.50, Z:53.69 [[ 8.28325642e-01 1.15513938e-01 -5.48209048e-01 1.34959979e+02] [-9.87096644e-02 9.93296603e-01 6.01519740e-02 -5.84984482e+01] [ 5.51482577e-01 4.28810870e-03 8.34175389e-01 5.36936662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.98, Y:-58.50, Z:53.71 [[ 8.28264211e-01 1.15175448e-01 -5.48373060e-01 1.34982918e+02] [-9.84153797e-02 9.93335922e-01 5.99846619e-02 -5.85045740e+01] [ 5.51627419e-01 4.28519423e-03 8.34079629e-01 5.37083973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:-58.51, Z:53.72 [[ 8.28175352e-01 1.14850209e-01 -5.48575442e-01 1.35006342e+02] [-9.81348067e-02 9.93373549e-01 5.98210006e-02 -5.85087729e+01] [ 5.51810788e-01 4.29206675e-03 8.33958292e-01 5.37239813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:-58.50, Z:53.72 [[ 8.33116645e-01 9.57085100e-02 -5.44753648e-01 1.35038949e+02] [-9.36476215e-02 9.95103430e-01 3.16114898e-02 -5.84968420e+01] [ 5.45111713e-01 2.46788251e-02 8.38000105e-01 5.37181059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:-58.52, Z:53.76 [[ 8.28451638e-01 1.23323125e-01 -5.46314277e-01 1.35048236e+02] [-9.76181966e-02 9.92320055e-01 7.59710249e-02 -5.85246909e+01] [ 5.51487598e-01 -9.60810546e-03 8.34127756e-01 5.37617630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:-58.52, Z:53.77 [[ 8.29200028e-01 1.13696934e-01 -5.47266224e-01 1.35075749e+02] [-9.70579447e-02 9.93507799e-01 5.93465103e-02 -5.85233029e+01] [ 5.50460779e-01 3.90640690e-03 8.34851886e-01 5.37710566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:-58.53, Z:53.79 [[ 8.29347243e-01 1.12487725e-01 -5.47293032e-01 1.35099160e+02] [-9.57297408e-02 9.93647552e-01 5.91638383e-02 -5.85260988e+01] [ 5.50471587e-01 3.32485393e-03 8.34847278e-01 5.37855159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:-58.51, Z:53.77 [[ 8.35142848e-01 8.88864657e-02 -5.42803481e-01 1.35133592e+02] [-8.93978226e-02 9.95669508e-01 2.55001892e-02 -5.85085318e+01] [ 5.42719497e-01 2.72291487e-02 8.39472526e-01 5.37746253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:-58.54, Z:53.82 [[ 8.29023447e-01 1.22054924e-01 -5.45731362e-01 1.35141119e+02] [-9.48135375e-02 9.92439978e-01 7.79312736e-02 -5.85384182e+01] [ 5.51117516e-01 -1.28641321e-02 8.34328471e-01 5.38241565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-58.53, Z:53.83 [[ 8.28955930e-01 1.12301389e-01 -5.47923776e-01 1.35169331e+02] [-9.55974311e-02 9.93668215e-01 5.90305886e-02 -5.85324047e+01] [ 5.51083657e-01 3.44634884e-03 8.34442884e-01 5.38315080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:-58.53, Z:53.85 [[ 8.28605311e-01 1.13031658e-01 -5.48303823e-01 1.35193226e+02] [-9.65030047e-02 9.93583194e-01 5.89881953e-02 -5.85341151e+01] [ 5.51452997e-01 4.03503453e-03 8.34196206e-01 5.38468506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:-58.51, Z:53.83 [[ 8.35123007e-01 8.54235134e-02 -5.43389718e-01 1.35231371e+02] [-9.11116422e-02 9.95703946e-01 1.65021537e-02 -5.85101517e+01] [ 5.42464959e-01 3.57278014e-02 8.39318350e-01 5.38293759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:-58.55, Z:53.89 [[ 8.26934672e-01 1.28315277e-01 -5.47461631e-01 1.35233844e+02] [-9.81004597e-02 9.91605147e-01 8.42349770e-02 -5.85477545e+01] [ 5.53674406e-01 -1.59505854e-02 8.32580465e-01 5.38877237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:-58.51, Z:53.86 [[ 8.32904749e-01 8.82652895e-02 -5.46332241e-01 1.35278478e+02] [-9.27863646e-02 9.95497497e-01 1.93758856e-02 -5.85147672e+01] [ 5.45582597e-01 3.45539154e-02 8.37344408e-01 5.38620027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:-58.55, Z:53.92 [[ 8.25549226e-01 1.26930527e-01 -5.49870092e-01 1.35282244e+02] [-9.75032706e-02 9.91805004e-01 8.25587401e-02 -5.85507613e+01] [ 5.55843133e-01 -1.45421716e-02 8.31159995e-01 5.39171462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:-58.52, Z:53.89 [[ 8.32570813e-01 8.64399291e-02 -5.47132507e-01 1.35325527e+02] [-9.03196049e-02 9.95714575e-01 1.98709277e-02 -5.85206108e+01] [ 5.46505453e-01 3.28728374e-02 8.36810113e-01 5.38933092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:-58.56, Z:53.95 [[ 8.26380737e-01 1.20633815e-01 -5.50038508e-01 1.35329175e+02] [-9.02389411e-02 9.92529944e-01 8.21050723e-02 -5.85577516e+01] [ 5.55834338e-01 -1.82151577e-02 8.31093495e-01 5.39489635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:-58.55, Z:53.96 [[ 8.26392212e-01 1.08066282e-01 -5.52627895e-01 1.35359547e+02] [-9.03337609e-02 9.94143285e-01 5.93206604e-02 -5.85513422e+01] [ 5.55801874e-01 8.98824295e-04 8.31314302e-01 5.39559859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:-58.53, Z:53.94 [[ 8.34004692e-01 7.63610914e-02 -5.46447763e-01 1.35397173e+02] [-8.02364993e-02 9.96634079e-01 1.68112119e-02 -5.85295926e+01] [ 5.45892185e-01 2.98244259e-02 8.37324445e-01 5.39399589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:-58.57, Z:54.00 [[ 8.28012268e-01 1.14939006e-01 -5.48802978e-01 1.35399033e+02] [-8.22091729e-02 9.93072940e-01 8.39510982e-02 -5.85688598e+01] [ 5.54650643e-01 -2.43959003e-02 8.31725618e-01 5.39980306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:-58.56, Z:54.00 [[ 8.30020435e-01 9.47015751e-02 -5.49634142e-01 1.35428538e+02] [-7.45796141e-02 9.95474423e-01 5.88944349e-02 -5.85629754e+01] [ 5.52724126e-01 -7.89208226e-03 8.33326920e-01 5.40039930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:-58.57, Z:54.02 [[ 8.31073656e-01 9.16570851e-02 -5.48557706e-01 1.35451099e+02] [-7.10740031e-02 9.95742465e-01 5.86977812e-02 -5.85654477e+01] [ 5.51602269e-01 -9.79398759e-03 8.34049767e-01 5.40189283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.47, Y:-58.57, Z:54.03 [[ 8.31980829e-01 8.93895276e-02 -5.47555854e-01 1.35474184e+02] [-6.84981282e-02 9.95934086e-01 5.85090046e-02 -5.85677672e+01] [ 5.50559631e-01 -1.11718191e-02 8.34721081e-01 5.40339978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:-58.57, Z:54.05 [[ 8.32659441e-01 8.79744234e-02 -5.46752921e-01 1.35498039e+02] [-6.69959708e-02 9.96052093e-01 5.82388859e-02 -5.85698428e+01] [ 5.49717924e-01 -1.18629154e-02 8.35266111e-01 5.40493257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.54, Y:-58.54, Z:54.03 [[ 8.40109969e-01 5.56659959e-02 -5.39552163e-01 1.35538106e+02] [-5.91179423e-02 9.98191117e-01 1.09344941e-02 -5.85431318e+01] [ 5.39184855e-01 2.27110361e-02 8.41881168e-01 5.40287518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.54, Y:-58.58, Z:54.09 [[ 8.32789449e-01 1.03802202e-01 -5.43770942e-01 1.35537540e+02] [-6.76848992e-02 9.93985957e-01 8.60852572e-02 -5.85844041e+01] [ 5.49436519e-01 -3.48858125e-02 8.34806859e-01 5.40923981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:-58.57, Z:54.10 [[ 8.32586761e-01 8.95863365e-02 -5.46601843e-01 1.35569519e+02] [-6.90353010e-02 9.95922476e-01 5.80736578e-02 -5.85749153e+01] [ 5.49575667e-01 -1.06165359e-02 8.35376487e-01 5.40968411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:-58.55, Z:54.09 [[ 8.37397546e-01 7.09784986e-02 -5.41966237e-01 1.35604405e+02] [-6.72298484e-02 9.97379018e-01 2.67440185e-02 -5.85541781e+01] [ 5.42444004e-01 1.40409325e-02 8.39974616e-01 5.40855088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:-58.58, Z:54.13 [[ 8.31545258e-01 1.04061063e-01 -5.45622378e-01 1.35612821e+02] [-7.57166632e-02 9.94361067e-01 7.42499554e-02 -5.85817761e+01] [ 5.50272179e-01 -2.04294925e-02 8.34735386e-01 5.41329704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:-58.58, Z:54.14 [[ 8.31052629e-01 9.75397033e-02 -5.47574227e-01 1.35640086e+02] [-7.85793459e-02 9.95218108e-01 5.80189962e-02 -5.85757968e+01] [ 5.50614941e-01 -5.18881480e-03 8.34743231e-01 5.41413294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:-58.58, Z:54.16 [[ 8.30566958e-01 9.98552437e-02 -5.47893657e-01 1.35664146e+02] [-8.13826504e-02 9.94995608e-01 5.79707177e-02 -5.85765458e+01] [ 5.50940462e-01 -3.55952473e-03 8.34536959e-01 5.41561901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:-58.58, Z:54.17 [[ 8.29361512e-01 1.04311927e-01 -5.48888426e-01 1.35687603e+02] [-8.67736428e-02 9.94544556e-01 5.78918014e-02 -5.85762509e+01] [ 5.51932801e-01 -3.84183704e-04 8.33888503e-01 5.41706404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:-58.58, Z:54.19 [[ 8.28620365e-01 1.06294992e-01 -5.49626842e-01 1.35711063e+02] [-8.91556561e-02 9.94334100e-01 5.78875346e-02 -5.85777090e+01] [ 5.52665866e-01 1.03555165e-03 8.33402285e-01 5.41855788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:-58.56, Z:54.17 [[ 8.34286627e-01 8.27949849e-02 -5.45078723e-01 1.35747961e+02] [-8.58502635e-02 9.96109217e-01 1.99037686e-02 -5.85564492e+01] [ 5.44605872e-01 3.01897040e-02 8.38148570e-01 5.41724362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:-58.59, Z:54.22 [[ 8.26836881e-01 1.23901967e-01 -5.48624713e-01 1.35752448e+02] [-9.48593616e-02 9.92180720e-01 8.11117747e-02 -5.85900897e+01] [ 5.54384771e-01 -1.50240168e-02 8.32124873e-01 5.42242192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:-58.58, Z:54.23 [[ 8.27063320e-01 1.11833456e-01 -5.50871621e-01 1.35781728e+02] [-9.59017821e-02 9.93714053e-01 5.77514428e-02 -5.85830117e+01] [ 5.53867415e-01 5.06547011e-03 8.32589472e-01 5.42306679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:-58.59, Z:54.25 [[ 8.27201973e-01 1.12080056e-01 -5.50613255e-01 1.35805332e+02] [-9.62699027e-02 9.93684901e-01 5.76404677e-02 -5.85857331e+01] [ 5.53596425e-01 5.32717588e-03 8.32768047e-01 5.42465080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.83, Y:-58.59, Z:54.26 [[ 8.27719781e-01 1.11847508e-01 -5.49881895e-01 1.35827891e+02] [-9.61637961e-02 9.93710756e-01 5.73712200e-02 -5.85882569e+01] [ 5.52840382e-01 5.39143676e-03 8.33269731e-01 5.42619982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:-58.59, Z:54.28 [[ 8.29211116e-01 1.10530229e-01 -5.47897795e-01 1.35850034e+02] [-9.47923218e-02 9.93861917e-01 5.70342470e-02 -5.85920334e+01] [ 5.50838761e-01 4.64307248e-03 8.34598767e-01 5.42777725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:-58.60, Z:54.29 [[ 8.29757615e-01 1.09125516e-01 -5.47351736e-01 1.35872496e+02] [-9.31968664e-02 9.94020709e-01 5.68961625e-02 -5.85953751e+01] [ 5.50287784e-01 3.80144251e-03 8.34966409e-01 5.42928468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:-58.58, Z:54.29 [[ 8.35698188e-01 8.65720289e-02 -5.42322619e-01 1.35904289e+02] [-8.52445859e-02 9.95976848e-01 2.76311369e-02 -5.85803289e+01] [ 5.42532856e-01 2.31387761e-02 8.39715843e-01 5.42850527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:-58.61, Z:54.33 [[ 8.29632818e-01 1.11095505e-01 -5.47144565e-01 1.35915733e+02] [-8.90510402e-02 9.93787419e-01 6.67568535e-02 -5.86073237e+01] [ 5.51161772e-01 -6.65988390e-03 8.34371828e-01 5.43284581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:-58.61, Z:54.34 [[ 8.31224483e-01 1.03451202e-01 -5.46226792e-01 1.35941410e+02] [-8.38388424e-02 9.94623252e-01 6.07917316e-02 -5.86100707e+01] [ 5.49578846e-01 -4.73655379e-03 8.35428428e-01 5.43412621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:-58.61, Z:54.35 [[ 8.31635286e-01 9.92170672e-02 -5.46386974e-01 1.35965685e+02] [-8.15328282e-02 9.95062632e-01 5.65928925e-02 -5.86120191e+01] [ 5.49304241e-01 -2.51617111e-03 8.35618645e-01 5.43544865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:-58.60, Z:54.35 [[ 8.36436118e-01 7.70463331e-02 -5.42621861e-01 1.35996806e+02] [-7.19846137e-02 9.96936487e-01 3.05917824e-02 -5.85993925e+01] [ 5.43316516e-01 1.34723533e-02 8.39419835e-01 5.43474216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:-58.61, Z:54.36 [[ 8.37574594e-01 7.96862462e-02 -5.40480252e-01 1.36019205e+02] [-6.97920508e-02 9.96806351e-01 3.88093877e-02 -5.86056791e+01] [ 5.41846722e-01 5.21546802e-03 8.40461141e-01 5.43634867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:-58.63, Z:54.41 [[ 8.31926217e-01 1.01676143e-01 -5.45491276e-01 1.36032842e+02] [-7.48030118e-02 9.94645084e-01 7.13138606e-02 -5.86304043e+01] [ 5.49821134e-01 -1.85234799e-02 8.35077003e-01 5.44065333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:-58.63, Z:54.42 [[ 8.30876273e-01 9.43913630e-02 -5.48393006e-01 1.36060228e+02] [-7.63739564e-02 9.95525683e-01 5.56384154e-02 -5.86272830e+01] [ 5.51191108e-01 -4.34569572e-03 8.34367711e-01 5.44158442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:-58.61, Z:54.40 [[ 8.36814165e-01 7.06626592e-02 -5.42907766e-01 1.36095447e+02] [-7.13480631e-02 9.97254427e-01 1.98257983e-02 -5.86068507e+01] [ 5.42818116e-01 2.21449087e-02 8.39558274e-01 5.44021830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:-58.62, Z:54.42 [[ 8.36628196e-01 8.02735692e-02 -5.41857376e-01 1.36116125e+02] [-7.29356642e-02 9.96720683e-01 3.50466643e-02 -5.86153781e+01] [ 5.42893775e-01 1.01997001e-02 8.39739433e-01 5.44226016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:-58.62, Z:54.44 [[ 8.35911349e-01 8.09562939e-02 -5.42861211e-01 1.36140187e+02] [-7.41247848e-02 9.96652359e-01 3.44904590e-02 -5.86169364e+01] [ 5.43836126e-01 1.14085043e-02 8.39113886e-01 5.44374052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:-58.62, Z:54.46 [[ 8.33828903e-01 8.85790870e-02 -5.44869806e-01 1.36160462e+02] [-7.63833425e-02 9.96060850e-01 4.50374047e-02 -5.86242703e+01] [ 5.46712854e-01 4.06548717e-03 8.37310293e-01 5.44591308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:-58.62, Z:54.46 [[ 8.34126817e-01 7.97610493e-02 -5.45775254e-01 1.36190328e+02] [-7.74597207e-02 9.96622609e-01 2.72647663e-02 -5.86178382e+01] [ 5.46106624e-01 1.95333260e-02 8.37487913e-01 5.44645270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:-58.65, Z:54.52 [[ 8.26019877e-01 1.17818869e-01 -5.51189511e-01 1.36194197e+02] [-8.46187034e-02 9.92747566e-01 8.53928882e-02 -5.86525058e+01] [ 5.57252939e-01 -2.38952812e-02 8.29998902e-01 5.45211124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:-58.62, Z:54.50 [[ 8.33621731e-01 7.55778950e-02 -5.47140558e-01 1.36239010e+02] [-7.88222672e-02 9.96733523e-01 1.75879242e-02 -5.86196570e+01] [ 5.46682594e-01 2.84651835e-02 8.36855946e-01 5.44965333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:-58.63, Z:54.52 [[ 8.33103859e-01 8.88889545e-02 -5.45927389e-01 1.36256589e+02] [-7.87978287e-02 9.96008680e-01 4.19238814e-02 -5.86328296e+01] [ 5.47474988e-01 8.09094556e-03 8.36782931e-01 5.45227745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:-58.63, Z:54.54 [[ 8.33581677e-01 8.67561016e-02 -5.45540985e-01 1.36280431e+02] [-7.75249063e-02 9.96189112e-01 3.99642612e-02 -5.86337446e+01] [ 5.46929133e-01 8.97953782e-03 8.37130749e-01 5.45372869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:-58.66, Z:54.58 [[ 8.28358312e-01 1.11565735e-01 -5.48976861e-01 1.36288966e+02] [-8.06793584e-02 9.93510915e-01 8.01679667e-02 -5.86589507e+01] [ 5.54358501e-01 -2.21167007e-02 8.31984076e-01 5.45845979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-58.63, Z:54.56 [[ 8.35653311e-01 7.03975685e-02 -5.44727203e-01 1.36333248e+02] [-7.33439493e-02 9.97172611e-01 1.63538979e-02 -5.86292147e+01] [ 5.44338322e-01 2.62862555e-02 8.38453830e-01 5.45611255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:-58.64, Z:54.59 [[ 8.35516943e-01 8.29522058e-02 -5.43166982e-01 1.36349794e+02] [-7.21609175e-02 9.96542065e-01 4.11911883e-02 -5.86428727e+01] [ 5.44705646e-01 4.77949205e-03 8.38613687e-01 5.45866284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:136.37, Y:-58.65, Z:54.60 [[ 8.35346765e-01 8.09287263e-02 -5.43733688e-01 1.36373598e+02] [-7.06137052e-02 9.96706869e-01 3.98637931e-02 -5.86464573e+01] [ 5.45169228e-01 5.09495974e-03 8.38310536e-01 5.46024792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:-58.67, Z:54.65 [[ 8.28329508e-01 1.09928717e-01 -5.49350438e-01 1.36380374e+02] [-7.56140803e-02 9.93524983e-01 8.47975170e-02 -5.86731188e+01] [ 5.55115067e-01 -2.87016574e-02 8.31278219e-01 5.46512290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:-58.66, Z:54.66 [[ 8.27831994e-01 9.46619422e-02 -5.52931556e-01 1.36411241e+02] [-7.58908384e-02 9.95496592e-01 5.68077122e-02 -5.86641852e+01] [ 5.55819008e-01 -5.06480228e-03 8.31287903e-01 5.46558788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:-58.67, Z:54.67 [[ 8.27655653e-01 9.48342931e-02 -5.53165958e-01 1.36434480e+02] [-7.61346643e-02 9.95481234e-01 5.67505528e-02 -5.86657434e+01] [ 5.56048230e-01 -4.85481126e-03 8.31135848e-01 5.46702443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:-58.67, Z:54.69 [[ 8.27253674e-01 9.52679883e-02 -5.53692486e-01 1.36458639e+02] [-7.67013561e-02 9.95441856e-01 5.66781477e-02 -5.86670837e+01] [ 5.56568289e-01 -4.41824143e-03 8.30790117e-01 5.46855085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:-58.67, Z:54.70 [[ 8.26780000e-01 9.60198474e-02 -5.54269809e-01 1.36481997e+02] [-7.76896889e-02 9.95372571e-01 5.65487077e-02 -5.86685487e+01] [ 5.57134763e-01 -3.69229147e-03 8.30413886e-01 5.47005703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:-58.65, Z:54.69 [[ 8.32572048e-01 7.41248273e-02 -5.48934691e-01 1.36519971e+02] [-7.55146983e-02 9.96942336e-01 2.00875470e-02 -5.86501827e+01] [ 5.48745219e-01 2.47283074e-02 8.35623836e-01 5.46892857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:-58.68, Z:54.74 [[ 8.26439713e-01 1.13254794e-01 -5.51516775e-01 1.36521738e+02] [-8.18087680e-02 9.93319152e-01 8.13903453e-02 -5.86824220e+01] [ 5.57050022e-01 -2.21453057e-02 8.30183630e-01 5.47420963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:-58.66, Z:54.73 [[ 8.31285905e-01 8.05630605e-02 -5.49975761e-01 1.36564186e+02] [-7.92609391e-02 9.96510302e-01 2.61710047e-02 -5.86582395e+01] [ 5.50164928e-01 2.18360079e-02 8.34770472e-01 5.47257882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:-58.68, Z:54.77 [[ 8.25797016e-01 1.14526452e-01 -5.52216425e-01 1.36570042e+02] [-8.59830050e-02 9.93283955e-01 7.74203301e-02 -5.86845395e+01] [ 5.57374390e-01 -1.64522500e-02 8.30098255e-01 5.47718774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:-58.68, Z:54.78 [[ 8.25503604e-01 1.03755451e-01 -5.54777979e-01 1.36599155e+02] [-8.72150459e-02 9.94600905e-01 5.62367865e-02 -5.86783110e+01] [ 5.57617553e-01 1.96131690e-03 8.30095668e-01 5.47793059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:-58.68, Z:54.79 [[ 8.25612125e-01 1.04335315e-01 -5.54507674e-01 1.36622338e+02] [-8.80580362e-02 9.94538837e-01 5.60203973e-02 -5.86803036e+01] [ 5.57324323e-01 2.57773762e-03 8.30290885e-01 5.47945910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:-58.68, Z:54.81 [[ 8.25704192e-01 1.05045248e-01 -5.54236487e-01 1.36644371e+02] [-8.90564752e-02 9.94462035e-01 5.58050701e-02 -5.86821757e+01] [ 5.57029202e-01 3.27986764e-03 8.30486430e-01 5.48093199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:-58.68, Z:54.82 [[ 8.25735460e-01 1.05520851e-01 -5.54099540e-01 1.36667571e+02] [-8.96939742e-02 9.94410208e-01 5.57075293e-02 -5.86840386e+01] [ 5.56880545e-01 3.69970755e-03 8.30584355e-01 5.48247905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:-58.69, Z:54.84 [[ 8.26173243e-01 1.05832031e-01 -5.53387165e-01 1.36690671e+02] [-9.02369431e-02 9.94375467e-01 5.54501971e-02 -5.86858477e+01] [ 5.56143028e-01 4.12449695e-03 8.31076363e-01 5.48395878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:-58.67, Z:54.83 [[ 8.30992312e-01 8.48491087e-02 -5.49774869e-01 1.36726963e+02] [-8.59242185e-02 9.96016316e-01 2.38438175e-02 -5.86706805e+01] [ 5.49607866e-01 2.74249469e-02 8.34972494e-01 5.48319391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:-58.68, Z:54.86 [[ 8.30460537e-01 9.79003709e-02 -5.48407525e-01 1.36743914e+02] [-8.59063651e-02 9.95167122e-01 4.75656935e-02 -5.86833660e+01] [ 5.50413837e-01 7.61026560e-03 8.34857288e-01 5.48570572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:-58.68, Z:54.86 [[ 8.32069938e-01 8.54522496e-02 -5.48048841e-01 1.36773693e+02] [-8.24837487e-02 9.96138098e-01 3.00885479e-02 -5.86772120e+01] [ 5.48503464e-01 2.01693467e-02 8.35904987e-01 5.48614392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:-58.71, Z:54.92 [[ 8.24602147e-01 1.20529926e-01 -5.52724015e-01 1.36777208e+02] [-8.77141423e-02 9.92464262e-01 8.55623646e-02 -5.87098035e+01] [ 5.58871657e-01 -2.20731966e-02 8.28960340e-01 5.49150197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:-58.70, Z:54.92 [[ 8.24679330e-01 1.03129986e-01 -5.56118879e-01 1.36807767e+02] [-8.64584456e-02 9.94666441e-01 5.62459644e-02 -5.87014635e+01] [ 5.58953432e-01 1.69628962e-03 8.29197313e-01 5.49195419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:-58.70, Z:54.94 [[ 8.24696742e-01 1.02946740e-01 -5.56127011e-01 1.36831496e+02] [-8.62917084e-02 9.94685468e-01 5.61654715e-02 -5.87037324e+01] [ 5.58953508e-01 1.66966844e-03 8.29197315e-01 5.49352800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:-58.68, Z:54.92 [[ 8.31151055e-01 7.34123477e-02 -5.51179237e-01 1.36869476e+02] [-7.75426516e-02 9.96863146e-01 1.58431351e-02 -5.86849387e+01] [ 5.50613350e-01 2.95718610e-02 8.34236444e-01 5.49217535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:-58.70, Z:54.95 [[ 8.30374597e-01 8.82000824e-02 -5.50180674e-01 1.36885747e+02] [-7.74336171e-02 9.96077822e-01 4.28136401e-02 -5.87006834e+01] [ 5.51798934e-01 7.05112052e-03 8.33947371e-01 5.49489164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:-58.70, Z:54.96 [[ 8.31443712e-01 8.27812100e-02 -5.49407522e-01 1.36911261e+02] [-7.48631098e-02 9.96512555e-01 3.68543429e-02 -5.86997220e+01] [ 5.50542341e-01 1.04880441e-02 8.34741356e-01 5.49595514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:-58.71, Z:54.98 [[ 8.29676486e-01 8.85782411e-02 -5.51172228e-01 1.36932111e+02] [-7.52368120e-02 9.96065775e-01 4.68230061e-02 -5.87081416e+01] [ 5.53151292e-01 2.62049411e-03 8.33076696e-01 5.49818253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:-58.73, Z:55.03 [[ 8.23092004e-01 1.13681361e-01 -5.56413606e-01 1.36940963e+02] [-7.98896630e-02 9.93195121e-01 8.47413326e-02 -5.87322123e+01] [ 5.62260789e-01 -2.52982177e-02 8.26572928e-01 5.50266001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:-58.72, Z:55.03 [[ 8.23092881e-01 9.79819479e-02 -5.59390424e-01 1.36972040e+02] [-7.98936317e-02 9.95186130e-01 5.67589194e-02 -5.87237994e+01] [ 5.62258940e-01 -2.02613006e-03 8.26958753e-01 5.50318081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:-58.73, Z:55.05 [[ 8.23428575e-01 9.79774875e-02 -5.58896943e-01 1.36994772e+02] [-8.00535767e-02 9.95187010e-01 5.65176114e-02 -5.87264070e+01] [ 5.61744431e-01 -1.79651691e-03 8.27308870e-01 5.50475384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:-58.73, Z:55.06 [[ 8.23589603e-01 9.84511443e-02 -5.58576349e-01 1.37017181e+02] [-8.07778390e-02 9.95141109e-01 5.62948872e-02 -5.87287936e+01] [ 5.61404583e-01 -1.24329348e-03 8.27540542e-01 5.50630710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:-58.73, Z:55.08 [[ 8.23654367e-01 9.88719446e-02 -5.58406502e-01 1.37040071e+02] [-8.13554289e-02 9.95099798e-01 5.61932887e-02 -5.87306919e+01] [ 5.61226137e-01 -8.54447173e-04 8.27662064e-01 5.50787059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:-58.73, Z:55.09 [[ 8.23410973e-01 9.95204413e-02 -5.58650205e-01 1.37063290e+02] [-8.22530627e-02 9.95035501e-01 5.60248570e-02 -5.87322467e+01] [ 5.61452405e-01 -1.80791703e-04 8.27509011e-01 5.50938077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:-58.73, Z:55.11 [[ 8.22800104e-01 1.01105179e-01 -5.59265350e-01 1.37086550e+02] [-8.42576768e-02 9.94875098e-01 5.58943977e-02 -5.87333017e+01] [ 5.62050383e-01 1.13248297e-03 8.27102221e-01 5.51093884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:-58.74, Z:55.13 [[ 8.22801714e-01 1.01486056e-01 -5.59193991e-01 1.37110333e+02] [-8.48529165e-02 9.94835639e-01 5.56959131e-02 -5.87353559e+01] [ 5.61958470e-01 1.62254833e-03 8.27163856e-01 5.51251416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:-58.74, Z:55.14 [[ 8.22744725e-01 1.01626328e-01 -5.59252364e-01 1.37133540e+02] [-8.51479961e-02 9.94820736e-01 5.55114568e-02 -5.87374384e+01] [ 5.61997274e-01 1.94745985e-03 8.27136791e-01 5.51410149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.16, Y:-58.74, Z:55.16 [[ 8.22997816e-01 1.01546471e-01 -5.58894364e-01 1.37156768e+02] [-8.52031502e-02 9.94828540e-01 5.52865132e-02 -5.87395536e+01] [ 5.61618214e-01 2.11888077e-03 8.27393795e-01 5.51573451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:-58.74, Z:55.17 [[ 8.23608176e-01 1.01218676e-01 -5.58054076e-01 1.37178810e+02] [-8.49909246e-02 9.94861939e-01 5.50114926e-02 -5.87412640e+01] [ 5.60754951e-01 2.12161674e-03 8.27979096e-01 5.51728672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:-58.72, Z:55.17 [[ 8.29051091e-01 7.97597230e-02 -5.53455215e-01 1.37212205e+02] [-7.91136555e-02 9.96549397e-01 2.51063519e-02 -5.87249274e+01] [ 5.53547937e-01 2.29714168e-02 8.32500448e-01 5.51651026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:-58.75, Z:55.21 [[ 8.23965618e-01 1.09523366e-01 -5.55954397e-01 1.37221111e+02] [-8.39893163e-02 9.93910896e-01 7.13226809e-02 -5.87513077e+01] [ 5.60380634e-01 -1.20732071e-02 8.28147199e-01 5.52107889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:137.25, Y:-58.75, Z:55.22 [[ 8.24727553e-01 9.88101857e-02 -5.56831222e-01 1.37248911e+02] [-8.23147263e-02 9.95106016e-01 5.46653747e-02 -5.87467917e+01] [ 5.59507595e-01 7.51368955e-04 8.28824883e-01 5.52203581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:-58.75, Z:55.24 [[ 8.24792817e-01 9.78417535e-02 -5.56905558e-01 1.37271580e+02] [-8.12707449e-02 9.95201932e-01 5.44810068e-02 -5.87490939e+01] [ 5.59564005e-01 3.24586469e-04 8.28787077e-01 5.52361220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:-58.75, Z:55.25 [[ 8.24735640e-01 9.67767966e-02 -5.57176252e-01 1.37293702e+02] [-8.00980494e-02 9.95306096e-01 5.43146255e-02 -5.87513463e+01] [ 5.59817315e-01 -1.66476515e-04 8.28616043e-01 5.52512261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:-58.73, Z:55.24 [[ 8.30940419e-01 6.87429871e-02 -5.52098199e-01 1.37330929e+02] [-7.21704220e-02 9.97271064e-01 1.55517101e-02 -5.87302090e+01] [ 5.51660629e-01 2.69226155e-02 8.33634046e-01 5.52366345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:-58.77, Z:55.29 [[ 8.23544187e-01 1.05888097e-01 -5.57281512e-01 1.37334196e+02] [-7.60626345e-02 9.94164469e-01 7.64949899e-02 -5.87653610e+01] [ 5.62129387e-01 -2.06087043e-02 8.26792497e-01 5.52925506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:-58.76, Z:55.30 [[ 8.23058298e-01 9.23185722e-02 -5.60403711e-01 1.37363522e+02] [-7.45313956e-02 9.95724555e-01 5.45681356e-02 -5.87591279e+01] [ 5.63045388e-01 -3.14508613e-03 8.26419990e-01 5.53002141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:-58.76, Z:55.31 [[ 8.22881230e-01 9.11528653e-02 -5.60854381e-01 1.37386467e+02] [-7.32202064e-02 9.95829984e-01 5.44191575e-02 -5.87611182e+01] [ 5.63476071e-01 -3.71462978e-03 8.26124034e-01 5.53149791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:-58.76, Z:55.33 [[ 8.22542199e-01 9.00383511e-02 -5.61531323e-01 1.37410045e+02] [-7.18811146e-02 9.95928660e-01 5.43986117e-02 -5.87630099e+01] [ 5.64143099e-01 -4.38165632e-03 8.25665407e-01 5.53304525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:-58.76, Z:55.35 [[ 8.21939353e-01 8.90645786e-02 -5.62568396e-01 1.37432330e+02] [-7.07562842e-02 9.96014128e-01 5.43084260e-02 -5.87646200e+01] [ 5.65163028e-01 -4.83298325e-03 8.24965087e-01 5.53457827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:-58.77, Z:55.36 [[ 8.21354907e-01 8.78265833e-02 -5.63615657e-01 1.37455357e+02] [-6.92368370e-02 9.96120060e-01 5.43239089e-02 -5.87664848e+01] [ 5.66199945e-01 -5.59624376e-03 8.24248933e-01 5.53620532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:-58.75, Z:55.35 [[ 8.26559373e-01 6.52665207e-02 -5.59052666e-01 1.37491166e+02] [-6.39410480e-02 9.97712452e-01 2.19409523e-02 -5.87487653e+01] [ 5.59205816e-01 1.76109136e-02 8.28841789e-01 5.53521725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:-58.78, Z:55.40 [[ 8.21154936e-01 9.77144894e-02 -5.62277911e-01 1.37497949e+02] [-6.84747978e-02 9.94985046e-01 7.29106314e-02 -5.87774041e+01] [ 5.66582538e-01 -2.13690587e-02 8.23727862e-01 5.54021722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:-58.75, Z:55.39 [[ 8.26318332e-01 6.53907993e-02 -5.59394366e-01 1.37538972e+02] [-6.44155699e-02 9.97692100e-01 2.14734332e-02 -5.87512989e+01] [ 5.59507505e-01 1.82898154e-02 8.28623458e-01 5.53861877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:-58.78, Z:55.44 [[ 8.20519441e-01 9.98815779e-02 -5.62824589e-01 1.37544352e+02] [-6.99259709e-02 9.94759423e-01 7.45925518e-02 -5.87797396e+01] [ 5.67325485e-01 -2.18485831e-02 8.23203762e-01 5.54356175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:-58.75, Z:55.41 [[ 8.26892192e-01 6.43525129e-02 -5.58666320e-01 1.37588225e+02] [-6.74298161e-02 9.97609596e-01 1.51100857e-02 -5.87503907e+01] [ 5.58303253e-01 2.51763553e-02 8.29254864e-01 5.54145597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.61, Y:-58.75, Z:55.43 [[ 8.29004623e-01 6.95546754e-02 -5.54899524e-01 1.37610877e+02] [-6.75500889e-02 9.97424635e-01 2.41056447e-02 -5.87540996e+01] [ 5.55147116e-01 1.74998213e-02 8.31568059e-01 5.54291516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:-58.76, Z:55.45 [[ 8.28252739e-01 8.05223178e-02 -5.54539049e-01 1.37630084e+02] [-6.99127574e-02 9.96738279e-01 4.03113970e-02 -5.87628154e+01] [ 5.55976264e-01 5.38132896e-03 8.31180747e-01 5.54531082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:-58.77, Z:55.47 [[ 8.26595827e-01 8.51914688e-02 -5.56310841e-01 1.37652268e+02] [-7.27608438e-02 9.96357648e-01 4.44667978e-02 -5.87665790e+01] [ 5.58072754e-01 3.72157670e-03 8.29783678e-01 5.54737200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:-58.77, Z:55.49 [[ 8.25888140e-01 8.76068385e-02 -5.56986375e-01 1.37676204e+02] [-7.71037098e-02 9.96123249e-01 4.23496340e-02 -5.87662155e+01] [ 5.58537195e-01 7.96965540e-03 8.29441189e-01 5.54900433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:-58.76, Z:55.50 [[ 8.26533951e-01 8.34789593e-02 -5.56662278e-01 1.37703401e+02] [-7.80063423e-02 9.96386583e-01 3.35974350e-02 -5.87626137e+01] [ 5.57455504e-01 1.56537675e-02 8.30059227e-01 5.55010110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:-58.76, Z:55.52 [[ 8.26454471e-01 8.66941392e-02 -5.56288714e-01 1.37727585e+02] [-8.00092926e-02 9.96130224e-01 3.63743037e-02 -5.87648241e+01] [ 5.57289440e-01 1.44465605e-02 8.30192614e-01 5.55173586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:-58.80, Z:55.58 [[ 8.15968571e-01 1.28242887e-01 -5.63692339e-01 1.37726005e+02] [-8.80856406e-02 9.91279123e-01 9.80133646e-02 -5.87970166e+01] [ 5.71345964e-01 -3.03226243e-02 8.20148967e-01 5.55771397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:-58.78, Z:55.58 [[ 8.16154194e-01 1.05785013e-01 -5.68068537e-01 1.37761221e+02] [-9.03628179e-02 9.94369927e-01 5.53444540e-02 -5.87821887e+01] [ 5.70724884e-01 6.16266552e-03 8.21118219e-01 5.55773391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:-58.78, Z:55.59 [[ 8.16120299e-01 1.07221283e-01 -5.67847914e-01 1.37783468e+02] [-9.22601323e-02 9.94207658e-01 5.51289411e-02 -5.87833427e+01] [ 5.70469741e-01 7.39787577e-03 8.21285301e-01 5.55924874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:-58.78, Z:55.61 [[ 8.16020875e-01 1.09520732e-01 -5.67551884e-01 1.37805916e+02] [-9.51364420e-02 9.93942844e-01 5.50152781e-02 -5.87837880e+01] [ 5.70139447e-01 9.10125146e-03 8.21497522e-01 5.56078393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.85, Y:-58.76, Z:55.59 [[ 8.25498511e-01 7.49347612e-02 -5.59407714e-01 1.37850782e+02] [-8.95003872e-02 9.95985881e-01 1.34343496e-03 -5.87564160e+01] [ 5.57262855e-01 4.89582034e-02 8.28891552e-01 5.55857401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:-58.78, Z:55.62 [[ 8.22964017e-01 1.02562000e-01 -5.58758681e-01 1.37862609e+02] [-9.18916069e-02 9.94648355e-01 4.72290441e-02 -5.87781834e+01] [ 5.60612308e-01 1.24774292e-02 8.27984392e-01 5.56213002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:-58.78, Z:55.64 [[ 8.21100424e-01 1.05380265e-01 -5.60971562e-01 1.37884911e+02] [-9.31917613e-02 9.94372231e-01 5.03901030e-02 -5.87822368e+01] [ 5.63124666e-01 1.09025929e-02 8.26300033e-01 5.56414598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:-58.80, Z:55.68 [[ 8.13969322e-01 1.27228410e-01 -5.66804089e-01 1.37893195e+02] [-9.71632671e-02 9.91793904e-01 8.30912198e-02 -5.88010885e+01] [ 5.72724404e-01 -1.25611668e-02 8.19651740e-01 5.56836617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:-58.79, Z:55.69 [[ 8.14082836e-01 1.11484297e-01 -5.69947706e-01 1.37923858e+02] [-9.73937012e-02 9.93710498e-01 5.52622203e-02 -5.87918807e+01] [ 5.72523888e-01 1.05212915e-02 8.19820529e-01 5.56892766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:-58.79, Z:55.70 [[ 8.13725414e-01 1.11467224e-01 -5.70461224e-01 1.37946335e+02] [-9.74762122e-02 9.93709976e-01 5.51259571e-02 -5.87928758e+01] [ 5.73017747e-01 1.07490070e-02 8.19472465e-01 5.57039461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:-58.79, Z:55.72 [[ 8.13293901e-01 1.10498946e-01 -5.71264398e-01 1.37969636e+02] [-9.63087970e-02 9.93824027e-01 5.51218495e-02 -5.87932340e+01] [ 5.73827191e-01 1.01875229e-02 8.18913041e-01 5.57184281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:-58.80, Z:55.73 [[ 8.13339927e-01 1.09255119e-01 -5.71438082e-01 1.37992859e+02] [-9.48379043e-02 9.93969151e-01 5.50554195e-02 -5.87950948e+01] [ 5.74006911e-01 9.41521925e-03 8.18796323e-01 5.57338511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:-58.78, Z:55.73 [[ 8.19276794e-01 8.57170583e-02 -5.66955131e-01 1.38029062e+02] [-8.92784791e-02 9.95773806e-01 2.15378863e-02 -5.87800001e+01] [ 5.66405233e-01 3.29714013e-02 8.23467060e-01 5.57258620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:-58.81, Z:55.77 [[ 8.13673413e-01 1.18753581e-01 -5.69063410e-01 1.38032309e+02] [-9.01113381e-02 9.92845481e-01 7.83440918e-02 -5.88090300e+01] [ 5.74295677e-01 -1.24674392e-02 8.18553015e-01 5.57741614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:-58.80, Z:55.78 [[ 8.14671287e-01 1.00892383e-01 -5.71079173e-01 1.38060829e+02] [-8.49178166e-02 9.94889339e-01 5.46275378e-02 -5.88029628e+01] [ 5.73672083e-01 3.99130993e-03 8.19075339e-01 5.57829040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:-58.81, Z:55.80 [[ 8.15119865e-01 9.79800994e-02 -5.70946150e-01 1.38083547e+02] [-8.15084268e-02 9.95185986e-01 5.44171879e-02 -5.88052484e+01] [ 5.73529408e-01 2.18039163e-03 8.19182070e-01 5.57984473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.7 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.11, Y:-58.81, Z:55.81 [[ 8.15363232e-01 9.51376141e-02 -5.71079360e-01 1.38105928e+02] [-7.81656153e-02 9.95464043e-01 5.42353785e-02 -5.88074559e+01] [ 5.73648793e-01 4.17236058e-04 8.19101269e-01 5.58139729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:-58.81, Z:55.83 [[ 8.16291414e-01 8.90347083e-02 -5.70737372e-01 1.38128698e+02] [-7.08015555e-02 9.96021408e-01 5.41155621e-02 -5.88098409e+01] [ 5.73284804e-01 -3.76497498e-03 8.19347520e-01 5.58296169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:-58.81, Z:55.85 [[ 8.17063627e-01 8.56195955e-02 -5.70154641e-01 1.38151759e+02] [-6.68142411e-02 9.96310325e-01 5.38664402e-02 -5.88121534e+01] [ 5.72662979e-01 -5.91785935e-03 8.19769536e-01 5.58458351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:-58.81, Z:55.86 [[ 8.18017261e-01 8.20734937e-02 -5.69308091e-01 1.38174538e+02] [-6.26952452e-02 9.96593013e-01 5.35879923e-02 -5.88146708e+01] [ 5.71766619e-01 -8.14299230e-03 8.20375904e-01 5.58618056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:-58.80, Z:55.85 [[ 8.23708223e-01 5.64054444e-02 -5.64201372e-01 1.38211216e+02] [-5.47603804e-02 9.98302067e-01 1.98565559e-02 -5.88002817e+01] [ 5.64363414e-01 1.45398734e-02 8.25398406e-01 5.58534999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:-58.83, Z:55.90 [[ 8.19036509e-01 8.86512759e-02 -5.66851082e-01 1.38213416e+02] [-5.37189390e-02 9.95499484e-01 7.80708173e-02 -5.88295384e+01] [ 5.71221037e-01 -3.34922109e-02 8.20112674e-01 5.59032102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:-58.82, Z:55.91 [[ 8.19133486e-01 7.07632270e-02 -5.69221308e-01 1.38243936e+02] [-4.91732150e-02 9.97371002e-01 5.32266855e-02 -5.88226881e+01] [ 5.71491318e-01 -1.56093188e-02 8.20459641e-01 5.59101926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:-58.82, Z:55.93 [[ 8.20343081e-01 6.32341351e-02 -5.68364913e-01 1.38267632e+02] [-4.02186718e-02 9.97786357e-01 5.29607785e-02 -5.88246660e+01] [ 5.70455685e-01 -2.05871263e-02 8.21070327e-01 5.59255446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:-58.83, Z:55.94 [[ 8.20944734e-01 5.96575534e-02 -5.67882663e-01 1.38290979e+02] [-3.60484527e-02 9.97958175e-01 5.27256028e-02 -5.88268917e+01] [ 5.69868627e-01 -2.28135147e-02 8.21419072e-01 5.59411111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:-58.83, Z:55.96 [[ 8.20955866e-01 5.93342041e-02 -5.67900447e-01 1.38314587e+02] [-3.57880726e-02 9.97977679e-01 5.25334736e-02 -5.88289264e+01] [ 5.69869002e-01 -2.28036009e-02 8.21419087e-01 5.59571177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:-58.83, Z:55.97 [[ 8.21284049e-01 5.61329417e-02 -5.67751357e-01 1.38337644e+02] [-3.20379350e-02 9.98115382e-01 5.23378891e-02 -5.88310161e+01] [ 5.69619242e-01 -2.47946924e-02 8.21534626e-01 5.59733498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:-58.83, Z:55.99 [[ 8.21525168e-01 5.14022326e-02 -5.67850517e-01 1.38359857e+02] [-2.64119964e-02 9.98289673e-01 5.21549199e-02 -5.88323066e+01] [ 5.69560186e-01 -2.78485135e-02 8.21477727e-01 5.59890801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:-58.83, Z:56.00 [[ 8.21439491e-01 4.96788365e-02 -5.68127781e-01 1.38383100e+02] [-2.43476523e-02 9.98345292e-01 5.20948110e-02 -5.88336603e+01] [ 5.69775705e-01 -2.89601574e-02 8.21289812e-01 5.60044419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:-58.83, Z:56.02 [[ 8.21213073e-01 4.84039343e-02 -5.68564991e-01 1.38406596e+02] [-2.28856202e-02 9.98387882e-01 5.19411703e-02 -5.88349354e+01] [ 5.70162554e-01 -2.96428056e-02 8.20996934e-01 5.60201022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:-58.84, Z:56.04 [[ 8.21341052e-01 4.71965893e-02 -5.68481625e-01 1.38430510e+02] [-2.15616993e-02 9.98427830e-01 5.17393670e-02 -5.88353447e+01] [ 5.70029797e-01 -3.02382363e-02 8.21067403e-01 5.60356133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:-58.81, Z:56.02 [[ 8.28191602e-01 1.27928771e-02 -5.60299039e-01 1.38475592e+02] [-1.53664744e-02 9.99881922e-01 1.15976386e-04 -5.88075602e+01] [ 5.60234364e-01 8.51377018e-03 8.28290392e-01 5.60154472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:-58.85, Z:56.08 [[ 8.22447212e-01 6.87998998e-02 -5.64665527e-01 1.38468009e+02] [-2.15230403e-02 9.95711829e-01 8.99706235e-02 -5.88489657e+01] [ 5.68434114e-01 -6.18427696e-02 8.20401200e-01 5.60810174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:-58.83, Z:56.08 [[ 8.21145555e-01 4.80243144e-02 -5.68694683e-01 1.38502209e+02] [-2.27092252e-02 9.98413605e-01 5.15224607e-02 -5.88348519e+01] [ 5.70266840e-01 -2.93928240e-02 8.20933489e-01 5.60836342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:-58.83, Z:56.10 [[ 8.21134927e-01 4.93007112e-02 -5.68600801e-01 1.38525502e+02] [-2.44077505e-02 9.98384099e-01 5.13171800e-02 -5.88349134e+01] [ 5.70211972e-01 -2.82600624e-02 8.21011374e-01 5.60989725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:-58.83, Z:56.11 [[ 8.20422403e-01 5.34773145e-02 -5.69251489e-01 1.38548503e+02] [-2.95563082e-02 9.98251909e-01 5.11815506e-02 -5.88327228e+01] [ 5.70993437e-01 -2.51655183e-02 8.20568822e-01 5.61142250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:-58.83, Z:56.13 [[ 8.20035103e-01 5.61461511e-02 -5.69552491e-01 1.38571590e+02] [-3.28350031e-02 9.98152504e-01 5.11218309e-02 -5.88322308e+01] [ 5.71370539e-01 -2.32204380e-02 8.20363650e-01 5.61297791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:-58.83, Z:56.15 [[ 8.19503009e-01 5.92153343e-02 -5.70007336e-01 1.38594222e+02] [-3.66636433e-02 9.98027038e-01 5.09687102e-02 -5.88312525e+01] [ 5.71900862e-01 -2.08704657e-02 8.20057210e-01 5.61451415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:-58.83, Z:56.16 [[ 8.19153796e-01 6.23774738e-02 -5.70171999e-01 1.38617928e+02] [-4.05931708e-02 9.97880991e-01 5.08499987e-02 -5.88303016e+01] [ 5.72135694e-01 -1.85088801e-02 8.19950101e-01 5.61605945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:-58.83, Z:56.18 [[ 8.18644882e-01 6.58368112e-02 -5.70513867e-01 1.38640651e+02] [-4.49136240e-02 9.97704187e-01 5.06865047e-02 -5.88294309e+01] [ 5.72541111e-01 -1.58704024e-02 8.19722396e-01 5.61759020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.66, Y:-58.83, Z:56.19 [[ 8.18129501e-01 6.90595196e-02 -5.70872055e-01 1.38663708e+02] [-4.88728622e-02 9.97520885e-01 5.06312798e-02 -5.88288204e+01] [ 5.72953369e-01 -1.35227924e-02 8.19476400e-01 5.61920005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:138.69, Y:-58.83, Z:56.21 [[ 8.17389304e-01 7.50704464e-02 -5.71173488e-01 1.38685275e+02] [-5.63151264e-02 9.97136859e-01 5.04647498e-02 -5.88266923e+01] [ 5.73326549e-01 -9.08363958e-03 8.19276605e-01 5.62081707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:138.71, Y:-58.83, Z:56.22 [[ 8.17173560e-01 7.72585862e-02 -5.71190409e-01 1.38708085e+02] [-5.90765937e-02 9.96983724e-01 5.03329925e-02 -5.88270049e+01] [ 5.73356197e-01 -7.38680701e-03 8.19272914e-01 5.62249423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:138.73, Y:-58.83, Z:56.24 [[ 8.17212768e-01 7.87096421e-02 -5.70936148e-01 1.38730666e+02] [-6.10020534e-02 9.96878760e-01 5.01147346e-02 -5.88270417e+01] [ 5.73098632e-01 -6.12612354e-03 8.19463501e-01 5.62414774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:138.75, Y:-58.82, Z:56.26 [[ 8.17692243e-01 8.05834983e-02 -5.69987453e-01 1.38752661e+02] [-6.34908843e-02 9.96737433e-01 4.98337033e-02 -5.88245989e+01] [ 5.72143604e-01 -4.55962524e-03 8.20140784e-01 5.62575603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:138.78, Y:-58.82, Z:56.27 [[ 8.18243640e-01 8.08715746e-02 -5.69154754e-01 1.38775882e+02] [-6.39595425e-02 9.96715505e-01 4.96727177e-02 -5.88247027e+01] [ 5.71302479e-01 -4.24150767e-03 8.20728632e-01 5.62736225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.6 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:138.80, Y:-58.83, Z:56.29 [[ 8.18375497e-01 8.07858288e-02 -5.68977325e-01 1.38798894e+02] [-6.40033477e-02 9.96723209e-01 4.94612665e-02 -5.88251864e+01] [ 5.71108674e-01 -4.06143503e-03 8.20864414e-01 5.62898346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:138.82, Y:-58.83, Z:56.31 [[ 8.18455813e-01 8.04911521e-02 -5.68903557e-01 1.38822029e+02] [-6.37849760e-02 9.96747178e-01 4.92599212e-02 -5.88256689e+01] [ 5.71018003e-01 -4.02956909e-03 8.20927648e-01 5.63057467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:138.84, Y:-58.83, Z:56.32 [[ 8.18475082e-01 8.03057608e-02 -5.68902035e-01 1.38844999e+02] [-6.36951127e-02 9.96762562e-01 4.90645341e-02 -5.88262215e+01] [ 5.71000415e-01 -3.92181931e-03 8.20940403e-01 5.63216602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:138.88, Y:-58.81, Z:56.32 [[ 8.22373489e-01 6.14274171e-02 -5.65622239e-01 1.38879677e+02] [-5.96354355e-02 9.97984829e-01 2.16770635e-02 -5.88099612e+01] [ 5.65813980e-01 1.59044862e-02 8.24379517e-01 5.63170624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:138.89, Y:-58.83, Z:56.36 [[ 8.17264635e-01 9.00264429e-02 -5.69186925e-01 1.38887729e+02] [-6.26537573e-02 9.95747856e-01 6.75330647e-02 -5.88328540e+01] [ 5.72846422e-01 -1.95306860e-02 8.19430003e-01 5.63585625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:138.92, Y:-58.83, Z:56.37 [[ 8.16855349e-01 7.89489619e-02 -5.71414386e-01 1.38915538e+02] [-6.21911955e-02 9.96869178e-01 4.88272202e-02 -5.88262264e+01] [ 5.73480247e-01 -4.34783226e-03 8.19207851e-01 5.63686530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:138.94, Y:-58.83, Z:56.38 [[ 8.16825332e-01 7.84561065e-02 -5.71525167e-01 1.38938588e+02] [-6.17208830e-02 9.96907618e-01 4.86388196e-02 -5.88266867e+01] [ 5.73573805e-01 -4.45438204e-03 8.19141776e-01 5.63839915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:138.96, Y:-58.83, Z:56.40 [[ 8.15979387e-01 7.74484190e-02 -5.72869429e-01 1.38961262e+02] [-6.05396199e-02 9.96984128e-01 4.85551526e-02 -5.88264865e+01] [ 5.74902247e-01 -4.93870624e-03 8.18207196e-01 5.63993948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:138.98, Y:-58.83, Z:56.42 [[ 8.15511556e-01 7.65279463e-02 -5.73658763e-01 1.38984617e+02] [-5.94577336e-02 9.97052641e-01 4.84851343e-02 -5.88277541e+01] [ 5.75678452e-01 -5.43173740e-03 8.17658129e-01 5.64156808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:139.01, Y:-58.83, Z:56.43 [[ 8.15297752e-01 7.53418559e-02 -5.74119483e-01 1.39007308e+02] [-5.81162894e-02 9.97139510e-01 4.83248905e-02 -5.88291272e+01] [ 5.76118106e-01 -6.03348060e-03 8.17344190e-01 5.64314659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.9 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:139.03, Y:-58.83, Z:56.45 [[ 8.15260935e-01 7.39983863e-02 -5.74346452e-01 1.39030144e+02] [-5.65970537e-02 9.97235550e-01 4.81459483e-02 -5.88304917e+01] [ 5.76321422e-01 -6.74519384e-03 8.17195277e-01 5.64471052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:139.05, Y:-58.83, Z:56.46 [[ 8.15722720e-01 7.12731220e-02 -5.74035352e-01 1.39051612e+02] [-5.34229147e-02 9.97421235e-01 4.79256896e-02 -5.88322979e+01] [ 5.75970863e-01 -8.42743221e-03 8.17426781e-01 5.64629127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95999999999998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:139.07, Y:-58.83, Z:56.48 [[ 8.16133200e-01 6.96423846e-02 -5.73651931e-01 1.39073098e+02] [-5.15169931e-02 9.97527116e-01 4.78085004e-02 -5.88341925e+01] [ 5.75562854e-01 -9.46528182e-03 8.17702764e-01 5.64783937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98999999999998 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:139.10, Y:-58.84, Z:56.49 [[ 8.17030119e-01 6.78238924e-02 -5.72592093e-01 1.39095881e+02] [-4.94339188e-02 9.97640859e-01 4.76340593e-02 -5.88360147e+01] [ 5.74471995e-01 -1.06129902e-02 8.18455430e-01 5.64945951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01999999999998 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:139.12, Y:-58.83, Z:56.51 [[ 8.15542492e-01 5.42755327e-02 -5.76146344e-01 1.39123609e+02] [-4.48048334e-02 9.98525658e-01 3.06437188e-02 -5.88316800e+01] [ 5.76960112e-01 8.22886113e-04 8.16771910e-01 5.65076487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04999999999998 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:139.14, Y:-58.85, Z:56.53 [[ 8.18387683e-01 7.63421003e-02 -5.69573072e-01 1.39135400e+02] [-4.50585958e-02 9.96609826e-01 6.88373265e-02 -5.88476887e+01] [ 5.72897307e-01 -3.06714572e-02 8.19053074e-01 5.65341047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07999999999998 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:139.16, Y:-58.84, Z:56.54 [[ 8.18399427e-01 6.33936309e-02 -5.71142386e-01 1.39162631e+02] [-4.46005905e-02 9.97905596e-01 4.68530475e-02 -5.88406844e+01] [ 5.72916368e-01 -1.28712196e-02 8.19512762e-01 5.65424767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10999999999999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:139.18, Y:-58.84, Z:56.56 [[ 8.18412380e-01 6.32174170e-02 -5.71143358e-01 1.39184339e+02] [-4.44460774e-02 9.97916541e-01 4.67666931e-02 -5.88418171e+01] [ 5.72909874e-01 -1.28893586e-02 8.19517017e-01 5.65577226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:139.21, Y:-58.84, Z:56.57 [[ 8.18439174e-01 6.29796739e-02 -5.71131228e-01 1.39207906e+02] [-4.42178415e-02 9.97930793e-01 4.66788384e-02 -5.88429888e+01] [ 5.72889258e-01 -1.29495998e-02 8.19530479e-01 5.65738546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:139.24, Y:-58.84, Z:56.59 [[ 8.16122291e-01 5.49193803e-02 -5.75263651e-01 1.39235781e+02] [-4.38747074e-02 9.98489246e-01 3.30792391e-02 -5.88383816e+01] [ 5.76211260e-01 -1.75718003e-03 8.17298903e-01 5.65881289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.2 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:139.25, Y:-58.85, Z:56.61 [[ 8.18658721e-01 7.29914133e-02 -5.69622815e-01 1.39251255e+02] [-4.52005910e-02 9.97002432e-01 6.27937604e-02 -5.88510804e+01] [ 5.72498737e-01 -2.56593717e-02 8.19503992e-01 5.66117904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:139.28, Y:-58.85, Z:56.62 [[ 8.18774631e-01 6.41113377e-02 -5.70524180e-01 1.39278523e+02] [-4.60389989e-02 9.97877083e-01 4.60623251e-02 -5.88460573e+01] [ 5.72266121e-01 -1.14483012e-02 8.19988063e-01 5.66228873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:139.30, Y:-58.85, Z:56.64 [[ 8.19127328e-01 6.42008006e-02 -5.70007612e-01 1.39302181e+02] [-4.63227235e-02 9.97874915e-01 4.58242296e-02 -5.88471163e+01] [ 5.71738250e-01 -1.11315737e-02 8.20360568e-01 5.66387692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:139.32, Y:-58.85, Z:56.65 [[ 8.19332736e-01 6.43534457e-02 -5.69695096e-01 1.39324974e+02] [-4.66677522e-02 9.97868966e-01 4.56031471e-02 -5.88485228e+01] [ 5.71415776e-01 -1.07777617e-02 8.20589941e-01 5.66545165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:139.35, Y:-58.85, Z:56.67 [[ 8.19372725e-01 6.38436631e-02 -5.69694940e-01 1.39347402e+02] [-4.61861247e-02 9.97900492e-01 4.54031977e-02 -5.88502746e+01] [ 5.71397567e-01 -1.08901403e-02 8.20601137e-01 5.66697480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:139.37, Y:-58.85, Z:56.68 [[ 8.19264419e-01 6.19594828e-02 -5.70058624e-01 1.39370936e+02] [-4.54120854e-02 9.98033318e-01 4.32115600e-02 -5.88513200e+01] [ 5.71614866e-01 -9.51414265e-03 8.20466895e-01 5.66841962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:139.39, Y:-58.85, Z:56.70 [[ 8.20237824e-01 6.26876186e-02 -5.68577325e-01 1.39393168e+02] [-4.40143251e-02 9.97946677e-01 4.65313780e-02 -5.88545640e+01] [ 5.70326794e-01 -1.31412490e-02 8.21312764e-01 5.67009167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:139.42, Y:-58.86, Z:56.72 [[ 8.21172822e-01 5.84141880e-02 -5.67682111e-01 1.39416514e+02] [-3.99496940e-02 9.98191262e-01 4.49246657e-02 -5.88567031e+01] [ 5.69279561e-01 -1.42121879e-02 8.22021165e-01 5.67158848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:139.44, Y:-58.86, Z:56.73 [[ 8.21656155e-01 5.61047787e-02 -5.67215494e-01 1.39439563e+02] [-3.73150479e-02 9.98303709e-01 4.46910744e-02 -5.88587596e+01] [ 5.68760714e-01 -1.55550231e-02 8.22355940e-01 5.67315639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:139.46, Y:-58.86, Z:56.75 [[ 8.22596968e-01 5.32256651e-02 -5.66128305e-01 1.39462792e+02] [-3.40385075e-02 9.98433296e-01 4.44109631e-02 -5.88606000e+01] [ 5.67605152e-01 -1.72621611e-02 8.23119924e-01 5.67466912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.5 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:139.49, Y:-58.86, Z:56.76 [[ 8.23460890e-01 5.03517918e-02 -5.65134373e-01 1.39485497e+02] [-3.07660940e-02 9.98551571e-01 4.41385039e-02 -5.88621386e+01] [ 5.66538269e-01 -1.89593545e-02 8.23817293e-01 5.67615139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:139.51, Y:-58.86, Z:56.78 [[ 8.23877547e-01 4.75231879e-02 -5.64771931e-01 1.39508833e+02] [-2.74252598e-02 9.98653915e-01 4.40251374e-02 -5.88638337e+01] [ 5.66103914e-01 -2.07823053e-02 8.24071874e-01 5.67768190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:-58.86, Z:56.79 [[ 8.24151314e-01 4.46200623e-02 -5.64609300e-01 1.39531549e+02] [-2.40538375e-02 9.98749899e-01 4.38184085e-02 -5.88648891e+01] [ 5.65858661e-01 -2.25319786e-02 8.24194325e-01 5.67916573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:139.56, Y:-58.86, Z:56.81 [[ 8.25262921e-01 3.88587982e-02 -5.63410245e-01 1.39555424e+02] [-1.72732418e-02 9.98900011e-01 4.35936127e-02 -5.88649384e+01] [ 5.64484495e-01 -2.62442708e-02 8.25026359e-01 5.68064617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:139.58, Y:-58.87, Z:56.82 [[ 8.25948021e-01 3.57853712e-02 -5.62609344e-01 1.39578359e+02] [-1.37609411e-02 9.98965679e-01 4.33383054e-02 -5.88655025e+01] [ 5.63578303e-01 -2.80531536e-02 8.25586166e-01 5.68218443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:139.60, Y:-58.87, Z:56.84 [[ 8.26611485e-01 3.27857151e-02 -5.61817186e-01 1.39601468e+02] [-1.03425160e-02 9.99017999e-01 4.30821228e-02 -5.88657411e+01] [ 5.62677959e-01 -2.98015743e-02 8.26138838e-01 5.68373574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:139.62, Y:-58.86, Z:56.85 [[ 8.28159087e-01 2.74035444e-02 -5.59822805e-01 1.39624419e+02] [-4.17230269e-03 9.99077813e-01 4.27330624e-02 -5.88634301e+01] [ 5.60477581e-01 -3.30540238e-02 8.27509705e-01 5.68520439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:-58.86, Z:56.87 [[ 8.28809790e-01 2.48557934e-02 -5.58978105e-01 1.39648310e+02] [-1.27488030e-03 9.99094125e-01 4.25359128e-02 -5.88627474e+01] [ 5.59529004e-01 -3.45415508e-02 8.28090680e-01 5.68679042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.67, Y:-58.86, Z:56.88 [[ 8.29355488e-01 2.25282693e-02 -5.58266918e-01 1.39670853e+02] [ 1.32357143e-03 9.99104751e-01 4.22840963e-02 -5.88617707e+01] [ 5.58719718e-01 -3.58074535e-02 8.28583190e-01 5.68824997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:-58.86, Z:56.90 [[ 8.29946529e-01 2.06358735e-02 -5.57461138e-01 1.39693514e+02] [ 3.46137369e-03 9.99105813e-01 4.21377825e-02 -5.88605914e+01] [ 5.57832214e-01 -3.69016877e-02 8.29132973e-01 5.68971327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:-58.86, Z:56.91 [[ 8.30303719e-01 1.90126136e-02 -5.56986764e-01 1.39717289e+02] [ 5.30932262e-03 9.99102714e-01 4.20187797e-02 -5.88592868e+01] [ 5.57285874e-01 -3.78455715e-02 8.29457755e-01 5.69128204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.74, Y:-58.85, Z:56.93 [[ 8.31126774e-01 1.66159001e-02 -5.55834685e-01 1.39740765e+02] [ 7.94366513e-03 9.99096736e-01 4.17445778e-02 -5.88535576e+01] [ 5.56026244e-01 -3.91104009e-02 8.30244056e-01 5.69277622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85999999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.76, Y:-58.86, Z:56.94 [[ 8.31127899e-01 1.63585291e-02 -5.55840638e-01 1.39764327e+02] [ 8.20022497e-03 9.99097977e-01 4.16651959e-02 -5.88552177e+01] [ 5.56020838e-01 -3.91871250e-02 8.30244059e-01 5.69438346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:-58.85, Z:56.96 [[ 8.31414745e-01 1.53461879e-02 -5.55440381e-01 1.39788269e+02] [ 9.25838076e-03 9.99097169e-01 4.14623926e-02 -5.88528153e+01] [ 5.55575202e-01 -3.96149231e-02 8.30522037e-01 5.69593576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.80, Y:-58.86, Z:56.99 [[ 8.28633932e-01 2.96337121e-02 -5.59005948e-01 1.39802240e+02] [ 9.97352095e-03 9.97657814e-01 6.76713771e-02 -5.88607650e+01] [ 5.59702006e-01 -6.16500569e-02 8.26397565e-01 5.69895519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:-58.84, Z:56.98 [[ 8.30321499e-01 -1.05347515e-03 -5.57283679e-01 1.39841030e+02] [ 1.22614452e-02 9.99790673e-01 1.63788879e-02 -5.88375028e+01] [ 5.57149770e-01 -2.04328460e-02 8.30160607e-01 5.69830945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:-58.84, Z:57.00 [[ 8.31204085e-01 1.13912525e-02 -5.55850708e-01 1.39859243e+02] [ 1.38138911e-02 9.99058266e-01 4.11309861e-02 -5.88445273e+01] [ 5.55795777e-01 -4.18667048e-02 8.30263954e-01 5.70048930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:-58.84, Z:57.02 [[ 8.30567748e-01 7.16438351e-03 -5.56871518e-01 1.39882657e+02] [ 1.88818687e-02 9.98980127e-01 4.10143942e-02 -5.88369768e+01] [ 5.56597423e-01 -4.45800079e-02 8.29585398e-01 5.70192716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:-58.83, Z:57.03 [[ 8.30075637e-01 4.48999853e-03 -5.57632744e-01 1.39906370e+02] [ 2.21321348e-02 9.98914471e-01 4.09883936e-02 -5.88333823e+01] [ 5.57211455e-01 -4.63650699e-02 8.29075192e-01 5.70344782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:-58.83, Z:57.05 [[ 8.29335221e-01 1.79240697e-03 -5.58748494e-01 1.39930493e+02] [ 2.53852851e-02 9.98841418e-01 4.08828688e-02 -5.88296504e+01] [ 5.58174416e-01 -4.80895928e-02 8.28328867e-01 5.70502773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:-58.82, Z:57.06 [[ 8.29107780e-01 -3.40094233e-03 -5.59078458e-01 1.39954290e+02] [ 3.15488676e-02 9.98672736e-01 4.07116083e-02 -5.88188409e+01] [ 5.58197956e-01 -5.13926034e-02 8.28114631e-01 5.70648547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:-58.81, Z:57.08 [[ 8.29113825e-01 -5.72176083e-03 -5.59050558e-01 1.39977724e+02] [ 3.42842557e-02 9.98586067e-01 4.06258064e-02 -5.88140668e+01] [ 5.58027647e-01 -5.28500500e-02 8.28137680e-01 5.70803097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.00, Y:-58.81, Z:57.10 [[ 8.29257724e-01 -7.49698722e-03 -5.58816090e-01 1.40000714e+02] [ 3.62629232e-02 9.98524666e-01 4.04164856e-02 -5.88092504e+01] [ 5.57688648e-01 -5.37799878e-02 8.28306154e-01 5.70957798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:-58.80, Z:57.11 [[ 8.29234337e-01 -9.12176088e-03 -5.58826635e-01 1.40023894e+02] [ 3.81332409e-02 9.98460205e-01 4.02874095e-02 -5.88042409e+01] [ 5.57598664e-01 -5.47175740e-02 8.28305328e-01 5.71118351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:-58.79, Z:57.13 [[ 8.29519054e-01 -1.05795589e-02 -5.58378197e-01 1.40047690e+02] [ 3.97012096e-02 9.98408126e-01 4.00627968e-02 -5.87923943e+01] [ 5.57065483e-01 -5.54011432e-02 8.28618586e-01 5.71274879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:-58.80, Z:57.16 [[ 8.27304990e-01 3.55866976e-03 -5.61741746e-01 1.40065691e+02] [ 3.76594262e-02 9.97378980e-01 6.17813682e-02 -5.87980393e+01] [ 5.60489270e-01 -7.22669060e-02 8.25002590e-01 5.71558877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:-58.79, Z:57.17 [[ 8.26451944e-01 -4.70150653e-03 -5.62987638e-01 1.40090814e+02] [ 3.78162917e-02 9.98170424e-01 4.71776665e-02 -5.87857522e+01] [ 5.61735804e-01 -6.02801789e-02 8.25117681e-01 5.71677121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:-58.76, Z:57.17 [[ 8.27817527e-01 -1.97340634e-02 -5.60650255e-01 1.40121616e+02] [ 3.80696364e-02 9.99053441e-01 2.10457913e-02 -5.87586643e+01] [ 5.59704247e-01 -3.87658263e-02 8.27785218e-01 5.71704677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:-58.76, Z:57.19 [[ 8.28628944e-01 -8.60045331e-03 -5.59732173e-01 1.40142407e+02] [ 3.70856153e-02 9.98528791e-01 3.95589446e-02 -5.87593724e+01] [ 5.58568465e-01 -5.35376986e-02 8.27728811e-01 5.71894659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:-58.75, Z:57.21 [[ 8.28604710e-01 -7.97304684e-03 -5.59777336e-01 1.40166209e+02] [ 3.62043761e-02 9.98568666e-01 3.93682995e-02 -5.87525504e+01] [ 5.58662222e-01 -5.28871475e-02 8.27707358e-01 5.72054532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:-58.75, Z:57.22 [[ 8.28516862e-01 -7.35262329e-03 -5.59915840e-01 1.40189872e+02] [ 3.53422689e-02 9.98606831e-01 3.91831848e-02 -5.87461482e+01] [ 5.58847683e-01 -5.22526255e-02 8.27622456e-01 5.72216722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:-58.74, Z:57.24 [[ 8.28737250e-01 -6.66903040e-03 -5.59598154e-01 1.40213602e+02] [ 3.43491575e-02 9.98649905e-01 3.89679623e-02 -5.87402988e+01] [ 5.58582765e-01 -5.15159270e-02 8.27847452e-01 5.72380465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.24, Y:-58.73, Z:57.25 [[ 8.28830190e-01 -5.80700736e-03 -5.59470101e-01 1.40236617e+02] [ 3.31645535e-02 9.98697813e-01 3.87658565e-02 -5.87342231e+01] [ 5.58516453e-01 -5.06848883e-02 8.27943485e-01 5.72538049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:-58.72, Z:57.27 [[ 8.28694711e-01 -3.14533294e-03 -5.59692043e-01 1.40260302e+02] [ 2.99273279e-02 9.98802687e-01 3.86981584e-02 -5.87204611e+01] [ 5.58900198e-01 -4.88190465e-02 8.27796635e-01 5.72695055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:-58.71, Z:57.29 [[ 8.28487134e-01 -1.53643496e-03 -5.60005989e-01 1.40284081e+02] [ 2.78960518e-02 9.98867998e-01 3.85296314e-02 -5.87142587e+01] [ 5.59312863e-01 -4.75432600e-02 8.27592146e-01 5.72852809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:-58.71, Z:57.30 [[ 8.28515229e-01 3.05550603e-04 -5.59966447e-01 1.40306317e+02] [ 2.55423125e-02 9.98938370e-01 3.83369777e-02 -5.87080857e+01] [ 5.59383683e-01 -4.60656078e-02 8.27627848e-01 5.73004969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:-58.70, Z:57.32 [[ 8.28364839e-01 2.43862118e-03 -5.60183672e-01 1.40330191e+02] [ 2.29389809e-02 9.99004122e-01 3.82696585e-02 -5.87022554e+01] [ 5.59719123e-01 -4.45512820e-02 8.27483949e-01 5.73162443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60999999999999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:140.35, Y:-58.69, Z:57.33 [[ 8.27857453e-01 7.32931730e-03 -5.60890648e-01 1.40354196e+02] [ 1.69866405e-02 9.99128488e-01 3.81276577e-02 -5.86897422e+01] [ 5.60681275e-01 -4.10919134e-02 8.27011464e-01 5.73321669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:-58.68, Z:57.35 [[ 8.27536318e-01 1.01854482e-02 -5.61319784e-01 1.40377119e+02] [ 1.34548021e-02 9.99188416e-01 3.79668059e-02 -5.86846161e+01] [ 5.61250935e-01 -3.89713574e-02 8.26727659e-01 5.73476571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:-58.68, Z:57.36 [[ 8.26802497e-01 1.33046669e-02 -5.62334968e-01 1.40400408e+02] [ 9.73347707e-03 9.99232132e-01 3.79526705e-02 -5.86796614e+01] [ 5.62408117e-01 -3.68528373e-02 8.26038122e-01 5.73638778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:-58.67, Z:57.38 [[ 8.26354416e-01 1.65355513e-02 -5.62907590e-01 1.40423527e+02] [ 5.75545856e-03 9.99268643e-01 3.78028416e-02 -5.86748074e+01] [ 5.63120995e-01 -3.44783364e-02 8.25654885e-01 5.73785441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:-58.66, Z:57.39 [[ 8.24991092e-01 2.26223742e-02 -5.64692771e-01 1.40447337e+02] [-1.50111350e-03 9.99282699e-01 3.78395882e-02 -5.86648578e+01] [ 5.65143738e-01 -3.03696553e-02 8.24433284e-01 5.73947320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:-58.66, Z:57.41 [[ 8.24731209e-01 2.50873037e-02 -5.64968195e-01 1.40471210e+02] [-4.59072646e-03 9.99279638e-01 3.76713531e-02 -5.86606260e+01] [ 5.65506285e-01 -2.84751262e-02 8.24252272e-01 5.74107751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:-58.65, Z:57.43 [[ 8.24603896e-01 2.96297621e-02 -5.64934060e-01 1.40493738e+02] [-1.02258699e-02 9.99244965e-01 3.74824249e-02 -5.86521406e+01] [ 5.65618110e-01 -2.51312114e-02 8.24284281e-01 5.74269176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:-58.65, Z:57.44 [[ 8.25000169e-01 3.12275745e-02 -5.64269049e-01 1.40515735e+02] [-1.22714442e-02 9.99226629e-01 3.73571445e-02 -5.86492805e+01] [ 5.64999233e-01 -2.38952543e-02 8.24745345e-01 5.74425495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:-58.65, Z:57.46 [[ 8.25206872e-01 3.27739538e-02 -5.63878965e-01 1.40538799e+02] [-1.42301113e-02 9.99204614e-01 3.72510797e-02 -5.86467968e+01] [ 5.64651329e-01 -2.27157866e-02 8.25016891e-01 5.74584670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:-58.64, Z:57.47 [[ 8.25088755e-01 3.41261074e-02 -5.63971591e-01 1.40562427e+02] [-1.59850291e-02 9.99184631e-01 3.70749425e-02 -5.86446209e+01] [ 5.64776970e-01 -2.15750159e-02 8.24961510e-01 5.74745566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:140.58, Y:-58.65, Z:57.49 [[ 8.27062510e-01 4.85945689e-02 -5.60005511e-01 1.40581909e+02] [-2.19431166e-02 9.98287924e-01 5.42191847e-02 -5.86510332e+01] [ 5.61681497e-01 -3.25543887e-02 8.26712832e-01 5.74870154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:-58.63, Z:57.50 [[ 8.23057487e-01 2.72734522e-02 -5.67302858e-01 1.40611433e+02] [-2.48669703e-02 9.99618988e-01 1.19796940e-02 -5.86292631e+01] [ 5.67413436e-01 4.24712644e-03 8.23422100e-01 5.75035674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:-58.64, Z:57.52 [[ 8.22827180e-01 4.45485857e-02 -5.66542898e-01 1.40632873e+02] [-2.83299435e-02 9.98898709e-01 3.74003052e-02 -5.86390925e+01] [ 5.67585100e-01 -1.47238594e-02 8.23183067e-01 5.75193360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:-58.64, Z:57.54 [[ 8.22106922e-01 4.74841822e-02 -5.67349506e-01 1.40655483e+02] [-3.19007698e-02 9.98792239e-01 3.73684806e-02 -5.86388948e+01] [ 5.68438695e-01 -1.26220005e-02 8.22628795e-01 5.75352491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:-58.64, Z:57.55 [[ 8.21942477e-01 5.05597884e-02 -5.67322018e-01 1.40678145e+02] [-3.57693651e-02 9.98668275e-01 3.71783492e-02 -5.86387336e+01] [ 5.68446230e-01 -1.02657161e-02 8.22656367e-01 5.75506645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:-58.64, Z:57.57 [[ 8.22206279e-01 5.63769200e-02 -5.66390747e-01 1.40700782e+02] [-4.29456968e-02 9.98390763e-01 3.70344586e-02 -5.86388746e+01] [ 5.67567179e-01 -6.12591910e-03 8.23304300e-01 5.75663438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:-58.64, Z:57.58 [[ 8.22549352e-01 5.85594655e-02 -5.65670711e-01 1.40722639e+02] [-4.57658738e-02 9.98274326e-01 3.67947654e-02 -5.86402079e+01] [ 5.66849229e-01 -4.37709606e-03 8.23809925e-01 5.75816551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:-58.64, Z:57.60 [[ 8.22957881e-01 6.00271075e-02 -5.64922182e-01 1.40745533e+02] [-4.76425037e-02 9.98191436e-01 3.66612808e-02 -5.86422677e+01] [ 5.66101155e-01 -3.25638285e-03 8.24329351e-01 5.75970150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:-58.65, Z:57.61 [[ 8.23113282e-01 6.10374678e-02 -5.64587418e-01 1.40767414e+02] [-4.90168617e-02 9.98132768e-01 3.64462015e-02 -5.86450581e+01] [ 5.65757786e-01 -2.32504911e-03 8.24568203e-01 5.76119743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:-58.65, Z:57.63 [[ 8.23244975e-01 6.03873253e-02 -5.64465306e-01 1.40790718e+02] [-4.82925808e-02 9.98171454e-01 3.63534828e-02 -5.86517240e+01] [ 5.65628444e-01 -2.66833568e-03 8.24655894e-01 5.76273882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:-58.66, Z:57.64 [[ 8.23263465e-01 5.89234823e-02 -5.64593031e-01 1.40812552e+02] [-4.66443790e-02 9.98256573e-01 3.61678931e-02 -5.86564084e+01] [ 5.65739843e-01 -3.44061358e-03 8.24576614e-01 5.76423902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:-58.66, Z:57.66 [[ 8.23289439e-01 5.68407954e-02 -5.64768647e-01 1.40835557e+02] [-4.41685558e-02 9.98371856e-01 3.60939741e-02 -5.86610444e+01] [ 5.65900733e-01 -4.77077222e-03 8.24459581e-01 5.76578954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:-58.67, Z:57.67 [[ 8.23234412e-01 5.45982025e-02 -5.65070030e-01 1.40858137e+02] [-4.15672135e-02 9.98489891e-01 3.59180131e-02 -5.86660425e+01] [ 5.66177772e-01 -6.08055785e-03 8.24260734e-01 5.76733412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:-58.67, Z:57.69 [[ 8.22622160e-01 5.04895398e-02 -5.66342289e-01 1.40879776e+02] [-3.66461584e-02 9.98686706e-01 3.58039485e-02 -5.86743688e+01] [ 5.67406240e-01 -8.69885222e-03 8.23392063e-01 5.76881746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:-58.68, Z:57.70 [[ 8.22509820e-01 4.85428840e-02 -5.66675555e-01 1.40903273e+02] [-3.43228462e-02 9.98771581e-01 3.57389247e-02 -5.86792330e+01] [ 5.67714311e-01 -9.94569858e-03 8.23165563e-01 5.77039329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:-58.68, Z:57.72 [[ 8.22131497e-01 4.70837532e-02 -5.67347268e-01 1.40926243e+02] [-3.26460958e-02 9.98833265e-01 3.55856748e-02 -5.86842302e+01] [ 5.68360831e-01 -1.07344309e-02 8.22709388e-01 5.77196695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:-58.69, Z:57.74 [[ 8.21931400e-01 4.58480455e-02 -5.67738258e-01 1.40948930e+02] [-3.12553793e-02 9.98883777e-01 3.54161286e-02 -5.86890379e+01] [ 5.68728296e-01 -1.13647536e-02 8.22446939e-01 5.77355220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:140.97, Y:-58.70, Z:57.75 [[ 8.22571731e-01 4.49836537e-02 -5.66879368e-01 1.40972031e+02] [-3.03899961e-02 9.98919180e-01 3.51698860e-02 -5.86976925e+01] [ 5.67848743e-01 -1.17022922e-02 8.23049732e-01 5.77515045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:-58.70, Z:57.77 [[ 8.22206459e-01 4.46321767e-02 -5.67436787e-01 1.40993952e+02] [-3.00877210e-02 9.98935158e-01 3.49754059e-02 -5.87021971e+01] [ 5.68393585e-01 -1.16841249e-02 8.22673819e-01 5.77678914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:-58.71, Z:57.78 [[ 8.22395395e-01 4.41726363e-02 -5.67198900e-01 1.41017042e+02] [-2.97147399e-02 9.98955472e-01 3.47130988e-02 -5.87071362e+01] [ 5.68139814e-01 -1.16937249e-02 8.22848958e-01 5.77837314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:-58.71, Z:57.80 [[ 8.22717407e-01 4.36512586e-02 -5.66772120e-01 1.41038671e+02] [-2.92395554e-02 9.98977054e-01 3.44948416e-02 -5.87120317e+01] [ 5.67698086e-01 -1.18073418e-02 8.23152155e-01 5.77987159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:-58.72, Z:57.81 [[ 8.22926323e-01 4.27340472e-02 -5.66538674e-01 1.41061459e+02] [-2.81982470e-02 9.99010397e-01 3.43960240e-02 -5.87171146e+01] [ 5.67447906e-01 -1.23299961e-02 8.23316977e-01 5.78145615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:-58.73, Z:57.83 [[ 8.23113716e-01 4.02460807e-02 -5.66448642e-01 1.41084648e+02] [-2.53145528e-02 9.99094337e-01 3.42005863e-02 -5.87265525e+01] [ 5.67312069e-01 -1.38115776e-02 8.23387063e-01 5.78296745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:-58.75, Z:57.86 [[ 8.21023697e-01 5.90107487e-02 -5.67836086e-01 1.41100413e+02] [-2.43144222e-02 9.97355362e-01 6.84915432e-02 -5.87472055e+01] [ 5.70376102e-01 -4.24265737e-02 8.20287199e-01 5.78568125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:-58.72, Z:57.86 [[ 8.22314335e-01 1.98238702e-02 -5.68688094e-01 1.41134085e+02] [-2.21540404e-02 9.99750604e-01 2.81585146e-03 -5.87246095e+01] [ 5.68602086e-01 1.02832240e-02 8.22548432e-01 5.78576946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:-58.74, Z:57.88 [[ 8.22838199e-01 3.19699288e-02 -5.67375733e-01 1.41155637e+02] [-1.76926054e-02 9.99373488e-01 3.06529636e-02 -5.87440957e+01] [ 5.68000238e-01 -1.51840744e-02 8.22888312e-01 5.78778649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:-58.75, Z:57.89 [[ 8.24096487e-01 3.54209207e-02 -5.65340904e-01 1.41176772e+02] [-1.64212554e-02 9.99117424e-01 3.86615579e-02 -5.87515623e+01] [ 5.66211376e-01 -2.25772466e-02 8.23950815e-01 5.78944365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:-58.75, Z:57.91 [[ 8.23581327e-01 2.86034396e-02 -5.66476515e-01 1.41200369e+02] [-1.43682377e-02 9.99459237e-01 2.95767948e-02 -5.87521178e+01] [ 5.67016183e-01 -1.62196267e-02 8.23546946e-01 5.79095955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:-58.76, Z:57.93 [[ 8.24647851e-01 3.15320594e-02 -5.64766900e-01 1.41222584e+02] [-1.23148038e-02 9.99209202e-01 3.78063009e-02 -5.87593371e+01] [ 5.65512394e-01 -2.42218912e-02 8.24384032e-01 5.79264374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:-58.76, Z:57.94 [[ 8.24560946e-01 2.87364456e-02 -5.65042886e-01 1.41246616e+02] [-1.20693815e-02 9.99375431e-01 3.32126242e-02 -5.87588307e+01] [ 5.65644391e-01 -2.05661147e-02 8.24392782e-01 5.79419260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:-58.76, Z:57.96 [[ 8.24383440e-01 2.65997572e-02 -5.65406399e-01 1.41269213e+02] [-9.57517124e-03 9.99407615e-01 3.30565542e-02 -5.87621884e+01] [ 5.65950757e-01 -2.18374127e-02 8.24149785e-01 5.79579634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:-58.77, Z:57.97 [[ 8.24396264e-01 2.34246143e-02 -5.65528149e-01 1.41291060e+02] [-5.84599577e-03 9.99442351e-01 3.28757012e-02 -5.87660043e+01] [ 5.65982884e-01 -2.37965301e-02 8.24073480e-01 5.79728086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.31, Y:-58.77, Z:57.99 [[ 8.24173535e-01 2.21271249e-02 -5.65904916e-01 1.41313881e+02] [-4.37418409e-03 9.99455357e-01 3.27086517e-02 -5.87681065e+01] [ 5.66320449e-01 -2.44822328e-02 8.23821443e-01 5.79883498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:-58.77, Z:58.00 [[ 8.24008614e-01 2.14064523e-02 -5.66172737e-01 1.41337181e+02] [-3.86881771e-03 9.99475293e-01 3.21585267e-02 -5.87701407e+01] [ 5.66564063e-01 -2.43084839e-02 8.23659068e-01 5.80041704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:-58.77, Z:58.02 [[ 8.24369767e-01 2.04734492e-02 -5.65681293e-01 1.41360096e+02] [-2.89179947e-03 9.99484976e-01 3.19596795e-02 -5.87732097e+01] [ 5.66044278e-01 -2.47107567e-02 8.24004402e-01 5.80198886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:-58.77, Z:58.04 [[ 8.23729381e-01 2.05541113e-02 -5.66610479e-01 1.41383114e+02] [-3.48190085e-03 9.99507229e-01 3.11957499e-02 -5.87746036e+01] [ 5.66972471e-01 -2.37239742e-02 8.23395039e-01 5.80351281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:-58.78, Z:58.05 [[ 8.24341953e-01 2.49828057e-02 -5.65540630e-01 1.41404676e+02] [-4.06093132e-03 9.99260977e-01 3.82231543e-02 -5.87788014e+01] [ 5.66077603e-01 -2.92123280e-02 8.23834199e-01 5.80506551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:-58.78, Z:58.06 [[ 8.22713325e-01 1.67800972e-02 -5.68208776e-01 1.41430273e+02] [-3.16458180e-03 9.99683936e-01 2.49402166e-02 -5.87757679e+01] [ 5.68447685e-01 -1.87205054e-02 8.22506396e-01 5.80649194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:-58.78, Z:58.08 [[ 8.22781370e-01 2.01412745e-02 -5.68001010e-01 1.41451298e+02] [-2.85314089e-03 9.99505666e-01 3.13094634e-02 -5.87798282e+01] [ 5.68350840e-01 -2.41402563e-02 8.22432107e-01 5.80806129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:-58.78, Z:58.10 [[ 8.23123070e-01 1.74988448e-02 -5.67593342e-01 1.41475280e+02] [-9.55233882e-04 9.99566351e-01 2.94312496e-02 -5.87805125e+01] [ 5.67862219e-01 -2.36833562e-02 8.22782838e-01 5.80975527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:-58.78, Z:58.11 [[ 8.23014031e-01 1.65633823e-02 -5.67779499e-01 1.41498523e+02] [ 6.96466208e-05 9.99571812e-01 2.92606729e-02 -5.87820209e+01] [ 5.68021038e-01 -2.41214883e-02 8.22660473e-01 5.81137737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:-58.78, Z:58.13 [[ 8.23833832e-01 1.69335948e-02 -5.66578389e-01 1.41520553e+02] [ 2.12848177e-03 9.99454205e-01 3.29660787e-02 -5.87849970e+01] [ 5.66827387e-01 -2.83645227e-02 8.23348144e-01 5.81300033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:-58.79, Z:58.15 [[ 8.24027479e-01 2.02205239e-02 -5.66188877e-01 1.41544492e+02] [ 3.92188095e-03 9.99135353e-01 4.13903892e-02 -5.87917958e+01] [ 5.66536259e-01 -3.63273434e-02 8.23235684e-01 5.81492178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.2 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:141.57, Y:-58.78, Z:58.16 [[ 8.21862250e-01 3.61743527e-03 -5.69674781e-01 1.41569697e+02] [ 7.07429483e-03 9.99837931e-01 1.65549629e-02 -5.87815894e+01] [ 5.69642341e-01 -1.76359464e-02 8.21703460e-01 5.81633474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:-58.80, Z:58.18 [[ 8.25679037e-01 2.51676549e-02 -5.63578492e-01 1.41587869e+02] [ 7.07099478e-03 9.98464193e-01 5.49477576e-02 -5.87989578e+01] [ 5.64095850e-01 -4.93542722e-02 8.24232993e-01 5.81809744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:-58.79, Z:58.19 [[ 8.25239097e-01 9.70856260e-03 -5.64700077e-01 1.41613826e+02] [ 1.05624954e-02 9.99412074e-01 3.26180916e-02 -5.87911788e+01] [ 5.64684750e-01 -3.28823664e-02 8.24651370e-01 5.81931879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:-58.79, Z:58.21 [[ 8.23796097e-01 4.10918937e-03 -5.66871330e-01 1.41638464e+02] [ 1.22106768e-02 9.99613099e-01 2.49910459e-02 -5.87891714e+01] [ 5.66754699e-01 -2.75094087e-02 8.23427194e-01 5.82077726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:-58.80, Z:58.23 [[ 8.25146420e-01 1.02585513e-02 -5.64825768e-01 1.41660232e+02] [ 1.44363627e-02 9.99125668e-01 3.92363383e-02 -5.87952531e+01] [ 5.64734431e-01 -4.05297538e-02 8.24276872e-01 5.82252719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:-58.79, Z:58.24 [[ 8.23950265e-01 3.40937628e-03 -5.66651866e-01 1.41684953e+02] [ 1.80818626e-02 9.99314487e-01 3.23048341e-02 -5.87908198e+01] [ 5.66373558e-01 -3.68636978e-02 8.23323788e-01 5.82387020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:-58.79, Z:58.25 [[ 8.23583584e-01 1.77893683e-03 -5.67192133e-01 1.41708024e+02] [ 1.99816182e-02 9.99283358e-01 3.21481799e-02 -5.87903107e+01] [ 5.66842849e-01 -3.78101298e-02 8.22957823e-01 5.82540555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:-58.79, Z:58.27 [[ 8.23586588e-01 2.68614668e-04 -5.67190496e-01 1.41730280e+02] [ 2.16823429e-02 9.99254035e-01 3.19569901e-02 -5.87898258e+01] [ 5.66775976e-01 -3.86173673e-02 8.22966398e-01 5.82693468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:-58.79, Z:58.29 [[ 8.23730023e-01 -1.08978427e-03 -5.66981183e-01 1.41753538e+02] [ 2.32201373e-02 9.99224032e-01 3.18144343e-02 -5.87891254e+01] [ 5.66506553e-01 -3.93718856e-02 8.23116140e-01 5.82855332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:-58.79, Z:58.30 [[ 8.24237340e-01 -3.21979661e-03 -5.66235323e-01 1.41776488e+02] [ 2.56039980e-02 9.99172953e-01 3.15886996e-02 -5.87861604e+01] [ 5.65665310e-01 -4.05344738e-02 8.23638096e-01 5.83023547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:-58.78, Z:58.32 [[ 8.24054770e-01 -6.05604007e-03 -5.66477767e-01 1.41800664e+02] [ 2.63669906e-02 9.99269222e-01 2.76731601e-02 -5.87832987e+01] [ 5.65896208e-01 -3.77405135e-02 8.23612248e-01 5.83177639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:-58.78, Z:58.33 [[ 8.24965818e-01 -1.35790159e-03 -5.65180993e-01 1.41822828e+02] [ 2.63228521e-02 9.99004269e-01 3.60219187e-02 -5.87843564e+01] [ 5.64569310e-01 -4.45940273e-02 8.24180118e-01 5.83347692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:-58.78, Z:58.35 [[ 8.25004324e-01 -3.56016627e-03 -5.65115201e-01 1.41845892e+02] [ 2.55712577e-02 9.99191101e-01 3.10363474e-02 -5.87796315e+01] [ 5.64547585e-01 -4.00558273e-02 8.24428017e-01 5.83495262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:-58.77, Z:58.36 [[ 8.24342015e-01 -3.45444602e-03 -5.66081540e-01 1.41870050e+02] [ 2.22441245e-02 9.99406745e-01 2.62936851e-02 -5.87706222e+01] [ 5.65654879e-01 -3.42669776e-02 8.23929810e-01 5.83647478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:-58.77, Z:58.38 [[ 8.25349772e-01 4.19393755e-03 -5.64606203e-01 1.41892204e+02] [ 1.94351082e-02 9.99168811e-01 3.58324326e-02 -5.87715152e+01] [ 5.64287188e-01 -4.05474727e-02 8.24582241e-01 5.83818668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:-58.77, Z:58.40 [[ 8.24971536e-01 3.93547901e-03 -5.65160575e-01 1.41916124e+02] [ 1.62671233e-02 9.99396123e-01 3.07045766e-02 -5.87668363e+01] [ 5.64940125e-01 -3.45239385e-02 8.24409336e-01 5.83973836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:-58.76, Z:58.41 [[ 8.24743925e-01 6.15021115e-03 -5.65472929e-01 1.41939628e+02] [ 1.34800904e-02 9.99442920e-01 3.05309181e-02 -5.87640478e+01] [ 5.65345687e-01 -3.28028154e-02 8.24201571e-01 5.84133209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:-58.76, Z:58.43 [[ 8.24609887e-01 8.22099492e-03 -5.65642068e-01 1.41962171e+02] [ 1.08521082e-02 9.99480514e-01 3.03468941e-02 -5.87610426e+01] [ 5.65597707e-01 -3.11627579e-02 8.24092299e-01 5.84286089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:-58.75, Z:58.44 [[ 8.25537122e-01 1.05051009e-02 -5.64250036e-01 1.41984896e+02] [ 7.91445988e-03 9.99512900e-01 3.01881493e-02 -5.87534149e+01] [ 5.64292319e-01 -2.93871722e-02 8.25051861e-01 5.84449004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:-58.75, Z:58.46 [[ 8.26132005e-01 1.10696247e-02 -5.63367885e-01 1.42007624e+02] [ 7.03145879e-03 9.99526643e-01 2.99507630e-02 -5.87500160e+01] [ 5.63432755e-01 -2.87045819e-02 8.25663114e-01 5.84605688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:-58.75, Z:58.48 [[ 8.26453170e-01 1.17273352e-02 -5.62883316e-01 1.42030364e+02] [ 6.14186878e-03 9.99535743e-01 2.98425217e-02 -5.87469446e+01] [ 5.62971967e-01 -2.81206021e-02 8.25997455e-01 5.84764614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:-58.74, Z:58.49 [[ 8.26597226e-01 1.25381382e-02 -5.62654265e-01 1.42054017e+02] [ 5.01570212e-03 9.99547983e-01 2.96424238e-02 -5.87439868e+01] [ 5.62771596e-01 -2.73244515e-02 8.26160702e-01 5.84921328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:-58.74, Z:58.51 [[ 8.26188994e-01 1.46201449e-02 -5.63203337e-01 1.42077265e+02] [ 2.40984047e-03 9.99562387e-01 2.94826567e-02 -5.87377203e+01] [ 5.63387912e-01 -2.57154766e-02 8.25792210e-01 5.85069640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:-58.74, Z:58.52 [[ 8.25774134e-01 1.55530543e-02 -5.63786468e-01 1.42100892e+02] [ 1.23564568e-03 9.99567413e-01 2.93846898e-02 -5.87351511e+01] [ 5.63999603e-01 -2.49617571e-02 8.25397697e-01 5.85228029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:-58.73, Z:58.54 [[ 8.25564133e-01 1.66583351e-02 -5.64062374e-01 1.42124122e+02] [-2.13817213e-04 9.99573355e-01 2.92072453e-02 -5.87324817e+01] [ 5.64308263e-01 -2.39918479e-02 8.25215472e-01 5.85376614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:-58.73, Z:58.55 [[ 8.25151687e-01 1.77192885e-02 -5.64633262e-01 1.42147118e+02] [-1.54842233e-03 9.99575138e-01 2.91057542e-02 -5.87298416e+01] [ 5.64909105e-01 -2.31423714e-02 8.24828548e-01 5.85530506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:-58.72, Z:58.57 [[ 8.24341944e-01 2.08958708e-02 -5.65706392e-01 1.42170009e+02] [-5.45385533e-03 9.99565278e-01 2.89742973e-02 -5.87242200e+01] [ 5.66065910e-01 -2.07994477e-02 8.24097548e-01 5.85674160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:-58.72, Z:58.58 [[ 8.23844855e-01 2.28997589e-02 -5.66352590e-01 1.42193393e+02] [-7.89898395e-03 9.99550365e-01 2.89253114e-02 -5.87226414e+01] [ 5.66760320e-01 -1.93563590e-02 8.23655311e-01 5.85829763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:142.22, Y:-58.72, Z:58.60 [[ 8.23498187e-01 2.49236316e-02 -5.66771161e-01 1.42216244e+02] [-1.04618831e-02 9.99531785e-01 2.87534394e-02 -5.87208234e+01] [ 5.67222430e-01 -1.77489116e-02 8.23373361e-01 5.85982769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:-58.72, Z:58.61 [[ 8.23426693e-01 2.68106462e-02 -5.66788912e-01 1.42239825e+02] [-1.28416560e-02 9.99507782e-01 2.86231555e-02 -5.87191528e+01] [ 5.67277334e-01 -1.62905620e-02 8.23365681e-01 5.86140996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:-58.71, Z:58.63 [[ 8.23418715e-01 3.12012183e-02 -5.66575771e-01 1.42262649e+02] [-1.83144888e-02 9.99428238e-01 2.84214162e-02 -5.87149990e+01] [ 5.67138607e-01 -1.30261804e-02 8.23519350e-01 5.86303735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:-58.71, Z:58.65 [[ 8.23410503e-01 3.28551009e-02 -5.66494207e-01 1.42285121e+02] [-2.04570324e-02 9.99392180e-01 2.82272889e-02 -5.87143901e+01] [ 5.67077291e-01 -1.16538558e-02 8.23582136e-01 5.86457611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:-58.71, Z:58.66 [[ 8.23357981e-01 3.39109646e-02 -5.66508324e-01 1.42307918e+02] [-2.18275119e-02 9.99366836e-01 2.80977993e-02 -5.87144745e+01] [ 5.67102455e-01 -1.07690801e-02 8.23576853e-01 5.86612156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:-58.72, Z:58.68 [[ 8.24106347e-01 3.43849006e-02 -5.65390491e-01 1.42332122e+02] [-2.25925057e-02 9.99356868e-01 2.78465229e-02 -5.87150021e+01] [ 5.65984370e-01 -1.01749084e-02 8.24353179e-01 5.86756183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:-58.72, Z:58.69 [[ 8.23761856e-01 3.50903775e-02 -5.65848982e-01 1.42353292e+02] [-2.35681350e-02 9.99339453e-01 2.76622713e-02 -5.87162085e+01] [ 5.66445891e-01 -9.45111880e-03 8.24044737e-01 5.86922229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:-58.72, Z:58.71 [[ 8.23887078e-01 3.55219846e-02 -5.65639701e-01 1.42376181e+02] [-2.41632385e-02 9.99328003e-01 2.75623051e-02 -5.87179640e+01] [ 5.66238661e-01 -9.04054001e-03 8.24191754e-01 5.87078345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:-58.72, Z:58.72 [[ 8.23643396e-01 3.51221448e-02 -5.66019426e-01 1.42399559e+02] [-2.37933700e-02 9.99341688e-01 2.73873486e-02 -5.87202992e+01] [ 5.66608711e-01 -9.08989913e-03 8.23936856e-01 5.87237170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:-58.72, Z:58.74 [[ 8.23694979e-01 3.45549538e-02 -5.65979272e-01 1.42423059e+02] [-2.32426395e-02 9.99360084e-01 2.71882680e-02 -5.87224441e+01] [ 5.66556582e-01 -9.23998769e-03 8.23971032e-01 5.87396982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:-58.72, Z:58.76 [[ 8.23638193e-01 3.41734217e-02 -5.66085068e-01 1.42445358e+02] [-2.29109266e-02 9.99372973e-01 2.69953770e-02 -5.87243508e+01] [ 5.66652642e-01 -9.26489005e-03 8.23904694e-01 5.87552640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:-58.73, Z:58.77 [[ 8.23597278e-01 3.37311435e-02 -5.66171118e-01 1.42468766e+02] [-2.24301669e-02 9.99386117e-01 2.69123798e-02 -5.87265569e+01] [ 5.66731340e-01 -9.46565006e-03 8.23848281e-01 5.87711903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:-58.73, Z:58.79 [[ 8.23638034e-01 3.34126379e-02 -5.66130714e-01 1.42491709e+02] [-2.21804863e-02 9.99397004e-01 2.67143219e-02 -5.87291206e+01] [ 5.66681935e-01 -9.44587697e-03 8.23882492e-01 5.87869709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:-58.73, Z:58.80 [[ 8.23746669e-01 3.37228846e-02 -5.65954232e-01 1.42513308e+02] [-2.26994090e-02 9.99390777e-01 2.65105842e-02 -5.87337379e+01] [ 5.66503453e-01 -8.99117880e-03 8.24010313e-01 5.88024648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:-58.74, Z:58.82 [[ 8.23695371e-01 3.40626787e-02 -5.66008543e-01 1.42536417e+02] [-2.31681769e-02 9.99382224e-01 2.64273671e-02 -5.87363919e+01] [ 5.66559063e-01 -8.65471391e-03 8.23975682e-01 5.88184618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:-58.74, Z:58.83 [[ 8.23614122e-01 3.45515923e-02 -5.66097135e-01 1.42559392e+02] [-2.38895547e-02 9.99370193e-01 2.62394137e-02 -5.87390205e+01] [ 5.66647216e-01 -8.08734317e-03 8.23920826e-01 5.88340672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:-58.74, Z:58.85 [[ 8.23220519e-01 3.57441322e-02 -5.66595389e-01 1.42581916e+02] [-2.54528153e-02 9.99336219e-01 2.60629126e-02 -5.87440799e+01] [ 5.67150890e-01 -7.03407667e-03 8.23583870e-01 5.88491423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:-58.75, Z:58.86 [[ 8.23172753e-01 3.59643651e-02 -5.66650847e-01 1.42604247e+02] [-2.57777012e-02 9.99330088e-01 2.59785562e-02 -5.87473697e+01] [ 5.67205543e-01 -6.77788342e-03 8.23548379e-01 5.88641397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:-58.75, Z:58.88 [[ 8.23405617e-01 3.60588269e-02 -5.66306411e-01 1.42627172e+02] [-2.59654470e-02 9.99327854e-01 2.58773253e-02 -5.87509709e+01] [ 5.66858876e-01 -6.60313594e-03 8.23788452e-01 5.88791664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:-58.75, Z:58.89 [[ 8.23546694e-01 3.56656180e-02 -5.66126141e-01 1.42649997e+02] [-2.56308062e-02 9.99341771e-01 2.56726816e-02 -5.87546873e+01] [ 5.66669132e-01 -6.63238262e-03 8.23918750e-01 5.88944183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:-58.76, Z:58.91 [[ 8.23902331e-01 3.52025071e-02 -5.65637457e-01 1.42673215e+02] [-2.52250732e-02 9.99357726e-01 2.54525239e-02 -5.87618691e+01] [ 5.66170156e-01 -6.70214748e-03 8.24261145e-01 5.89098035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:-58.76, Z:58.93 [[ 8.23910445e-01 3.48698977e-02 -5.65646240e-01 1.42696774e+02] [-2.49564791e-02 9.99369453e-01 2.52560802e-02 -5.87627753e+01] [ 5.66170250e-01 -6.69220974e-03 8.24261161e-01 5.89258282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:-58.77, Z:58.94 [[ 8.24450095e-01 3.42321708e-02 -5.64898397e-01 1.42720013e+02] [-2.43400858e-02 9.99390135e-01 2.50383216e-02 -5.87667073e+01] [ 5.65411002e-01 -6.89317113e-03 8.24780506e-01 5.89415183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:142.74, Y:-58.77, Z:58.96 [[ 8.23486698e-01 2.93753874e-02 -5.66574572e-01 1.42742080e+02] [-2.39011101e-02 9.99568311e-01 1.70859417e-02 -5.87676489e+01] [ 5.66831894e-01 -5.28284530e-04 8.23833312e-01 5.89567127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:-58.78, Z:58.97 [[ 8.24879515e-01 3.53274021e-02 -5.64203652e-01 1.42765278e+02] [-2.16882388e-02 9.99288346e-01 3.08613339e-02 -5.87772779e+01] [ 5.64892385e-01 -1.32202986e-02 8.25058675e-01 5.89731425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:-58.78, Z:58.99 [[ 8.24848810e-01 2.99136159e-02 -5.64561437e-01 1.42788325e+02] [-1.95472336e-02 9.99511146e-01 2.44003206e-02 -5.87795342e+01] [ 5.65015351e-01 -9.09096111e-03 8.25030307e-01 5.89882704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:142.81, Y:-58.78, Z:59.00 [[ 8.23788408e-01 1.95988207e-02 -5.66558510e-01 1.42810505e+02] [-1.49822239e-02 9.99805808e-01 1.28015595e-02 -5.87839255e+01] [ 5.66699384e-01 -2.05746986e-03 8.23922069e-01 5.90030904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:-58.80, Z:59.02 [[ 8.25766711e-01 2.85408372e-02 -5.63289233e-01 1.42832890e+02] [-1.20194739e-02 9.99382525e-01 3.30166662e-02 -5.87965589e+01] [ 5.63883739e-01 -2.04936236e-02 8.25599867e-01 5.90204401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:-58.80, Z:59.03 [[ 8.26064225e-01 2.16329639e-02 -5.63160643e-01 1.42855268e+02] [-9.86629656e-03 9.99664988e-01 2.39283801e-02 -5.87974001e+01] [ 5.63489620e-01 -1.42100689e-02 8.26000922e-01 5.90348826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:-58.80, Z:59.05 [[ 8.26363037e-01 2.01561533e-02 -5.62776919e-01 1.42878186e+02] [-8.19033341e-03 9.99683718e-01 2.37777866e-02 -5.88017253e+01] [ 5.63078191e-01 -1.50397533e-02 8.26266759e-01 5.90511578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:-58.81, Z:59.07 [[ 8.26611560e-01 1.87087684e-02 -5.62461831e-01 1.42900650e+02] [-6.58763354e-03 9.99700462e-01 2.35709335e-02 -5.88079218e+01] [ 5.62734335e-01 -1.57787137e-02 8.26487205e-01 5.90666351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:-58.81, Z:59.08 [[ 8.26631752e-01 1.83952780e-02 -5.62442495e-01 1.42922741e+02] [-6.26646391e-03 9.99704515e-01 2.34864622e-02 -5.88113412e+01] [ 5.62708342e-01 -1.58901298e-02 8.26502768e-01 5.90819461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:-58.81, Z:59.10 [[ 8.26713695e-01 1.83563709e-02 -5.62323315e-01 1.42945720e+02] [-6.28197087e-03 9.99706478e-01 2.33986235e-02 -5.88149914e+01] [ 5.62587774e-01 -1.58114638e-02 8.26586350e-01 5.90973652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:-58.82, Z:59.11 [[ 8.26799116e-01 1.81533957e-02 -5.62204300e-01 1.42968647e+02] [-6.17056034e-03 9.99711668e-01 2.32057059e-02 -5.88182365e+01] [ 5.62463461e-01 -1.57173416e-02 8.26672741e-01 5.91130130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:-58.82, Z:59.13 [[ 8.26594949e-01 1.92607655e-02 -5.62467611e-01 1.42990899e+02] [-7.62421160e-03 9.99705729e-01 2.30288154e-02 -5.88234558e+01] [ 5.62745646e-01 -1.47471304e-02 8.26498555e-01 5.91276043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:-58.83, Z:59.14 [[ 8.26021804e-01 2.01840311e-02 -5.63276649e-01 1.43013875e+02] [-8.75726887e-03 9.99697564e-01 2.29802383e-02 -5.88263459e+01] [ 5.63570128e-01 -1.40494128e-02 8.25948742e-01 5.91428161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.04, Y:-58.83, Z:59.16 [[ 8.25200040e-01 2.12463818e-02 -5.64440860e-01 1.43036701e+02] [-1.01217509e-02 9.99688077e-01 2.28319497e-02 -5.88289986e+01] [ 5.64749895e-01 -1.31277960e-02 8.25157693e-01 5.91581950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:-58.83, Z:59.17 [[ 8.23203274e-01 1.82751176e-02 -5.67452544e-01 1.43061594e+02] [-1.35287702e-02 9.99829421e-01 1.25738661e-02 -5.88289586e+01] [ 5.67585537e-01 -2.67391265e-03 8.23310092e-01 5.91724233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:-58.84, Z:59.19 [[ 8.25082805e-01 3.18448534e-02 -5.64113703e-01 1.43082597e+02] [-1.54844176e-02 9.99309862e-01 3.37643798e-02 -5.88396548e+01] [ 5.64799608e-01 -1.91234371e-02 8.25006483e-01 5.91911220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:-58.84, Z:59.21 [[ 8.25082223e-01 2.69897171e-02 -5.64367682e-01 1.43105995e+02] [-1.74648642e-02 9.99599413e-01 2.22708649e-02 -5.88375855e+01] [ 5.64742688e-01 -8.51868983e-03 8.25223078e-01 5.92055589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:-58.84, Z:59.22 [[ 8.25443322e-01 2.80887044e-02 -5.63785727e-01 1.43129163e+02] [-1.89070735e-02 9.99576558e-01 2.21184969e-02 -5.88400642e+01] [ 5.64168276e-01 -7.59802738e-03 8.25624870e-01 5.92214468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.15, Y:-58.84, Z:59.24 [[ 8.25619803e-01 2.91616211e-02 -5.63472751e-01 1.43152227e+02] [-2.03461559e-02 9.99552710e-01 2.19183414e-02 -5.88427437e+01] [ 5.63859890e-01 -6.63171225e-03 8.25843838e-01 5.92370204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:-58.85, Z:59.25 [[ 8.25629079e-01 3.17964692e-02 -5.63316615e-01 1.43175131e+02] [-2.36714211e-02 9.99483781e-01 2.17217838e-02 -5.88481569e+01] [ 5.63716496e-01 -4.59963155e-03 8.25955541e-01 5.92524282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:-58.85, Z:59.27 [[ 8.25471824e-01 3.30807485e-02 -5.63473098e-01 1.43197538e+02] [-2.53509816e-02 9.99446574e-01 2.15377094e-02 -5.88511901e+01] [ 5.63873741e-01 -3.49417611e-03 8.25853616e-01 5.92671964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:-58.85, Z:59.28 [[ 8.25338409e-01 3.44755550e-02 -5.63584906e-01 1.43221096e+02] [-2.70929194e-02 9.99402558e-01 2.14592881e-02 -5.88541642e+01] [ 5.63988018e-01 -2.44201428e-03 8.25779361e-01 5.92823058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.24, Y:-58.86, Z:59.30 [[ 8.25103975e-01 3.58824123e-02 -5.63840299e-01 1.43243674e+02] [-2.89263292e-02 9.99355251e-01 2.12685187e-02 -5.88572110e+01] [ 5.64239929e-01 -1.23890918e-03 8.25609937e-01 5.92971622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:-58.86, Z:59.31 [[ 8.25206936e-01 3.81629953e-02 -5.63539793e-01 1.43266919e+02] [-3.17556810e-02 9.99271437e-01 2.11700807e-02 -5.88634697e+01] [ 5.63937132e-01 4.25892438e-04 8.25817613e-01 5.93124180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:-58.87, Z:59.33 [[ 8.25398866e-01 3.89027895e-02 -5.63208029e-01 1.43288901e+02] [-3.27930183e-02 9.99242318e-01 2.09620473e-02 -5.88670600e+01] [ 5.63596779e-01 1.16724113e-03 8.26049217e-01 5.93274312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:-58.87, Z:59.34 [[ 8.25593365e-01 3.90879042e-02 -5.62910056e-01 1.43311835e+02] [-3.30819311e-02 9.99234802e-01 2.08661602e-02 -5.88705073e+01] [ 5.63294933e-01 1.39518827e-03 8.26254726e-01 5.93432395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:-58.87, Z:59.36 [[ 8.26027554e-01 3.89346102e-02 -5.62283359e-01 1.43333899e+02] [-3.30459793e-02 9.99240592e-01 2.06446683e-02 -5.88739352e+01] [ 5.62660149e-01 1.52813939e-03 8.26686895e-01 5.93579205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:-58.88, Z:59.37 [[ 8.25834898e-01 3.86180683e-02 -5.62588097e-01 1.43356838e+02] [-3.27146200e-02 9.99253039e-01 2.05698402e-02 -5.88817644e+01] [ 5.62962233e-01 1.41756394e-03 8.26481406e-01 5.93735754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:-58.89, Z:59.39 [[ 8.25828849e-01 3.80154793e-02 -5.62638014e-01 1.43380301e+02] [-3.21201829e-02 9.99276371e-01 2.03722398e-02 -5.88862842e+01] [ 5.63005333e-01 1.24805255e-03 8.26452320e-01 5.93888714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.6 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:143.40, Y:-58.89, Z:59.40 [[ 8.24344759e-01 3.66202268e-02 -5.64902361e-01 1.43404005e+02] [-3.05150846e-02 9.99329107e-01 2.02525414e-02 -5.88898199e+01] [ 5.65265025e-01 5.42966955e-04 8.24909181e-01 5.94025090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:-58.89, Z:59.42 [[ 8.25653030e-01 3.64137994e-02 -5.63001873e-01 1.43425642e+02] [-3.03692734e-02 9.99336671e-01 2.00979128e-02 -5.88947846e+01] [ 5.63360258e-01 5.04055193e-04 8.26211211e-01 5.94197485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:-58.90, Z:59.44 [[ 8.25708792e-01 3.50256868e-02 -5.63008164e-01 1.43448725e+02] [-2.88230976e-02 9.99386391e-01 1.99015049e-02 -5.88988300e+01] [ 5.63359761e-01 -2.05208329e-04 8.26211679e-01 5.94352887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.47, Y:-58.90, Z:59.45 [[ 8.25725161e-01 3.37013794e-02 -5.63064983e-01 1.43472405e+02] [-2.73539762e-02 9.99431569e-01 1.97052852e-02 -5.89027689e+01] [ 5.63409015e-01 -8.69083592e-04 8.26177660e-01 5.94508297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.50, Y:-58.91, Z:59.47 [[ 8.25477855e-01 3.11973793e-02 -5.63571677e-01 1.43495706e+02] [-2.44445562e-02 9.99510502e-01 1.95248784e-02 -5.89103498e+01] [ 5.63904934e-01 -2.34109520e-03 8.25836391e-01 5.94659024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:-58.91, Z:59.48 [[ 8.25167515e-01 2.94745810e-02 -5.64118623e-01 1.43518361e+02] [-2.24804308e-02 9.99560151e-01 1.93425550e-02 -5.89146949e+01] [ 5.64440610e-01 -3.27921837e-03 8.25467168e-01 5.94810129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.54, Y:-58.92, Z:59.50 [[ 8.24865624e-01 2.72656680e-02 -5.64670953e-01 1.43541142e+02] [-1.98479226e-02 9.99617217e-01 1.92738126e-02 -5.89192731e+01] [ 5.64980320e-01 -4.69076016e-03 8.25091047e-01 5.94963980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:-58.92, Z:59.51 [[ 8.24157624e-01 2.45562679e-02 -5.65827889e-01 1.43563668e+02] [-1.66625834e-02 9.99678437e-01 1.91149580e-02 -5.89238940e+01] [ 5.66115331e-01 -6.32558399e-03 8.24301776e-01 5.95121245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.59, Y:-58.93, Z:59.53 [[ 8.24062891e-01 1.80547400e-02 -5.66210542e-01 1.43585474e+02] [-8.90071699e-03 9.99781270e-01 1.89258932e-02 -5.89314889e+01] [ 5.66428396e-01 -1.05564465e-02 8.24043344e-01 5.95270665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:-58.94, Z:59.54 [[ 8.24505926e-01 1.42089756e-02 -5.65674891e-01 1.43607205e+02] [-4.31780607e-03 9.99813556e-01 1.88204742e-02 -5.89352337e+01] [ 5.65836844e-01 -1.30751180e-02 8.24413553e-01 5.95423616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:-58.94, Z:59.56 [[ 8.24926804e-01 9.79937243e-03 -5.65154616e-01 1.43629795e+02] [ 9.45847654e-04 9.99824377e-01 1.87168365e-02 -5.89387102e+01] [ 5.65238775e-01 -1.59745702e-02 8.24772660e-01 5.95588076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:-58.95, Z:59.57 [[ 8.25789461e-01 2.39742249e-04 -5.63978465e-01 1.43651140e+02] [ 1.23320075e-02 9.99753142e-01 1.84817781e-02 -5.89454236e+01] [ 5.63843673e-01 -2.22170442e-02 8.25582652e-01 5.95747833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-58.95, Z:59.59 [[ 8.26387045e-01 -5.06920248e-03 -5.63079706e-01 1.43673908e+02] [ 1.86471962e-02 9.99657401e-01 1.83674451e-02 -5.89490846e+01] [ 5.62793687e-01 -2.56784765e-02 8.26198452e-01 5.95908908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:-58.95, Z:59.61 [[ 8.26862436e-01 -1.04747610e-02 -5.62306671e-01 1.43697030e+02] [ 2.50023849e-02 9.99522683e-01 1.81462753e-02 -5.89522038e+01] [ 5.61848194e-01 -2.90634812e-02 8.26729654e-01 5.96065510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:-58.95, Z:59.62 [[ 8.27033058e-01 -1.55944870e-02 -5.61936947e-01 1.43720249e+02] [ 3.10334502e-02 9.99357332e-01 1.79401344e-02 -5.89546859e+01] [ 5.61296041e-01 -3.22759265e-02 8.26985501e-01 5.96227741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.74, Y:-58.96, Z:59.64 [[ 8.27099079e-01 -1.99608387e-02 -5.61701591e-01 1.43742558e+02] [ 3.61603433e-02 9.99188565e-01 1.77381461e-02 -5.89567619e+01] [ 5.60891739e-01 -3.49825267e-02 8.27149733e-01 5.96377522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:-58.96, Z:59.65 [[ 8.26660462e-01 -2.64147525e-02 -5.62080725e-01 1.43765636e+02] [ 4.39296136e-02 9.98878421e-01 1.76660539e-02 -5.89580275e+01] [ 5.60983662e-01 -3.92958174e-02 8.26893687e-01 5.96531959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:-58.96, Z:59.67 [[ 8.26396835e-01 -2.87064804e-02 -5.62355945e-01 1.43789290e+02] [ 4.65896858e-02 9.98761137e-01 1.74811914e-02 -5.89575453e+01] [ 5.61157439e-01 -4.06463880e-02 8.26710469e-01 5.96689559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:-58.96, Z:59.68 [[ 8.26197632e-01 -3.00625265e-02 -5.62577744e-01 1.43812414e+02] [ 4.81157660e-02 9.98692018e-01 1.72952570e-02 -5.89566543e+01] [ 5.61321963e-01 -4.13581595e-02 8.26563462e-01 5.96844627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:-58.96, Z:59.70 [[ 8.26227761e-01 -3.08496235e-02 -5.62490877e-01 1.43835065e+02] [ 4.89285367e-02 9.98655910e-01 1.70988666e-02 -5.89550606e+01] [ 5.61207346e-01 -4.16494138e-02 8.26626664e-01 5.96999523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:-58.95, Z:59.72 [[ 8.26494141e-01 -3.09853995e-02 -5.62091931e-01 1.43858513e+02] [ 4.89710517e-02 9.98656272e-01 1.69554538e-02 -5.89532381e+01] [ 5.60811261e-01 -4.15398163e-02 8.26900945e-01 5.97160141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:-58.95, Z:59.73 [[ 8.26729475e-01 -3.04465036e-02 -5.61775209e-01 1.43880878e+02] [ 4.81609361e-02 9.98699152e-01 1.67489914e-02 -5.89462402e+01] [ 5.60534476e-01 -4.09025048e-02 8.27120358e-01 5.97309133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.90, Y:-58.94, Z:59.75 [[ 8.26712900e-01 -2.99829693e-02 -5.61824530e-01 1.43904104e+02] [ 4.75472440e-02 9.98729956e-01 1.66653998e-02 -5.89426977e+01] [ 5.60611310e-01 -4.04907090e-02 8.27088545e-01 5.97460495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.93, Y:-58.94, Z:59.76 [[ 8.26266872e-01 -2.94397644e-02 -5.62508983e-01 1.43926618e+02] [ 4.68124629e-02 9.98767567e-01 1.64905908e-02 -5.89391363e+01] [ 5.61330250e-01 -3.99580598e-02 8.26626702e-01 5.97613766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:-58.93, Z:59.78 [[ 8.25751873e-01 -2.87324313e-02 -5.63301244e-01 1.43951095e+02] [ 4.59612794e-02 9.98808116e-01 1.64289128e-02 -5.89310993e+01] [ 5.62157811e-01 -3.94562514e-02 8.26088252e-01 5.97764387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:-58.93, Z:59.79 [[ 8.25322219e-01 -2.87112498e-02 -5.63931644e-01 1.43974498e+02] [ 4.58535446e-02 9.98815913e-01 1.62549772e-02 -5.89270722e+01] [ 5.62797199e-01 -3.92738586e-02 8.25661479e-01 5.97917577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:-58.92, Z:59.81 [[ 8.25000370e-01 -2.93197860e-02 -5.64371101e-01 1.43998075e+02] [ 4.64939210e-02 9.98789195e-01 1.60766853e-02 -5.89228011e+01] [ 5.63216392e-01 -3.95030967e-02 8.25364647e-01 5.98064916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:-58.91, Z:59.82 [[ 8.24108706e-01 -2.99774313e-02 -5.65637865e-01 1.44020589e+02] [ 4.72586699e-02 9.98755778e-01 1.59221106e-02 -5.89148145e+01] [ 5.64456782e-01 -3.98528431e-02 8.24500026e-01 5.98208885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:-58.91, Z:59.84 [[ 8.23698496e-01 -3.06242581e-02 -5.66200444e-01 1.44044251e+02] [ 4.80296976e-02 9.98720069e-01 1.58546829e-02 -5.89112228e+01] [ 5.64990209e-01 -4.02539146e-02 8.24115093e-01 5.98368031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.07, Y:-58.91, Z:59.85 [[ 8.23348347e-01 -3.10710125e-02 -5.66685179e-01 1.44066534e+02] [ 4.84804302e-02 9.98701049e-01 1.56800100e-02 -5.89072293e+01] [ 5.65461889e-01 -4.03832516e-02 8.23785194e-01 5.98514394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:-58.90, Z:59.87 [[ 8.22989898e-01 -3.13182318e-02 -5.67192027e-01 1.44089723e+02] [ 4.87633839e-02 9.98688349e-01 1.56113251e-02 -5.89030456e+01] [ 5.65959150e-01 -4.05061654e-02 8.23437606e-01 5.98675284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:-58.90, Z:59.88 [[ 8.23011228e-01 -3.10108538e-02 -5.67177967e-01 1.44111825e+02] [ 4.82616735e-02 9.98715611e-01 1.54252736e-02 -5.88987285e+01] [ 5.65971139e-01 -4.00681313e-02 8.23450797e-01 5.98824387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:-58.89, Z:59.90 [[ 8.23000867e-01 -3.03762853e-02 -5.67227339e-01 1.44134675e+02] [ 4.74392434e-02 9.98756253e-01 1.53448767e-02 -5.88946852e+01] [ 5.66055732e-01 -3.95376827e-02 8.23418290e-01 5.98987322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:-58.90, Z:59.91 [[ 8.22984824e-01 -3.07101901e-02 -5.67232637e-01 1.44158267e+02] [ 4.77086778e-02 9.98746441e-01 1.51469154e-02 -5.88951854e+01] [ 5.66056412e-01 -3.95276006e-02 8.23418306e-01 5.99147682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:-58.89, Z:59.93 [[ 8.23603786e-01 -2.75949442e-02 -5.66493886e-01 1.44180556e+02] [ 4.37470643e-02 9.98930887e-01 1.49424484e-02 -5.88864026e+01] [ 5.65475904e-01 -3.70891015e-02 8.23930459e-01 5.99307550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.20, Y:-58.88, Z:59.95 [[ 8.23748642e-01 -2.55597109e-02 -5.66378740e-01 1.44203213e+02] [ 4.12111454e-02 9.99040054e-01 1.48530471e-02 -5.88818677e+01] [ 5.65455407e-01 -3.55762939e-02 8.24011232e-01 5.99465849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:-58.88, Z:59.96 [[ 8.24225089e-01 -2.29209283e-02 -5.65798228e-01 1.44225390e+02] [ 3.78416948e-02 9.99176376e-01 1.46483741e-02 -5.88770622e+01] [ 5.64996469e-01 -3.34843213e-02 8.24413604e-01 5.99618328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:-58.87, Z:59.98 [[ 8.24844172e-01 -1.53548290e-02 -5.65151591e-01 1.44247545e+02] [ 2.85745684e-02 9.99485772e-01 1.45494293e-02 -5.88671189e+01] [ 5.64637570e-01 -2.81499748e-02 8.24858772e-01 5.99773651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:-58.86, Z:59.99 [[ 8.24887464e-01 -1.09681859e-02 -5.65190561e-01 1.44270877e+02] [ 2.32077119e-02 9.99625906e-01 1.44724069e-02 -5.88625182e+01] [ 5.64820390e-01 -2.50548867e-02 8.24833425e-01 5.99934355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:-58.86, Z:60.01 [[ 8.25046131e-01 -6.16994957e-03 -5.65031692e-01 1.44293924e+02] [ 1.72521916e-02 9.99749271e-01 1.42743344e-02 -5.88580638e+01] [ 5.64801951e-01 -2.15250194e-02 8.24945713e-01 6.00087423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:-58.85, Z:60.02 [[ 8.24917815e-01 -1.38536938e-03 -5.65250987e-01 1.44317629e+02] [ 1.13309613e-02 9.99836588e-01 1.40857231e-02 -5.88536230e+01] [ 5.65139104e-01 -1.80244010e-02 8.24798711e-01 6.00246609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:-58.85, Z:60.04 [[ 8.24694867e-01 2.91355953e-03 -5.65570408e-01 1.44341144e+02] [ 6.00068321e-03 9.99885371e-01 1.39009363e-02 -5.88494912e+01] [ 5.65546079e-01 -1.48578396e-02 8.24582850e-01 6.00405496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:-58.84, Z:60.06 [[ 8.25098704e-01 1.05430366e-02 -5.64890231e-01 1.44363344e+02] [-3.40429724e-03 9.99900498e-01 1.36895735e-02 -5.88420165e+01] [ 5.64978353e-01 -9.37219510e-03 8.25052497e-01 6.00557455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:-58.84, Z:60.07 [[ 8.25719120e-01 1.32707972e-02 -5.63925368e-01 1.44386320e+02] [-6.79449699e-03 9.99884683e-01 1.35814440e-02 -5.88394558e+01] [ 5.64040575e-01 -7.38286879e-03 8.25714069e-01 6.00712190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:144.41, Y:-58.84, Z:60.09 [[ 8.25459733e-01 1.54832158e-02 -5.64248615e-01 1.44410747e+02] [-9.59773977e-03 9.99864209e-01 1.33958071e-02 -5.88369887e+01] [ 5.64379405e-01 -5.64218796e-03 8.25496246e-01 6.00852955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:-58.83, Z:60.10 [[ 8.26269008e-01 1.92612053e-02 -5.62946296e-01 1.44432625e+02] [-1.43352232e-02 9.99810536e-01 1.31678730e-02 -5.88343020e+01] [ 5.63093267e-01 -2.81024462e-03 8.26388574e-01 6.01019621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:-58.83, Z:60.12 [[ 8.26082630e-01 2.08081284e-02 -5.63164728e-01 1.44455637e+02] [-1.62614729e-02 9.99782121e-01 1.30872444e-02 -5.88336670e+01] [ 5.63314347e-01 -1.65325732e-03 8.26241014e-01 6.01173289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:-58.83, Z:60.13 [[ 8.26069415e-01 2.23043099e-02 -5.63126841e-01 1.44479219e+02] [-1.82052328e-02 9.99751149e-01 1.28922525e-02 -5.88332538e+01] [ 5.63274259e-01 -3.98040199e-04 8.26269902e-01 6.01322168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:-58.83, Z:60.15 [[ 8.25272970e-01 2.53874912e-02 -5.64163098e-01 1.44502083e+02] [-2.20580920e-02 9.99675788e-01 1.27185085e-02 -5.88332118e+01] [ 5.64303080e-01 1.94812020e-03 8.25565405e-01 6.01462031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:-58.83, Z:60.16 [[ 8.25277646e-01 2.51921219e-02 -5.64165014e-01 1.44525644e+02] [-2.18798748e-02 9.99680788e-01 1.26330214e-02 -5.88336239e+01] [ 5.64303179e-01 1.91810973e-03 8.25565408e-01 6.01622472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.55, Y:-58.84, Z:60.18 [[ 8.24643645e-01 2.71979931e-02 -5.64998344e-01 1.44549010e+02] [-2.43848388e-02 9.99624129e-01 1.25291833e-02 -5.88358256e+01] [ 5.65126746e-01 3.44528217e-03 8.24996904e-01 6.01771304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:-58.84, Z:60.19 [[ 8.24387677e-01 2.75748311e-02 -5.65353505e-01 1.44571774e+02] [-2.49749193e-02 9.99611943e-01 1.23376166e-02 -5.88380740e+01] [ 5.65474324e-01 3.94867911e-03 8.24756447e-01 6.01925826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:-58.84, Z:60.21 [[ 8.23813089e-01 2.70176303e-02 -5.66217311e-01 1.44593580e+02] [-2.61412867e-02 9.99611550e-01 9.66342966e-03 -5.88396773e+01] [ 5.66258447e-01 6.84078924e-03 8.24199354e-01 6.02074180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:-58.84, Z:60.22 [[ 8.24435572e-01 2.79481685e-02 -5.65265326e-01 1.44618419e+02] [-2.56363045e-02 9.99598921e-01 1.20323632e-02 -5.88434360e+01] [ 5.65374892e-01 4.57140574e-03 8.24821395e-01 6.02247254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.64, Y:-58.85, Z:60.24 [[ 8.24587609e-01 2.78560196e-02 -5.65048066e-01 1.44641293e+02] [-2.56916001e-02 9.99600431e-01 1.17864557e-02 -5.88489207e+01] [ 5.65150614e-01 4.79802362e-03 8.24973795e-01 6.02411051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:-58.85, Z:60.26 [[ 8.24518731e-01 2.75938612e-02 -5.65161429e-01 1.44662995e+02] [-2.55090831e-02 9.99607400e-01 1.15901593e-02 -5.88520682e+01] [ 5.65259364e-01 4.86044648e-03 8.24898920e-01 6.02562458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-58.86, Z:60.27 [[ 8.24533288e-01 2.71120825e-02 -5.65163509e-01 1.44686116e+02] [-2.49843355e-02 9.99621654e-01 1.15035885e-02 -5.88554552e+01] [ 5.65261568e-01 4.63514304e-03 8.24898706e-01 6.02721595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:-58.86, Z:60.29 [[ 8.24380872e-01 2.68927736e-02 -5.65396282e-01 1.44708340e+02] [-2.48507082e-02 9.99627160e-01 1.13129473e-02 -5.88594755e+01] [ 5.65489717e-01 4.72432065e-03 8.24741815e-01 6.02874486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:-58.87, Z:60.30 [[ 8.23714974e-01 2.57482726e-02 -5.66419163e-01 1.44731353e+02] [-2.35137585e-02 9.99660239e-01 1.12476587e-02 -5.88673160e+01] [ 5.66516324e-01 4.05377848e-03 8.24040546e-01 6.03030031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.75, Y:-58.87, Z:60.32 [[ 8.23132866e-01 2.51852731e-02 -5.67290037e-01 1.44753814e+02] [-2.29566110e-02 9.99675155e-01 1.10714985e-02 -5.88711747e+01] [ 5.67384595e-01 3.90974236e-03 8.23443645e-01 6.03180421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.78, Y:-58.87, Z:60.33 [[ 8.22601810e-01 2.45383154e-02 -5.68088139e-01 1.44776662e+02] [-2.22231504e-02 9.99692499e-01 1.10017542e-02 -5.88748070e+01] [ 5.68183416e-01 3.57464520e-03 8.22894178e-01 6.03336992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:-58.88, Z:60.35 [[ 8.22496672e-01 2.38756183e-02 -5.68268580e-01 1.44799674e+02] [-2.15513686e-02 9.99709303e-01 1.08095872e-02 -5.88784355e+01] [ 5.68361472e-01 3.35611615e-03 8.22772127e-01 6.03497436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:-58.88, Z:60.37 [[ 8.22736963e-01 2.29953271e-02 -5.67956957e-01 1.44822679e+02] [-2.06189856e-02 9.99731123e-01 1.06084493e-02 -5.88826880e+01] [ 5.68048192e-01 2.98273303e-03 8.22989888e-01 6.03655238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.85, Y:-58.89, Z:60.38 [[ 8.22901081e-01 2.16772986e-02 -5.67770998e-01 1.44845833e+02] [-1.91533901e-02 9.99762356e-01 1.04105384e-02 -5.88868465e+01] [ 5.67861742e-01 2.30789611e-03 8.23120717e-01 6.03816091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:-58.90, Z:60.40 [[ 8.22891988e-01 1.79552741e-02 -5.67914064e-01 1.44868065e+02] [-1.47629177e-02 9.99838791e-01 1.02200195e-02 -5.88951997e+01] [ 5.68006015e-01 -2.59035955e-05 8.23024402e-01 6.03981070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:-58.90, Z:60.41 [[ 8.23017055e-01 1.48463180e-02 -5.67822608e-01 1.44890598e+02] [-1.11240813e-02 9.99887925e-01 1.00195825e-02 -5.88997137e+01] [ 5.67907724e-01 -1.92978241e-03 8.23089967e-01 6.04142632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.91, Y:-58.90, Z:60.43 [[ 8.23188629e-01 1.08533712e-02 -5.67664237e-01 1.44913657e+02] [-6.41294780e-03 9.99931234e-01 9.81840806e-03 -5.89042921e+01] [ 5.67731764e-01 -4.44200074e-03 8.23201624e-01 6.04302676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.94, Y:-58.91, Z:60.45 [[ 8.23542622e-01 6.24854526e-03 -5.67219980e-01 1.44936172e+02] [-9.65597238e-04 9.99953322e-01 9.61363016e-03 -5.89090661e+01] [ 5.67253574e-01 -7.36952814e-03 8.23510214e-01 6.04462279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:-58.92, Z:60.46 [[ 8.23895015e-01 -3.77169921e-03 -5.66729900e-01 1.44958317e+02] [ 1.10496533e-02 9.99894681e-01 9.40915998e-03 -5.89182971e+01] [ 5.66634724e-01 -1.40143289e-02 8.23849919e-01 6.04616979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:-58.92, Z:60.48 [[ 8.23933944e-01 -9.16766698e-03 -5.66611692e-01 1.44980622e+02] [ 1.75351394e-02 9.99802790e-01 9.32197058e-03 -5.89232018e+01] [ 5.66414490e-01 -1.76163030e-02 8.23932213e-01 6.04773748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:-58.93, Z:60.49 [[ 8.23860951e-01 -1.45377343e-02 -5.66605496e-01 1.45003268e+02] [ 2.39930042e-02 9.99669448e-01 9.23741552e-03 -5.89273172e+01] [ 5.66283912e-01 -2.12049140e-02 8.23937426e-01 6.04932218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:-58.93, Z:60.51 [[ 8.23807572e-01 -1.95877808e-02 -5.66531026e-01 1.45026028e+02] [ 2.99867194e-02 9.99509359e-01 9.04648829e-03 -5.89308266e+01] [ 5.66075862e-01 -2.44409725e-02 8.23990751e-01 6.05089584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:-58.94, Z:60.53 [[ 8.23198834e-01 -2.68945222e-02 -5.67115830e-01 1.45049052e+02] [ 3.87500930e-02 9.99209636e-01 8.86197389e-03 -5.89362396e+01] [ 5.66429263e-01 -2.92709577e-02 8.23590372e-01 6.05254578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:-58.94, Z:60.54 [[ 8.23327059e-01 -2.93163738e-02 -5.66809583e-01 1.45072040e+02] [ 4.15394153e-02 9.99099305e-01 8.66350198e-03 -5.89383929e+01] [ 5.66045078e-01 -3.06778343e-02 8.23803278e-01 6.05415557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:-58.94, Z:60.56 [[ 8.23631679e-01 -3.08095574e-02 -5.66287584e-01 1.45093911e+02] [ 4.31860435e-02 9.99031244e-01 8.45803994e-03 -5.89396818e+01] [ 5.65478402e-01 -3.14220299e-02 8.24164324e-01 6.05568001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:-58.94, Z:60.57 [[ 8.23878483e-01 -3.16779821e-02 -5.65880509e-01 1.45116452e+02] [ 4.41569509e-02 9.98989579e-01 8.36570207e-03 -5.89405617e+01] [ 5.65043723e-01 -3.18798798e-02 8.24444822e-01 6.05729674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:-58.94, Z:60.59 [[ 8.24562866e-01 -3.16025738e-02 -5.64887031e-01 1.45139625e+02] [ 4.38768288e-02 9.99003642e-01 8.15759096e-03 -5.89407748e+01] [ 5.64066401e-01 -3.15118981e-02 8.25127927e-01 6.05892755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:-58.94, Z:60.61 [[ 8.24674642e-01 -3.09931628e-02 -5.64757610e-01 1.45162544e+02] [ 4.29987596e-02 9.99043401e-01 7.96177318e-03 -5.89403744e+01] [ 5.63970603e-01 -3.08497492e-02 8.25218427e-01 6.06051713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:-58.94, Z:60.62 [[ 8.24887704e-01 -2.99905991e-02 -5.64500522e-01 1.45184575e+02] [ 4.16351047e-02 9.99102747e-01 7.76012741e-03 -5.89394540e+01] [ 5.63761291e-01 -2.99042720e-02 8.25396233e-01 6.06200587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.21, Y:-58.94, Z:60.64 [[ 8.25107679e-01 -2.88399579e-02 -5.64238935e-01 1.45207869e+02] [ 4.01690427e-02 9.99163456e-01 7.67042708e-03 -5.89384338e+01] [ 5.63545709e-01 -2.89938661e-02 8.25575914e-01 6.06356167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:-58.94, Z:60.65 [[ 8.24922579e-01 -2.62775729e-02 -5.64634597e-01 1.45230792e+02] [ 3.69514305e-02 9.99289072e-01 7.47948842e-03 -5.89351324e+01] [ 5.64036640e-01 -2.70340550e-02 8.25307112e-01 6.06510306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:-58.93, Z:60.67 [[ 8.25034431e-01 -2.49194976e-02 -5.64532732e-01 1.45253000e+02] [ 3.51673495e-02 9.99354908e-01 7.28186642e-03 -5.89334646e+01] [ 5.63987096e-01 -2.58609104e-02 8.25378561e-01 6.06657598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:-58.93, Z:60.68 [[ 8.24807512e-01 -2.36426742e-02 -5.64919103e-01 1.45276118e+02] [ 3.35796151e-02 9.99410103e-01 7.20101566e-03 -5.89316201e+01] [ 5.64415608e-01 -2.49092179e-02 8.25114873e-01 6.06811930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.30, Y:-58.93, Z:60.70 [[ 8.24481839e-01 -2.22518472e-02 -5.65450751e-01 1.45298765e+02] [ 3.17867549e-02 9.99470044e-01 7.01661018e-03 -5.89295169e+01] [ 5.64994955e-01 -2.37589121e-02 8.24752214e-01 6.06958053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:-58.93, Z:60.71 [[ 8.23794940e-01 -1.99575949e-02 -5.66536488e-01 1.45321786e+02] [ 2.89925889e-02 9.99555492e-01 6.94610943e-03 -5.89256966e+01] [ 5.66146030e-01 -2.21475293e-02 8.24007378e-01 6.07110491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:-58.92, Z:60.73 [[ 8.23881036e-01 -1.92284359e-02 -5.66436497e-01 1.45344502e+02] [ 2.79715678e-02 9.99585913e-01 6.75233790e-03 -5.89241217e+01] [ 5.66072106e-01 -2.14072400e-02 8.24077727e-01 6.07266527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:-58.92, Z:60.74 [[ 8.24182397e-01 -1.85195760e-02 -5.66021556e-01 1.45368126e+02] [ 2.69628520e-02 9.99614949e-01 6.55427863e-03 -5.89228576e+01] [ 5.65682226e-01 -2.06634765e-02 8.24364385e-01 6.07425224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-58.92, Z:60.76 [[ 8.24348513e-01 -1.81563644e-02 -5.65791371e-01 1.45391312e+02] [ 2.63815496e-02 9.99631720e-01 6.35908144e-03 -5.89216132e+01] [ 5.65467544e-01 -2.01685525e-02 8.24523915e-01 6.07585368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:-58.92, Z:60.77 [[ 8.24350081e-01 -1.74317750e-02 -5.65811874e-01 1.45413678e+02] [ 2.53719732e-02 9.99659055e-01 6.16734400e-03 -5.89203824e+01] [ 5.65511456e-01 -1.94398143e-02 8.24511302e-01 6.07735599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:-58.92, Z:60.79 [[ 8.24578682e-01 -1.67082546e-02 -5.65500514e-01 1.45437137e+02] [ 2.44261829e-02 9.99683146e-01 6.08018767e-03 -5.89192429e+01] [ 5.65219744e-01 -1.88266121e-02 8.24725530e-01 6.07888431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:-58.92, Z:60.80 [[ 8.23705655e-01 -1.47184872e-02 -5.66826570e-01 1.45460407e+02] [ 2.19273449e-02 9.99742129e-01 5.90478003e-03 -5.89163570e+01] [ 5.66593492e-01 -1.72928024e-02 8.23815983e-01 6.08034905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:-58.91, Z:60.82 [[ 8.22131802e-01 -1.66866119e-02 -5.69052595e-01 1.45484068e+02] [ 1.96959102e-02 9.99805645e-01 -8.62371324e-04 -5.89127103e+01] [ 5.68956387e-01 -1.04990259e-02 8.22300675e-01 6.08171702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.51, Y:-58.92, Z:60.83 [[ 8.22900039e-01 -9.56544445e-03 -5.68105649e-01 1.45506881e+02] [ 1.85923550e-02 9.99776159e-01 1.00973233e-02 -5.89167100e+01] [ 5.67881898e-01 -1.88715096e-02 8.22893685e-01 6.08349456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:-58.91, Z:60.85 [[ 8.22832722e-01 -9.11806829e-03 -5.68210500e-01 1.45530849e+02] [ 1.49426484e-02 9.99872706e-01 5.59368830e-03 -5.89136610e+01] [ 5.68087167e-01 -1.30932395e-02 8.22864228e-01 6.08499565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:-58.91, Z:60.87 [[ 8.22697840e-01 -7.50346082e-03 -5.68429382e-01 1.45552844e+02] [ 1.28535787e-02 9.99902786e-01 5.40415428e-03 -5.89133073e+01] [ 5.68333573e-01 -1.17523379e-02 8.22714308e-01 6.08652665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:-58.91, Z:60.88 [[ 8.22992949e-01 -6.01819679e-03 -5.68019707e-01 1.45576243e+02] [ 1.09809844e-02 9.99925577e-01 5.31587870e-03 -5.89128395e+01] [ 5.67945442e-01 -1.06123462e-02 8.22997785e-01 6.08810184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:-58.91, Z:60.90 [[ 8.22989254e-01 -6.34731792e-03 -5.68021478e-01 1.45599840e+02] [ 1.12462056e-02 9.99923648e-01 5.12070962e-03 -5.89129060e+01] [ 5.67945605e-01 -1.06023753e-02 8.22997800e-01 6.08970551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:145.62, Y:-58.91, Z:60.91 [[ 8.22939074e-01 -4.39400540e-03 -5.68112641e-01 1.45622382e+02] [ 8.74891971e-03 9.99949529e-01 4.93923926e-03 -5.89125023e+01] [ 5.68062264e-01 -9.03506487e-03 8.22935983e-01 6.09127801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:-58.91, Z:60.93 [[ 8.23185250e-01 -2.80231510e-03 -5.67765965e-01 1.45645976e+02] [ 6.74978095e-03 9.99965455e-01 4.85076950e-03 -5.89121512e+01] [ 5.67732757e-01 -7.82537780e-03 8.23175728e-01 6.09285968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:-58.91, Z:60.94 [[ 8.23128495e-01 -1.34937700e-03 -5.67853555e-01 1.45668950e+02] [ 4.85351781e-03 9.99977368e-01 4.65916312e-03 -5.89120420e+01] [ 5.67834416e-01 -6.59117727e-03 8.23116415e-01 6.09441801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-58.91, Z:60.96 [[ 8.23497100e-01 1.36374113e-03 -5.67318841e-01 1.45691191e+02] [ 1.41816655e-03 9.99989038e-01 4.46236233e-03 -5.89126830e+01] [ 5.67318707e-01 -4.47929504e-03 8.23486138e-01 6.09594079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:-58.91, Z:60.98 [[ 8.23796919e-01 2.00325226e-03 -5.66881490e-01 1.45714408e+02] [ 5.78482240e-04 9.99990265e-01 4.37443220e-03 -5.89132323e+01] [ 5.66884734e-01 -3.93157464e-03 8.23787740e-01 6.09754181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:-58.91, Z:60.99 [[ 8.23908050e-01 2.18942140e-03 -5.66719270e-01 1.45737360e+02] [ 2.16664747e-04 9.99991247e-01 4.17828401e-03 -5.89135539e+01] [ 5.66723458e-01 -3.56530992e-03 8.23900365e-01 6.09912070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:-58.91, Z:61.01 [[ 8.24380159e-01 1.34368895e-03 -5.66034935e-01 1.45760782e+02] [ 1.10032505e-03 9.99991489e-01 3.97636879e-03 -5.89147047e+01] [ 5.66035461e-01 -3.90086196e-03 8.24371664e-01 6.10066640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:-58.92, Z:61.02 [[ 8.24182396e-01 1.67518269e-04 -5.66324421e-01 1.45782791e+02] [ 2.39519021e-03 9.99989981e-01 3.78156074e-03 -5.89158828e+01] [ 5.66319381e-01 -4.47315050e-03 8.24173738e-01 6.10217518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:-58.92, Z:61.04 [[ 8.24269699e-01 -1.63623181e-03 -5.66195007e-01 1.45805545e+02] [ 4.48980178e-03 9.99983272e-01 3.64645238e-03 -5.89174184e+01] [ 5.66179569e-01 -5.54776355e-03 8.24263258e-01 6.10372803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:-58.92, Z:61.05 [[ 8.24431558e-01 -3.60828195e-03 -5.65950163e-01 1.45827876e+02] [ 6.74584838e-03 9.99971290e-01 3.45138506e-03 -5.89188738e+01] [ 5.65921461e-01 -6.66324475e-03 8.24432230e-01 6.10526392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:-58.92, Z:61.07 [[ 8.24920739e-01 -8.50939744e-03 -5.65184364e-01 1.45850987e+02] [ 1.26183089e-02 9.99914732e-01 3.36250078e-03 -5.89219361e+01] [ 5.65107559e-01 -9.90546753e-03 8.24957774e-01 6.10687089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:-58.92, Z:61.08 [[ 8.25082051e-01 -1.17836196e-02 -5.64890039e-01 1.45874236e+02] [ 1.64505927e-02 9.99859652e-01 3.17074629e-03 -5.89232070e+01] [ 5.64773395e-01 -1.19089018e-02 8.25160100e-01 6.10845616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:-58.92, Z:61.10 [[ 8.25214603e-01 -1.51930644e-02 -5.64614939e-01 1.45897488e+02] [ 2.04409529e-02 9.99786643e-01 2.97255690e-03 -5.89246161e+01] [ 5.64449312e-01 -1.39942648e-02 8.25349098e-01 6.11002850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:-58.93, Z:61.12 [[ 8.25215123e-01 -1.87884547e-02 -5.64505975e-01 1.45920039e+02] [ 2.46571442e-02 9.99692123e-01 2.77194245e-03 -5.89254168e+01] [ 5.64280096e-01 -1.62065540e-02 8.25424328e-01 6.11155656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-58.93, Z:61.13 [[ 8.25240982e-01 -2.23405533e-02 -5.64338746e-01 1.45943218e+02] [ 2.88957558e-02 9.99578826e-01 2.68423502e-03 -5.89264336e+01] [ 5.64041094e-01 -1.85221353e-02 8.25538960e-01 6.11313916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-58.93, Z:61.15 [[ 8.25265375e-01 -2.57326736e-02 -5.64158569e-01 1.45965858e+02] [ 3.28628564e-02 9.99456781e-01 2.48490841e-03 -5.89272004e+01] [ 5.63788164e-01 -2.05905709e-02 8.25662724e-01 6.11467590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:-58.93, Z:61.16 [[ 8.25479160e-01 -3.22303263e-02 -5.63511635e-01 1.45988554e+02] [ 4.06478580e-02 9.99170661e-01 2.39633603e-03 -5.89283330e+01] [ 5.62967058e-01 -2.48836664e-02 8.26104651e-01 6.11621630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:-58.93, Z:61.18 [[ 8.24930862e-01 -3.52237747e-02 -5.64135054e-01 1.46011559e+02] [ 4.42396156e-02 9.99018269e-01 2.31403774e-03 -5.89284268e+01] [ 5.63499716e-01 -2.68660391e-02 8.25679288e-01 6.11780541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-58.93, Z:61.19 [[ 8.24678222e-01 -3.79030027e-02 -5.64330747e-01 1.46034417e+02] [ 4.73584689e-02 9.98875713e-01 2.11774584e-03 -5.89280900e+01] [ 5.63616008e-01 -2.84722990e-02 8.25546076e-01 6.11931366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:-58.93, Z:61.21 [[ 8.24390597e-01 -4.01371344e-02 -5.64596453e-01 1.46058074e+02] [ 4.99853913e-02 9.98747977e-01 1.98478897e-03 -5.89272751e+01] [ 5.63809901e-01 -2.98578160e-02 8.25364711e-01 6.12084960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:-58.92, Z:61.22 [[ 8.23684134e-01 -4.22664122e-02 -5.65471483e-01 1.46080257e+02] [ 5.24732735e-02 9.98620721e-01 1.79193445e-03 -5.89242106e+01] [ 5.64615801e-01 -3.11481278e-02 8.24765901e-01 6.12238729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:-58.92, Z:61.24 [[ 8.23485862e-01 -4.26619398e-02 -5.65730495e-01 1.46103302e+02] [ 5.28741040e-02 9.98599807e-01 1.65957517e-03 -5.89219688e+01] [ 5.64867563e-01 -3.12791297e-02 8.24588535e-01 6.12396811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:-58.92, Z:61.25 [[ 8.23599202e-01 -4.25048951e-02 -5.65577306e-01 1.46125155e+02] [ 5.25454520e-02 9.98617455e-01 1.46799066e-03 -5.89192577e+01] [ 5.64732973e-01 -3.09275511e-02 8.24693977e-01 6.12548504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:-58.92, Z:61.27 [[ 8.23792455e-01 -4.20533842e-02 -5.65329553e-01 1.46147994e+02] [ 5.19291792e-02 9.98649811e-01 1.38372712e-03 -5.89165328e+01] [ 5.64508061e-01 -3.04970036e-02 8.24863978e-01 6.12706263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:-58.91, Z:61.29 [[ 8.23919681e-01 -4.15436548e-02 -5.65181815e-01 1.46170941e+02] [ 5.11755568e-02 9.98688958e-01 1.19494127e-03 -5.89132229e+01] [ 5.64391196e-01 -2.99080297e-02 8.24965507e-01 6.12862405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:-58.91, Z:61.30 [[ 8.23902544e-01 -4.09472747e-02 -5.65250315e-01 1.46193927e+02] [ 5.03256297e-02 9.98732357e-01 1.00494629e-03 -5.89098939e+01] [ 5.64492630e-01 -2.92745559e-02 8.24918827e-01 6.13021140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:-58.90, Z:61.32 [[ 8.23857277e-01 -3.92703530e-02 -5.65435254e-01 1.46217537e+02] [ 4.81681395e-02 9.98838912e-01 8.11614745e-04 -5.89028732e+01] [ 5.64746862e-01 -2.79046189e-02 8.24792286e-01 6.13179086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:-58.90, Z:61.33 [[ 8.23964705e-01 -3.87819785e-02 -5.65312412e-01 1.46240328e+02] [ 4.74388869e-02 9.98873951e-01 6.18525868e-04 -5.88988015e+01] [ 5.64651854e-01 -2.73274350e-02 8.24876654e-01 6.13336882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:-58.89, Z:61.35 [[ 8.24505102e-01 -3.84529101e-02 -5.64546465e-01 1.46263875e+02] [ 4.68751345e-02 9.98900668e-01 4.21842989e-04 -5.88944404e+01] [ 5.63909619e-01 -2.68110032e-02 8.25401182e-01 6.13494654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:-58.89, Z:61.37 [[ 8.24797675e-01 -3.80397129e-02 -5.64146945e-01 1.46286351e+02] [ 4.62259096e-02 9.98930986e-01 2.26846600e-04 -5.88901598e+01] [ 5.63535234e-01 -2.62653082e-02 8.25674375e-01 6.13650265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:-58.89, Z:61.38 [[ 8.24882806e-01 -3.77643438e-02 -5.64040965e-01 1.46308448e+02] [ 4.58307542e-02 9.98949209e-01 1.42436020e-04 -5.88860517e+01] [ 5.63442896e-01 -2.59679158e-02 8.25746795e-01 6.13803493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:-58.88, Z:61.40 [[ 8.24961814e-01 -3.77818896e-02 -5.63924228e-01 1.46331335e+02] [ 4.57906699e-02 9.98951055e-01 5.90426864e-05 -5.88820245e+01] [ 5.63330472e-01 -2.58711761e-02 8.25826532e-01 6.13957358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:-58.87, Z:61.41 [[ 8.24680054e-01 -3.81917949e-02 -5.64308600e-01 1.46354479e+02] [ 4.61699985e-02 9.98933588e-01 -1.33951355e-04 -5.88734776e+01] [ 5.63711930e-01 -2.59436602e-02 8.25563920e-01 6.14109807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:-58.87, Z:61.43 [[ 8.24466268e-01 -3.86746877e-02 -5.64588028e-01 1.46377198e+02] [ 4.66345062e-02 9.98911966e-01 -3.25956465e-04 -5.88690908e+01] [ 5.63986344e-01 -2.60605438e-02 8.25372796e-01 6.14262103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:-58.86, Z:61.44 [[ 8.24485139e-01 -3.93384875e-02 -5.64514604e-01 1.46399392e+02] [ 4.73469147e-02 9.98878402e-01 -4.56211355e-04 -5.88601657e+01] [ 5.63899392e-01 -2.63518853e-02 8.25422954e-01 6.14411269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:146.42, Y:-58.85, Z:61.46 [[ 8.22448075e-01 -4.49570347e-02 -5.67060870e-01 1.46420844e+02] [ 4.65572505e-02 9.98847521e-01 -1.16641829e-02 -5.88513234e+01] [ 5.66931731e-01 -1.68076102e-02 8.23593296e-01 6.14555183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-58.85, Z:61.47 [[ 8.21684701e-01 -3.81275921e-02 -5.68665578e-01 1.46442654e+02] [ 4.63770723e-02 9.98924004e-01 3.65132608e-05 -5.88517430e+01] [ 5.68052304e-01 -2.64030470e-02 8.22568817e-01 6.14738988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:-58.85, Z:61.49 [[ 8.23259425e-01 -3.50155829e-02 -5.66584352e-01 1.46467121e+02] [ 4.71154446e-02 9.98866788e-01 6.72862040e-03 -5.88502483e+01] [ 5.65706685e-01 -3.22342738e-02 8.23976273e-01 6.14914943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:-58.84, Z:61.51 [[ 8.22757803e-01 -3.90660162e-02 -5.67048008e-01 1.46491063e+02] [ 4.69652072e-02 9.98896299e-01 -6.73502537e-04 -5.88430286e+01] [ 5.66448468e-01 -2.60773978e-02 8.23684468e-01 6.15069741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:146.51, Y:-58.83, Z:61.52 [[ 8.20057664e-01 -4.41016593e-02 -5.70579067e-01 1.46510627e+02] [ 4.40351915e-02 9.98932980e-01 -1.39213057e-02 -5.88293639e+01] [ 5.70584201e-01 -1.37092851e-02 8.21124671e-01 6.15204050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:-58.83, Z:61.54 [[ 8.22466370e-01 -3.51339362e-02 -5.67727643e-01 1.46535698e+02] [ 4.62351037e-02 9.98917245e-01 5.16255140e-03 -5.88311214e+01] [ 5.66931553e-01 -3.04949714e-02 8.23200262e-01 6.15373385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:-58.82, Z:61.55 [[ 8.22104255e-01 -3.85071912e-02 -5.68033265e-01 1.46559247e+02] [ 4.59133651e-02 9.98944619e-01 -1.26925429e-03 -5.88240418e+01] [ 5.67482648e-01 -2.50368593e-02 8.23004617e-01 6.15526772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:-58.82, Z:61.57 [[ 8.22112068e-01 -3.82820903e-02 -5.68037172e-01 1.46581352e+02] [ 4.55056209e-02 9.98963010e-01 -1.46411544e-03 -5.88199942e+01] [ 5.67504173e-01 -2.46452173e-02 8.23001596e-01 6.15675782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:-58.82, Z:61.58 [[ 8.22200415e-01 -3.81794127e-02 -5.67916199e-01 1.46604385e+02] [ 4.52851842e-02 9.98972824e-01 -1.59653571e-03 -5.88161946e+01] [ 5.67393804e-01 -2.44055174e-02 8.23084833e-01 6.15834177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82999999999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:146.63, Y:-58.80, Z:61.60 [[ 8.20537606e-01 -4.49610909e-02 -5.69821496e-01 1.46627133e+02] [ 4.35383667e-02 9.98921634e-01 -1.61238901e-02 -5.88034940e+01] [ 5.69931968e-01 -1.15788391e-02 8.21610298e-01 6.15994775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85999999999999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:146.65, Y:-58.81, Z:61.62 [[ 8.21592297e-01 -3.50380570e-02 -5.68997744e-01 1.46650662e+02] [ 4.29957479e-02 9.99075098e-01 5.61206143e-04 -5.88066590e+01] [ 5.68451813e-01 -2.49255662e-02 8.22338891e-01 6.16166120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:-58.81, Z:61.63 [[ 8.23316014e-01 -3.17206083e-02 -5.66696166e-01 1.46674390e+02] [ 4.26559560e-02 9.99071506e-01 6.04940703e-03 -5.88050138e+01] [ 5.65978101e-01 -2.91535404e-02 8.23904643e-01 6.16322397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:-58.80, Z:61.65 [[ 8.23022975e-01 -3.54755804e-02 -5.66899167e-01 1.46697981e+02] [ 4.15492517e-02 9.99134028e-01 -2.20298572e-03 -5.87980532e+01] [ 5.66486400e-01 -2.17411283e-02 8.23784245e-01 6.16478580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:146.72, Y:-58.79, Z:61.66 [[ 8.21017436e-01 -3.98313664e-02 -5.69511924e-01 1.46719600e+02] [ 3.95256897e-02 9.99135305e-01 -1.28981390e-02 -5.87903898e+01] [ 5.69533220e-01 -1.19207545e-02 8.21881869e-01 6.16631772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:-58.79, Z:61.68 [[ 8.22980990e-01 -2.77654708e-02 -5.67389961e-01 1.46743823e+02] [ 3.77244396e-02 9.99271241e-01 5.81832683e-03 -5.87914651e+01] [ 5.66814922e-01 -2.61928407e-02 8.23428673e-01 6.16793003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:146.77, Y:-58.78, Z:61.69 [[ 8.20650223e-01 -4.02336571e-02 -5.70012687e-01 1.46765534e+02] [ 3.67769387e-02 9.99168904e-01 -1.75771810e-02 -5.87790789e+01] [ 5.70246147e-01 -6.53860418e-03 8.21447855e-01 6.16947833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.79, Y:-58.79, Z:61.71 [[ 8.23629266e-01 -2.49744144e-02 -5.66578424e-01 1.46789200e+02] [ 3.74513858e-02 9.99244366e-01 1.03966445e-02 -5.87876684e+01] [ 5.65890648e-01 -2.97821279e-02 8.23942230e-01 6.17111616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:-58.78, Z:61.73 [[ 8.23846549e-01 -3.27378933e-02 -5.65866675e-01 1.46811343e+02] [ 3.75892604e-02 9.99288506e-01 -3.08697803e-03 -5.87800669e+01] [ 5.65565125e-01 -1.87273136e-02 8.24490980e-01 6.17260147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:-58.78, Z:61.74 [[ 8.24499389e-01 -3.34749352e-02 -5.64871832e-01 1.46834633e+02] [ 3.84015293e-02 9.99257376e-01 -3.16538795e-03 -5.87775450e+01] [ 5.64558305e-01 -1.90820818e-02 8.25172585e-01 6.17423097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:-58.77, Z:61.76 [[ 8.25140511e-01 -3.51889494e-02 -5.63830538e-01 1.46857722e+02] [ 4.03209810e-02 9.99181158e-01 -3.35146858e-03 -5.87726437e+01] [ 5.63486784e-01 -1.99687679e-02 8.25883704e-01 6.17578744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:-58.77, Z:61.77 [[ 8.24712969e-01 -3.57711647e-02 -5.64419119e-01 1.46881108e+02] [ 4.09056491e-02 9.99156695e-01 -3.55335114e-03 -5.87703121e+01] [ 5.64070249e-01 -2.01574357e-02 8.25480728e-01 6.17735833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:-58.77, Z:61.79 [[ 8.24256799e-01 -3.56461181e-02 -5.65092987e-01 1.46904041e+02] [ 4.06360539e-02 9.99166959e-01 -3.75492124e-03 -5.87682630e+01] [ 5.64756089e-01 -1.98681297e-02 8.25018677e-01 6.17884664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:-58.77, Z:61.80 [[ 8.23315123e-01 -3.44060552e-02 -5.66540759e-01 1.46927443e+02] [ 3.91077393e-02 9.99227581e-01 -3.85053702e-03 -5.87651063e+01] [ 5.66235634e-01 -1.89859230e-02 8.24024721e-01 6.18030037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:-58.76, Z:61.82 [[ 8.23065931e-01 -3.37420732e-02 -5.66942630e-01 1.46950447e+02] [ 3.81785959e-02 9.99262742e-01 -4.04572676e-03 -5.87636280e+01] [ 5.66661158e-01 -1.83151737e-02 8.23747344e-01 6.18186514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:-58.76, Z:61.83 [[ 8.22943269e-01 -3.27674656e-02 -5.67177810e-01 1.46973855e+02] [ 3.68665388e-02 9.99311196e-01 -4.24174782e-03 -5.87625919e+01] [ 5.66926127e-01 -1.74191649e-02 8.23584446e-01 6.18343964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:-58.76, Z:61.85 [[ 8.22911135e-01 -3.14863122e-02 -5.67296991e-01 1.46995634e+02] [ 3.51793363e-02 9.99371166e-01 -4.43690887e-03 -5.87616522e+01] [ 5.67079958e-01 -1.63059499e-02 8.23501328e-01 6.18495846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:-58.76, Z:61.86 [[ 8.23021576e-01 -3.01919028e-02 -5.67207135e-01 1.47017717e+02] [ 3.35148414e-02 9.99427779e-01 -4.56832902e-03 -5.87605030e+01] [ 5.67020494e-01 -1.52500238e-02 8.23562503e-01 6.18644000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:-58.76, Z:61.88 [[ 8.23098491e-01 -2.65169937e-02 -5.67279229e-01 1.47040588e+02] [ 2.89632544e-02 9.99569429e-01 -4.69956442e-03 -5.87590450e+01] [ 5.67159594e-01 -1.25620482e-02 8.23512107e-01 6.18801945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:-58.76, Z:61.90 [[ 8.23091492e-01 -2.67680523e-02 -5.67277593e-01 1.47064093e+02] [ 2.91366072e-02 9.99563475e-01 -4.89050501e-03 -5.87586785e+01] [ 5.67160872e-01 -1.25032113e-02 8.23512122e-01 6.18962993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:-58.76, Z:61.91 [[ 8.23314056e-01 -2.48009960e-02 -5.67043981e-01 1.47087250e+02] [ 2.66629483e-02 9.99631935e-01 -5.00823157e-03 -5.87583372e+01] [ 5.66959481e-01 -1.09957169e-02 8.23672290e-01 6.19121471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:-58.76, Z:61.93 [[ 8.23433777e-01 -2.26514627e-02 -5.66960075e-01 1.47110666e+02] [ 2.39184015e-02 9.99700379e-01 -5.20222891e-03 -5.87579025e+01] [ 5.66908040e-01 -9.27708773e-03 8.23728845e-01 6.19282334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:-58.76, Z:61.94 [[ 8.23686909e-01 -1.97938154e-02 -5.66699286e-01 1.47132977e+02] [ 2.03140681e-02 9.99779095e-01 -5.39441457e-03 -5.87574253e+01] [ 5.66680875e-01 -7.06865923e-03 8.23907046e-01 6.19434293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:-58.76, Z:61.96 [[ 8.23834423e-01 -1.66155546e-02 -5.66586945e-01 1.47156537e+02] [ 1.63980229e-02 9.99850537e-01 -5.47809206e-03 -5.87574251e+01] [ 5.66593283e-01 -4.77786487e-03 8.23983752e-01 6.19591844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:-58.76, Z:61.97 [[ 8.23567986e-01 -1.34038026e-02 -5.67059178e-01 1.47179511e+02] [ 1.23673393e-02 9.99907426e-01 -5.67351198e-03 -5.87577887e+01] [ 5.67082729e-01 -2.34049041e-03 8.23657514e-01 6.19748911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:-58.76, Z:61.99 [[ 8.23471932e-01 -6.33192507e-03 -5.67321676e-01 1.47201987e+02] [ 3.64308090e-03 9.99976118e-01 -5.87285683e-03 -5.87603656e+01] [ 5.67345314e-01 2.76933400e-03 8.23475334e-01 6.19892409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:-58.76, Z:62.00 [[ 8.23793858e-01 -3.26755077e-03 -5.66880061e-01 1.47225000e+02] [-1.30629361e-04 9.99982267e-01 -5.95382466e-03 -5.87617665e+01] [ 5.66889463e-01 4.97877537e-03 8.23778823e-01 6.20049197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:-58.76, Z:62.02 [[ 8.23902455e-01 -3.49679412e-04 -5.66731526e-01 1.47246743e+02] [-3.80583272e-03 9.99973847e-01 -6.14983468e-03 -5.87633145e+01] [ 5.66718855e-01 7.22374928e-03 8.23879577e-01 6.20201175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:-58.77, Z:62.04 [[ 8.24310945e-01 2.25275456e-03 -5.66132839e-01 1.47268911e+02] [-7.01082444e-03 9.99956023e-01 -6.22900421e-03 -5.87653250e+01] [ 5.66093909e-01 9.10369429e-03 8.24290488e-01 6.20357032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:-58.77, Z:62.05 [[ 8.24926132e-01 3.94370225e-03 -5.65226790e-01 1.47292255e+02] [-9.09924352e-03 9.99938735e-01 -6.30320995e-03 -5.87675342e+01] [ 5.65167303e-01 1.03428188e-02 8.24911478e-01 6.20520091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:-58.77, Z:62.07 [[ 8.25637603e-01 5.04739082e-03 -5.64178227e-01 1.47315720e+02] [-1.05453105e-02 9.99923357e-01 -6.48660432e-03 -5.87702626e+01] [ 5.64102246e-01 1.13050190e-02 8.25627551e-01 6.20681559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-58.78, Z:62.08 [[ 8.26676099e-01 4.87030901e-03 -5.62657007e-01 1.47338146e+02] [-1.04282428e-02 9.99923403e-01 -6.66630483e-03 -5.87774068e+01] [ 5.62581442e-01 1.13783988e-02 8.26663567e-01 6.20839321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:-58.78, Z:62.10 [[ 8.26563956e-01 3.76967877e-03 -5.62830184e-01 1.47361176e+02] [-9.15892272e-03 9.99935251e-01 -6.75337042e-03 -5.87818647e+01] [ 5.62768283e-01 1.07370107e-02 8.26544963e-01 6.20999308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:-58.79, Z:62.11 [[ 8.26462451e-01 2.48835637e-03 -5.62986345e-01 1.47383545e+02] [-7.74457017e-03 9.99945863e-01 -6.94932447e-03 -5.87864462e+01] [ 5.62938574e-01 1.01034430e-02 8.26436980e-01 6.21146466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:-58.79, Z:62.13 [[ 8.26094823e-01 9.99246568e-04 -5.63530252e-01 1.47407062e+02] [-6.01179809e-03 9.99957149e-01 -7.03974902e-03 -5.87911573e+01] [ 5.63499069e-01 9.20333031e-03 8.26065432e-01 6.21301990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-58.80, Z:62.15 [[ 8.25559731e-01 -4.88482085e-04 -5.64314533e-01 1.47430779e+02] [-4.35736958e-03 9.99964296e-01 -7.24017061e-03 -5.87961851e+01] [ 5.64297922e-01 8.43612028e-03 8.25528126e-01 6.21457418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:-58.81, Z:62.16 [[ 8.24125369e-01 -3.51754497e-03 -5.66396507e-01 1.47454098e+02] [-8.59000686e-04 9.99971804e-01 -7.46009200e-03 -5.88064154e+01] [ 5.66406778e-01 6.63458606e-03 8.24099110e-01 6.21597131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:-58.81, Z:62.18 [[ 8.23581780e-01 -5.21767555e-03 -5.67173543e-01 1.47477653e+02] [ 1.13277304e-03 9.99970824e-01 -7.55428764e-03 -5.88115163e+01] [ 5.67196411e-01 5.57909476e-03 8.23563662e-01 6.21751254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:-58.82, Z:62.19 [[ 8.22580404e-01 -7.05805516e-03 -5.68605015e-01 1.47501225e+02] [ 2.84283467e-03 9.99961515e-01 -8.29982733e-03 -5.88166221e+01] [ 5.68641713e-01 5.21082526e-03 8.22568811e-01 6.21905724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:-58.82, Z:62.21 [[ 8.23147516e-01 -8.92895770e-03 -5.67757378e-01 1.47524137e+02] [ 5.26169931e-03 9.99953372e-01 -8.09744940e-03 -5.88222413e+01] [ 5.67803206e-01 3.67802676e-03 8.23156116e-01 6.22066969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:-58.83, Z:62.22 [[ 8.20834157e-01 -1.89996042e-02 -5.70850508e-01 1.47549033e+02] [ 8.45166435e-03 9.99741190e-01 -2.11215931e-02 -5.88281211e+01] [ 5.71104068e-01 1.25126882e-02 8.20782295e-01 6.22225899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:-58.84, Z:62.24 [[ 8.22219899e-01 -4.73186009e-03 -5.69150286e-01 1.47569959e+02] [ 9.53624545e-03 9.99939606e-01 5.46308512e-03 -5.88442068e+01] [ 5.69090062e-01 -9.91941411e-03 8.22215365e-01 6.22415465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:-58.84, Z:62.26 [[ 8.22486262e-01 -1.35153044e-02 -5.68624379e-01 1.47593758e+02] [ 1.06587561e-02 9.99908339e-01 -8.34889486e-03 -5.88434026e+01] [ 5.68685097e-01 8.06022760e-04 8.22554929e-01 6.22559490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:-58.85, Z:62.27 [[ 8.22656550e-01 -1.46150368e-02 -5.68350774e-01 1.47616678e+02] [ 1.18605009e-02 9.99893153e-01 -8.54464656e-03 -5.88474313e+01] [ 5.68414928e-01 2.88384561e-04 8.22741993e-01 6.22718577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:-58.86, Z:62.29 [[ 8.23326788e-01 -1.56178315e-02 -5.67352698e-01 1.47638650e+02] [ 1.29516922e-02 9.99878021e-01 -8.72905227e-03 -5.88551164e+01] [ 5.67419822e-01 -1.61314962e-04 8.23428637e-01 6.22869154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:-58.86, Z:62.30 [[ 8.23330977e-01 -1.60429540e-02 -5.67334757e-01 1.47662079e+02] [ 1.34082662e-02 9.99871243e-01 -8.81569014e-03 -5.88587027e+01] [ 5.67403138e-01 -3.48744698e-04 8.23440075e-01 6.23032072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:-58.86, Z:62.32 [[ 8.23260382e-01 -1.62787507e-02 -5.67430476e-01 1.47685191e+02] [ 1.35591790e-02 9.99867455e-01 -9.01230787e-03 -5.88624191e+01] [ 5.67501975e-01 -2.74415349e-04 8.23371990e-01 6.23190597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:-58.87, Z:62.33 [[ 8.23135824e-01 -1.65649242e-02 -5.67602871e-01 1.47707334e+02] [ 1.37716489e-02 9.99862764e-01 -9.20839833e-03 -5.88660300e+01] [ 5.67677511e-01 -2.37064884e-04 8.23250987e-01 6.23338379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:-58.87, Z:62.35 [[ 8.22741204e-01 -1.66073494e-02 -5.68173483e-01 1.47730497e+02] [ 1.37586577e-02 9.99862075e-01 -9.30216637e-03 -5.88699127e+01] [ 5.68249602e-01 -1.64028885e-04 8.22856223e-01 6.23503238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:-58.87, Z:62.37 [[ 8.22812848e-01 -1.67133755e-02 -5.68066616e-01 1.47753062e+02] [ 1.37569296e-02 9.99860322e-01 -9.49125058e-03 -5.88731465e+01] [ 5.68145901e-01 -5.32954565e-06 8.22927843e-01 6.23660739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:-58.88, Z:62.38 [[ 8.23432602e-01 -1.65367411e-02 -5.67173066e-01 1.47775605e+02] [ 1.34956446e-02 9.99863235e-01 -9.55920869e-03 -5.88789676e+01] [ 5.67253575e-01 2.16997969e-04 8.23543159e-01 6.23830188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:-58.88, Z:62.40 [[ 8.24051017e-01 -1.67625283e-02 -5.66267551e-01 1.47798359e+02] [ 1.36451556e-02 9.99859454e-01 -9.74074549e-03 -5.88809487e+01] [ 5.66351244e-01 3.00062384e-04 8.24163927e-01 6.23987229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:-58.88, Z:62.41 [[ 8.24267942e-01 -1.71901269e-02 -5.65938919e-01 1.47821037e+02] [ 1.40310338e-02 9.99852208e-01 -9.93438482e-03 -5.88828704e+01] [ 5.66026051e-01 2.47886822e-04 8.24387317e-01 6.24148340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:-58.88, Z:62.43 [[ 8.24604593e-01 -1.78623124e-02 -5.65427452e-01 1.47843811e+02] [ 1.47149527e-02 9.99840456e-01 -1.01258703e-02 -5.88847829e+01] [ 5.65518113e-01 2.96009191e-05 8.24735875e-01 6.24302964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:-58.89, Z:62.45 [[ 8.24241045e-01 -1.98722512e-02 -5.65890267e-01 1.47867118e+02] [ 1.70875343e-02 9.99801752e-01 -1.02211768e-02 -5.88902174e+01] [ 5.65981198e-01 -1.24495589e-03 8.24417209e-01 6.24465304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:-58.89, Z:62.46 [[ 8.24235325e-01 -2.02115084e-02 -5.65886582e-01 1.47890655e+02] [ 1.73612834e-02 9.99794965e-01 -1.04218432e-02 -5.88896404e+01] [ 5.65981197e-01 -1.23446602e-03 8.24417225e-01 6.24626479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:-58.90, Z:62.48 [[ 8.23728925e-01 -2.32167302e-02 -5.66508290e-01 1.47913811e+02] [ 2.08723322e-02 9.99725726e-01 -1.06215898e-02 -5.88951803e+01] [ 5.66599510e-01 -3.07503846e-03 8.23987585e-01 6.24775029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:-58.90, Z:62.49 [[ 8.23222727e-01 -2.50988159e-02 -5.67163461e-01 1.47936764e+02] [ 2.30920932e-02 9.99675852e-01 -1.07213257e-02 -5.88974939e+01] [ 5.67248709e-01 -4.27095259e-03 8.23535464e-01 6.24933503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:-58.90, Z:62.51 [[ 8.22840690e-01 -2.70550310e-02 -5.67627717e-01 1.47959271e+02] [ 2.53284709e-02 9.99619444e-01 -1.09287098e-02 -5.88991270e+01] [ 5.67707379e-01 -5.38455498e-03 8.23212815e-01 6.25085205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:-58.90, Z:62.52 [[ 8.22206890e-01 -2.89609772e-02 -5.68451486e-01 1.47981926e+02] [ 2.75811022e-02 9.99558698e-01 -1.10314152e-02 -5.89006577e+01] [ 5.68520108e-01 -6.60841294e-03 8.22642824e-01 6.25242465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:-58.90, Z:62.54 [[ 8.21811650e-01 -3.25143422e-02 -5.68830757e-01 1.48004731e+02] [ 3.17658556e-02 9.99432201e-01 -1.12341507e-02 -5.89041481e+01] [ 5.68873046e-01 -8.83703976e-03 8.22377872e-01 6.25402943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:-58.90, Z:62.56 [[ 8.20543340e-01 -3.92171103e-02 -5.70237359e-01 1.48028680e+02] [ 3.37687661e-02 9.99226957e-01 -2.01285615e-02 -5.89018556e+01] [ 5.70585925e-01 -2.73985490e-03 8.21233338e-01 6.25550447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:-58.91, Z:62.57 [[ 8.22292671e-01 -3.09800393e-02 -5.68220907e-01 1.48050014e+02] [ 3.54537108e-02 9.99366259e-01 -3.18024105e-03 -5.89101683e+01] [ 5.67959327e-01 -1.75304508e-02 8.22869909e-01 6.25746778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:-58.91, Z:62.59 [[ 8.22471509e-01 -3.75343271e-02 -5.67566553e-01 1.48073862e+02] [ 3.75699959e-02 9.99226233e-01 -1.16374600e-02 -5.89075008e+01] [ 5.67564193e-01 -1.17519938e-02 8.23245272e-01 6.25893354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:-58.91, Z:62.60 [[ 8.22429055e-01 -3.93956641e-02 -5.67501921e-01 1.48096232e+02] [ 3.96958239e-02 9.99141751e-01 -1.18323015e-02 -5.89080483e+01] [ 5.67481005e-01 -1.27962278e-02 8.23287050e-01 6.26047934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:-58.91, Z:62.62 [[ 8.21972812e-01 -4.38895187e-02 -5.67833079e-01 1.48118330e+02] [ 4.50995284e-02 9.98911326e-01 -1.19245450e-02 -5.89089217e+01] [ 5.67738257e-01 -1.58073523e-02 8.23057349e-01 6.26195605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:-58.91, Z:62.63 [[ 8.21519301e-01 -4.66214971e-02 -5.68271480e-01 1.48141576e+02] [ 4.83333273e-02 9.98758378e-01 -1.20661512e-02 -5.89086826e+01] [ 5.68128443e-01 -1.75538754e-02 8.22752656e-01 6.26349182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:-58.91, Z:62.65 [[ 8.21214507e-01 -4.95694549e-02 -5.68462491e-01 1.48165165e+02] [ 5.17870220e-02 9.98582860e-01 -1.22628220e-02 -5.89083050e+01] [ 5.68264761e-01 -1.93685722e-02 8.22617785e-01 6.26503901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:-58.91, Z:62.67 [[ 8.20437645e-01 -5.25130169e-02 -5.69319290e-01 1.48188440e+02] [ 5.52475130e-02 9.98394770e-01 -1.24738123e-02 -5.89082382e+01] [ 5.69060439e-01 -2.12194896e-02 8.22021867e-01 6.26662313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:-58.91, Z:62.68 [[ 8.20049610e-01 -5.53873733e-02 -5.69605895e-01 1.48211372e+02] [ 5.86128188e-02 9.98200265e-01 -1.26794186e-02 -5.89078976e+01] [ 5.69283035e-01 -2.29884548e-02 8.21820149e-01 6.26813835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.23, Y:-58.91, Z:62.70 [[ 8.19299393e-01 -5.79414368e-02 -5.70430797e-01 1.48234636e+02] [ 6.16784734e-02 9.98014177e-01 -1.27854940e-02 -5.89074217e+01] [ 5.70038832e-01 -2.47081533e-02 8.21246149e-01 6.26974509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:-58.91, Z:62.71 [[ 8.18243261e-01 -6.20066053e-02 -5.71518282e-01 1.48256793e+02] [ 6.65199902e-02 9.97700293e-01 -1.30082884e-02 -5.89054104e+01] [ 5.71010558e-01 -2.73734462e-02 8.20486220e-01 6.27132020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.28, Y:-58.90, Z:62.73 [[ 8.17841252e-01 -6.38091973e-02 -5.71895160e-01 1.48280258e+02] [ 6.86336048e-02 9.97555233e-01 -1.31524201e-02 -5.89032612e+01] [ 5.71336254e-01 -2.84946346e-02 8.20221275e-01 6.27293644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:-58.90, Z:62.75 [[ 8.17902171e-01 -6.51510692e-02 -5.71656694e-01 1.48302987e+02] [ 7.01296157e-02 9.97448691e-01 -1.33396211e-02 -5.89013213e+01] [ 5.71067312e-01 -2.91795593e-02 8.20384470e-01 6.27455328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:-58.90, Z:62.76 [[ 8.17680625e-01 -6.63485559e-02 -5.71835873e-01 1.48326208e+02] [ 7.14575161e-02 9.97351721e-01 -1.35413331e-02 -5.88989261e+01] [ 5.71219940e-01 -2.97894854e-02 8.20256281e-01 6.27619618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:-58.90, Z:62.78 [[ 8.18149909e-01 -6.73062232e-02 -5.71052186e-01 1.48347995e+02] [ 7.24655025e-02 9.97276537e-01 -1.37207652e-02 -5.88962801e+01] [ 5.70420440e-01 -3.01559408e-02 8.20799087e-01 6.27771691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:-58.89, Z:62.79 [[ 8.18119189e-01 -6.84980212e-02 -5.70954477e-01 1.48371024e+02] [ 7.38546793e-02 9.97173449e-01 -1.38057903e-02 -5.88915019e+01] [ 5.70286314e-01 -3.08728778e-02 8.20865632e-01 6.27927629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:-58.89, Z:62.81 [[ 8.17926486e-01 -6.91831237e-02 -5.71147930e-01 1.48393944e+02] [ 7.45573435e-02 9.97118320e-01 -1.40092149e-02 -5.88885618e+01] [ 5.70471266e-01 -3.11247646e-02 8.20727594e-01 6.28087756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:-58.89, Z:62.82 [[ 8.18043571e-01 -6.99296252e-02 -5.70889274e-01 1.48415924e+02] [ 7.53214435e-02 9.97058167e-01 -1.42018455e-02 -5.88852102e+01] [ 5.70202943e-01 -3.13824758e-02 8.20904224e-01 6.28237324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:-58.88, Z:62.84 [[ 8.18565082e-01 -7.07706767e-02 -5.70037471e-01 1.48439092e+02] [ 7.62602647e-02 9.96985854e-01 -1.42681386e-02 -5.88815699e+01] [ 5.69329061e-01 -3.17918084e-02 8.21494797e-01 6.28393299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:-58.88, Z:62.86 [[ 8.18740298e-01 -7.16306397e-02 -5.69678309e-01 1.48462106e+02] [ 7.71606243e-02 9.96913874e-01 -1.44556425e-02 -5.88774802e+01] [ 5.68955676e-01 -3.21213169e-02 8.21740628e-01 6.28552943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:-58.87, Z:62.87 [[ 8.18785790e-01 -7.25567479e-02 -5.69495696e-01 1.48484936e+02] [ 7.81469534e-02 9.96834248e-01 -1.46470575e-02 -5.88728948e+01] [ 5.68755557e-01 -3.25115511e-02 8.21863806e-01 6.28710320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:-58.87, Z:62.89 [[ 8.18759530e-01 -7.28933740e-02 -5.69490464e-01 1.48508465e+02] [ 7.84173351e-02 9.96810038e-01 -1.48481969e-02 -5.88721495e+01] [ 5.68756146e-01 -3.25008218e-02 8.21863822e-01 6.28871524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:-58.86, Z:62.90 [[ 8.18274543e-01 -7.35977452e-02 -5.70096609e-01 1.48530154e+02] [ 7.91633848e-02 9.96748012e-01 -1.50518763e-02 -5.88629075e+01] [ 5.69350446e-01 -3.28142100e-02 8.21439771e-01 6.29024442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:-58.86, Z:62.92 [[ 8.18077975e-01 -7.37902329e-02 -5.70353775e-01 1.48552936e+02] [ 7.93446558e-02 9.96732162e-01 -1.51467096e-02 -5.88578923e+01] [ 5.69607630e-01 -3.28633345e-02 8.21259490e-01 6.29183738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.57, Y:-58.85, Z:62.93 [[ 8.18287317e-01 -7.39525658e-02 -5.70032355e-01 1.48574709e+02] [ 7.93968417e-02 9.96725141e-01 -1.53341350e-02 -5.88527177e+01] [ 5.69299577e-01 -3.27110404e-02 8.21479141e-01 6.29335262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:-58.84, Z:62.95 [[ 8.17103419e-01 -7.81079884e-02 -5.71175231e-01 1.48597658e+02] [ 7.92026427e-02 9.96593646e-01 -2.29792436e-02 -5.88440891e+01] [ 5.71024468e-01 -2.64621692e-02 8.20506435e-01 6.29486626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.62, Y:-58.84, Z:62.97 [[ 8.19104134e-01 -7.00878540e-02 -5.69347091e-01 1.48619913e+02] [ 7.92032965e-02 9.96819967e-01 -8.76306352e-03 -5.88440004e+01] [ 5.68150733e-01 -3.79163049e-02 8.22050545e-01 6.29668378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:-58.84, Z:62.98 [[ 8.19248449e-01 -7.38948468e-02 -5.68657656e-01 1.48643431e+02] [ 7.90428366e-02 9.96748385e-01 -1.56488668e-02 -5.88353100e+01] [ 5.67964971e-01 -3.21280044e-02 8.22425427e-01 6.29817483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:-58.82, Z:63.00 [[ 8.19525515e-01 -7.33814470e-02 -5.68324813e-01 1.48666448e+02] [ 7.82763426e-02 9.96805983e-01 -1.58318012e-02 -5.88247314e+01] [ 5.67671334e-01 -3.15118227e-02 8.22651968e-01 6.29973976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:-58.82, Z:63.01 [[ 8.19652326e-01 -7.35555413e-02 -5.68119395e-01 1.48689171e+02] [ 7.83504548e-02 9.96797195e-01 -1.60174513e-02 -5.88191150e+01] [ 5.67477992e-01 -3.13836718e-02 8.22790249e-01 6.30128462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-58.81, Z:63.03 [[ 8.19666882e-01 -7.37932006e-02 -5.68067572e-01 1.48712306e+02] [ 7.85070703e-02 9.96781825e-01 -1.62059517e-02 -5.88133048e+01] [ 5.67435321e-01 -3.13138390e-02 8.22822338e-01 6.30285544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.74, Y:-58.81, Z:63.04 [[ 8.19453607e-01 -7.42156479e-02 -5.68320177e-01 1.48735552e+02] [ 7.88946821e-02 9.96747951e-01 -1.64058283e-02 -5.88072310e+01] [ 5.67689541e-01 -3.13936245e-02 8.22643924e-01 6.30437496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:-58.80, Z:63.06 [[ 8.18564338e-01 -7.46777268e-02 -5.69539868e-01 1.48758338e+02] [ 7.93571925e-02 9.96707477e-01 -1.66325159e-02 -5.87969129e+01] [ 5.68906724e-01 -3.15823006e-02 8.21795411e-01 6.30583084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:-58.79, Z:63.07 [[ 8.17927476e-01 -7.52561804e-02 -5.70378078e-01 1.48781390e+02] [ 8.00260770e-02 9.96652179e-01 -1.67410168e-02 -5.87912368e+01] [ 5.69728419e-01 -3.19521824e-02 8.21211658e-01 6.30738591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:-58.79, Z:63.09 [[ 8.17646104e-01 -7.56626986e-02 -5.70727609e-01 1.48804485e+02] [ 8.03993703e-02 9.96618757e-01 -1.69408883e-02 -5.87855797e+01] [ 5.70079634e-01 -3.20344891e-02 8.20964678e-01 6.30897014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:-58.78, Z:63.11 [[ 8.17738379e-01 -7.63315526e-02 -5.70506300e-01 1.48827751e+02] [ 8.10783230e-02 9.96560658e-01 -1.71219247e-02 -5.87798206e+01] [ 5.69851076e-01 -3.22544391e-02 8.21114731e-01 6.31055557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:-58.77, Z:63.12 [[ 8.17666615e-01 -7.69123602e-02 -5.70531152e-01 1.48850633e+02] [ 8.16494902e-02 9.96510591e-01 -1.73205604e-02 -5.87740204e+01] [ 5.69872501e-01 -3.24211337e-02 8.21093297e-01 6.31218179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:-58.77, Z:63.14 [[ 8.16471399e-01 -8.18092029e-02 -5.71560766e-01 1.48872687e+02] [ 8.19974547e-02 9.96306991e-01 -2.54714898e-02 -5.87651151e+01] [ 5.71533789e-01 -2.60697851e-02 8.20164309e-01 6.31363574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-58.76, Z:63.15 [[ 8.18870932e-01 -7.30031880e-02 -5.69316197e-01 1.48895604e+02] [ 8.18595163e-02 9.96593197e-01 -1.00508332e-02 -5.87611953e+01] [ 5.68110391e-01 -3.83736133e-02 8.22057205e-01 6.31546150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:-58.77, Z:63.18 [[ 8.16129514e-01 -5.82924560e-02 -5.74921391e-01 1.48915792e+02] [ 7.85211442e-02 9.96858292e-01 1.03911687e-02 -5.87667917e+01] [ 5.72509429e-01 -5.36240249e-02 8.18142664e-01 6.31810433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:-58.75, Z:63.19 [[ 8.16350155e-01 -7.46329446e-02 -5.72714893e-01 1.48941164e+02] [ 7.68759481e-02 9.96833531e-01 -2.03223798e-02 -5.87481391e+01] [ 5.72418128e-01 -2.74378225e-02 8.19502686e-01 6.31925608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.97, Y:-58.73, Z:63.20 [[ 8.18464422e-01 -7.98953569e-02 -5.68975151e-01 1.48965502e+02] [ 7.50679417e-02 9.96665893e-01 -3.19671918e-02 -5.87298690e+01] [ 5.69632157e-01 -1.65477843e-02 8.21733154e-01 6.32008176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:148.99, Y:-58.72, Z:63.22 [[ 8.16668505e-01 -7.70403396e-02 -5.71941726e-01 1.48988032e+02] [ 7.26335088e-02 9.96890142e-01 -3.05682471e-02 -5.87249515e+01] [ 5.72518057e-01 -1.65780098e-02 8.19724493e-01 6.32170310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.01, Y:-58.74, Z:63.23 [[ 8.18912253e-01 -5.15348635e-02 -5.71600280e-01 1.49010567e+02] [ 7.02771543e-02 9.97469547e-01 1.07529091e-02 -5.87371741e+01] [ 5.69599722e-01 -4.89761300e-02 8.20461757e-01 6.32345304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:-58.71, Z:63.24 [[ 8.20376944e-01 -7.84958264e-02 -5.66409812e-01 1.49035951e+02] [ 6.98337412e-02 9.96872027e-01 -3.70055425e-02 -5.87098880e+01] [ 5.67542878e-01 -9.19602229e-03 8.23292485e-01 6.32416739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:-58.71, Z:63.26 [[ 8.20978381e-01 -6.71994357e-02 -5.66990947e-01 1.49058646e+02] [ 6.80608218e-02 9.97487202e-01 -1.96724724e-02 -5.87122699e+01] [ 5.66888192e-01 -2.24391953e-02 8.23489077e-01 6.32574835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:-58.71, Z:63.27 [[ 8.21049023e-01 -6.61508160e-02 -5.67011968e-01 1.49081302e+02] [ 6.66528302e-02 9.97578400e-01 -1.98679828e-02 -5.87078591e+01] [ 5.66953174e-01 -2.14803645e-02 8.23469910e-01 6.32725517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.10, Y:-58.70, Z:63.29 [[ 8.20846500e-01 -6.59442389e-02 -5.67329164e-01 1.49104033e+02] [ 6.63456887e-02 9.97596957e-01 -1.99639759e-02 -5.87000900e+01] [ 5.67282357e-01 -2.12524843e-02 8.23249087e-01 6.32880748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.13, Y:-58.70, Z:63.30 [[ 8.20826172e-01 -6.68559084e-02 -5.67251869e-01 1.49126653e+02] [ 6.73187742e-02 9.97527900e-01 -2.01561648e-02 -5.86960487e+01] [ 5.67197125e-01 -2.16419929e-02 8.23297665e-01 6.33033035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:-58.69, Z:63.32 [[ 8.20727550e-01 -6.83719107e-02 -5.67213866e-01 1.49149457e+02] [ 6.90689511e-02 9.97405569e-01 -2.02881737e-02 -5.86924472e+01] [ 5.67129411e-01 -2.25258037e-02 8.23320606e-01 6.33189081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:-58.69, Z:63.33 [[ 8.20406215e-01 -7.04769542e-02 -5.67421044e-01 1.49172260e+02] [ 7.14946807e-02 9.97230477e-01 -2.04911087e-02 -5.86890106e+01] [ 5.67293709e-01 -2.37565534e-02 8.23172809e-01 6.33345326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:-58.68, Z:63.35 [[ 8.18916875e-01 -7.69941174e-02 -5.68724061e-01 1.49194732e+02] [ 7.37662604e-02 9.96861406e-01 -2.87380644e-02 -5.86823284e+01] [ 5.69151729e-01 -1.84185613e-02 8.22026195e-01 6.33498692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:-58.68, Z:63.37 [[ 8.20196032e-01 -7.09420768e-02 -5.67666884e-01 1.49218448e+02] [ 7.68180705e-02 9.96952375e-01 -1.35995168e-02 -5.86848753e+01] [ 5.66901626e-01 -3.24528049e-02 8.23146015e-01 6.33666313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:-58.68, Z:63.38 [[ 8.19897930e-01 -7.84114747e-02 -5.67114650e-01 1.49240455e+02] [ 8.08451426e-02 9.96507522e-01 -2.09002877e-02 -5.86751517e+01] [ 5.66772836e-01 -2.87123621e-02 8.23373641e-01 6.33821286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-58.67, Z:63.40 [[ 8.20058941e-01 -7.94828452e-02 -5.66732575e-01 1.49263582e+02] [ 8.20800520e-02 9.96405017e-01 -2.09739580e-02 -5.86715208e+01] [ 5.66362251e-01 -2.93175574e-02 8.23634799e-01 6.33978579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:-58.67, Z:63.41 [[ 8.20331934e-01 -8.04933058e-02 -5.66194618e-01 1.49286316e+02] [ 8.31656813e-02 9.96311348e-01 -2.11463151e-02 -5.86677771e+01] [ 5.65808260e-01 -2.97409637e-02 8.24000296e-01 6.34132108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:-58.66, Z:63.43 [[ 8.20646273e-01 -8.08868945e-02 -5.65682777e-01 1.49308953e+02] [ 8.35018909e-02 9.96279522e-01 -2.13201488e-02 -5.86639247e+01] [ 5.65302688e-01 -2.97392809e-02 8.24347285e-01 6.34286577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:-58.66, Z:63.44 [[ 8.20817037e-01 -8.00918003e-02 -5.65548137e-01 1.49331228e+02] [ 8.23973758e-02 9.96367294e-01 -2.15148450e-02 -5.86560715e+01] [ 5.65216829e-01 -2.89399310e-02 8.24434604e-01 6.34444716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.35, Y:-58.65, Z:63.46 [[ 8.20631744e-01 -7.93673369e-02 -5.65919046e-01 1.49352957e+02] [ 8.13874628e-02 9.96445678e-01 -2.17276734e-02 -5.86515206e+01] [ 5.65632055e-01 -2.82282967e-02 8.24174461e-01 6.34595522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:-58.65, Z:63.48 [[ 8.20519139e-01 -7.87760547e-02 -5.66164885e-01 1.49376057e+02] [ 8.06134894e-02 9.96506489e-01 -2.18239229e-02 -5.86472053e+01] [ 5.65906184e-01 -2.77335805e-02 8.24003058e-01 6.34754642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:-58.64, Z:63.49 [[ 8.21025692e-01 -7.75644585e-02 -5.65597532e-01 1.49397908e+02] [ 7.90005176e-02 9.96631841e-01 -2.19975402e-02 -5.86408151e+01] [ 5.65398737e-01 -2.66219521e-02 8.24387979e-01 6.34905401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48999999999998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:149.42, Y:-58.64, Z:63.51 [[ 8.21428363e-01 -7.73520446e-02 -5.65041685e-01 1.49421356e+02] [ 7.86778952e-02 9.96655970e-01 -2.20605359e-02 -5.86367106e+01] [ 5.64858596e-01 -2.63351406e-02 8.24767378e-01 6.35061307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51999999999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.44, Y:-58.63, Z:63.52 [[ 8.21299447e-01 -7.71941792e-02 -5.65250633e-01 1.49443994e+02] [ 7.83558472e-02 9.96676844e-01 -2.22627560e-02 -5.86326944e+01] [ 5.65090772e-01 -2.60063031e-02 8.24618756e-01 6.35219816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.47, Y:-58.63, Z:63.54 [[ 8.21052839e-01 -7.72569649e-02 -5.65600209e-01 1.49467192e+02] [ 7.82985248e-02 9.96676541e-01 -2.24769690e-02 -5.86286245e+01] [ 5.65456962e-01 -2.58308828e-02 8.24373210e-01 6.35373804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:-58.62, Z:63.55 [[ 8.20850955e-01 -7.75222923e-02 -5.65856876e-01 1.49489405e+02] [ 7.84861881e-02 9.96657018e-01 -2.26871402e-02 -5.86247663e+01] [ 5.65723986e-01 -2.57891885e-02 8.24191294e-01 6.35520694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60999999999999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:149.51, Y:-58.62, Z:63.57 [[ 8.20091567e-01 -7.94525600e-02 -5.66689608e-01 1.49512812e+02] [ 8.07799333e-02 9.96470965e-01 -2.28083008e-02 -5.86189101e+01] [ 5.66501918e-01 -2.70722536e-02 8.23615608e-01 6.35671290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:149.53, Y:-58.62, Z:63.58 [[ 8.19784095e-01 -8.14310999e-02 -5.66853609e-01 1.49534746e+02] [ 8.30465734e-02 9.96279797e-01 -2.30181116e-02 -5.86159218e+01] [ 5.66619188e-01 -2.82053680e-02 8.23496905e-01 6.35819843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:149.56, Y:-58.61, Z:63.60 [[ 8.19636817e-01 -8.36577643e-02 -5.66742328e-01 1.49557644e+02] [ 8.56900420e-02 9.96053969e-01 -2.31020945e-02 -5.86134666e+01] [ 5.66438615e-01 -2.96288466e-02 8.23571143e-01 6.35973083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.7 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:149.58, Y:-58.61, Z:63.61 [[ 8.18625978e-01 -8.82619988e-02 -5.67504474e-01 1.49579981e+02] [ 8.81374108e-02 9.95722470e-01 -2.77229203e-02 -5.86090713e+01] [ 5.67523837e-01 -2.73236722e-02 8.22903464e-01 6.36126133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:149.60, Y:-58.61, Z:63.63 [[ 8.19067890e-01 -8.68608780e-02 -5.67082869e-01 1.49604161e+02] [ 9.17863303e-02 9.95579412e-01 -1.99224252e-02 -5.86093606e+01] [ 5.66306509e-01 -3.57326367e-02 8.23419770e-01 6.36288308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:149.63, Y:-58.60, Z:63.65 [[ 8.18535251e-01 -9.15177233e-02 -5.67119519e-01 1.49627174e+02] [ 9.49338819e-02 9.95204295e-01 -2.35789848e-02 -5.86046815e+01] [ 5.66557676e-01 -3.45386272e-02 8.23297931e-01 6.36451916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:149.65, Y:-58.60, Z:63.66 [[ 8.18102907e-01 -9.61128920e-02 -5.66983197e-01 1.49649965e+02] [ 1.00379330e-01 9.94665161e-01 -2.37741144e-02 -5.85998399e+01] [ 5.66243432e-01 -3.74637213e-02 8.23386207e-01 6.36609419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:149.67, Y:-58.60, Z:63.68 [[ 8.17810241e-01 -9.79484851e-02 -5.67091267e-01 1.49672929e+02] [ 1.02476577e-01 9.94446365e-01 -2.39787161e-02 -5.85968641e+01] [ 5.66290528e-01 -3.85035326e-02 8.23305846e-01 6.36769952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:149.70, Y:-58.59, Z:63.69 [[ 8.17765568e-01 -9.92730614e-02 -5.66925335e-01 1.49695366e+02] [ 1.03942691e-01 9.94289439e-01 -2.41749694e-02 -5.85938065e+01] [ 5.66087796e-01 -3.91582874e-02 8.23414377e-01 6.36924394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:149.72, Y:-58.59, Z:63.71 [[ 8.17879026e-01 -1.00228109e-01 -5.66593527e-01 1.49718260e+02] [ 1.04998964e-01 9.94175416e-01 -2.42993802e-02 -5.85904170e+01] [ 5.65728836e-01 -3.96177797e-02 8.23639069e-01 6.37081932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:149.74, Y:-58.59, Z:63.72 [[ 8.17958052e-01 -1.00647426e-01 -5.66405086e-01 1.49741074e+02] [ 1.05366314e-01 9.94131858e-01 -2.44905773e-02 -5.85868142e+01] [ 5.65546254e-01 -3.96477513e-02 8.23763006e-01 6.37242260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:149.76, Y:-58.58, Z:63.74 [[ 8.18260439e-01 -1.00251953e-01 -5.66038337e-01 1.49762925e+02] [ 1.04737157e-01 9.94193754e-01 -2.46760554e-02 -5.85828464e+01] [ 5.65225602e-01 -3.90938065e-02 8.24009522e-01 6.37390834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:149.79, Y:-58.58, Z:63.75 [[ 8.18695759e-01 -9.75805378e-02 -5.65875686e-01 1.49785595e+02] [ 1.01427061e-01 9.94534889e-01 -2.47569298e-02 -5.85764750e+01] [ 5.65198907e-01 -3.71267143e-02 8.24118803e-01 6.37544280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.0 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:149.81, Y:-58.57, Z:63.77 [[ 8.18569412e-01 -9.57138326e-02 -5.66377065e-01 1.49807439e+02] [ 9.90318409e-02 9.94770640e-01 -2.49813695e-02 -5.85729869e+01] [ 5.65806338e-01 -3.56403785e-02 8.23767535e-01 6.37693192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:149.83, Y:-58.57, Z:63.78 [[ 8.18592708e-01 -9.38525390e-02 -5.66654815e-01 1.49830747e+02] [ 9.67147089e-02 9.94996054e-01 -2.50822019e-02 -5.85692461e+01] [ 5.66173333e-01 -3.42717479e-02 8.23573436e-01 6.37848338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:149.85, Y:-58.56, Z:63.80 [[ 8.18479693e-01 -9.18308299e-02 -5.67149091e-01 1.49853626e+02] [ 9.41295010e-02 9.95238365e-01 -2.53028353e-02 -5.85649512e+01] [ 5.66772115e-01 -3.26756040e-02 8.23226381e-01 6.38004613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:149.88, Y:-58.56, Z:63.82 [[ 8.18629186e-01 -8.94566042e-02 -5.67312764e-01 1.49876104e+02] [ 9.11070797e-02 9.95514297e-01 -2.55104678e-02 -5.85606399e+01] [ 5.67050047e-01 -3.08025957e-02 8.23107189e-01 6.38157094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:149.90, Y:-58.55, Z:63.83 [[ 8.18974630e-01 -8.43497739e-02 -5.67596397e-01 1.49899289e+02] [ 8.48391507e-02 9.96065454e-01 -2.56111276e-02 -5.85536203e+01] [ 5.67523456e-01 -2.71795325e-02 8.22908500e-01 6.38316739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:149.92, Y:-58.55, Z:63.85 [[ 8.19414311e-01 -8.24582626e-02 -5.67239651e-01 1.49922101e+02] [ 8.23966767e-02 9.96265668e-01 -2.57974207e-02 -5.85492939e+01] [ 5.67248600e-01 -2.55998864e-02 8.23148633e-01 6.38473107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:149.94, Y:-58.55, Z:63.86 [[ 8.19794783e-01 -8.06218821e-02 -5.66953813e-01 1.49944093e+02] [ 8.00239083e-02 9.96454166e-01 -2.59859400e-02 -5.85453269e+01] [ 5.67038525e-01 -2.40667219e-02 8.23339605e-01 6.38623203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20999999999998 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:149.97, Y:-58.54, Z:63.88 [[ 8.19769750e-01 -8.09202869e-02 -5.66947496e-01 1.49967558e+02] [ 8.02918893e-02 9.96429021e-01 -2.61231601e-02 -5.85441104e+01] [ 5.67036832e-01 -2.41063092e-02 8.23339612e-01 6.38783797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23999999999998 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:149.99, Y:-58.54, Z:63.89 [[ 8.20054910e-01 -7.97075956e-02 -5.66706841e-01 1.49990119e+02] [ 7.86895823e-02 9.96552251e-01 -2.62975569e-02 -5.85405606e+01] [ 5.66849093e-01 -2.30284840e-02 8.23499723e-01 6.38940317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26999999999998 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:150.01, Y:-58.54, Z:63.91 [[ 8.20206393e-01 -7.89526657e-02 -5.66593284e-01 1.50013706e+02] [ 7.76334983e-02 9.96629886e-01 -2.64935978e-02 -5.85371794e+01] [ 5.66775540e-01 -2.22564004e-02 8.23571575e-01 6.39096776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29999999999998 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:150.04, Y:-58.53, Z:63.92 [[ 8.20045019e-01 -7.79168993e-02 -5.66970126e-01 1.50036059e+02] [ 7.62375646e-02 9.96731853e-01 -2.67104379e-02 -5.85317360e+01] [ 5.67198379e-01 -2.13206600e-02 8.23305186e-01 6.39249559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32999999999998 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:150.06, Y:-58.53, Z:63.94 [[ 8.20237556e-01 -7.76323243e-02 -5.66730601e-01 1.50058712e+02] [ 7.58320798e-02 9.96760752e-01 -2.67861558e-02 -5.85282901e+01] [ 5.66974292e-01 -2.10053492e-02 8.23467624e-01 6.39402828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35999999999999 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:150.08, Y:-58.53, Z:63.96 [[ 8.20497117e-01 -7.70690436e-02 -5.66431676e-01 1.50082710e+02] [ 7.50128420e-02 9.96817816e-01 -2.69687869e-02 -5.85250350e+01] [ 5.66707645e-01 -2.03618379e-02 8.23667312e-01 6.39553600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:150.10, Y:-58.52, Z:63.97 [[ 8.21375577e-01 -7.64164871e-02 -5.65245683e-01 1.50104957e+02] [ 7.40897517e-02 9.96883070e-01 -2.71081941e-02 -5.85215467e+01] [ 5.65555365e-01 -1.96129037e-02 8.24477085e-01 6.39720252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:150.13, Y:-58.52, Z:63.99 [[ 8.21689086e-01 -7.51300590e-02 -5.64962406e-01 1.50128221e+02] [ 7.23962416e-02 9.97002536e-01 -2.72897056e-02 -5.85182679e+01] [ 5.65319229e-01 -1.84775016e-02 8.24665236e-01 6.39881326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:150.15, Y:-58.52, Z:64.00 [[ 8.22005846e-01 -7.34450303e-02 -5.64723132e-01 1.50151006e+02] [ 7.02163563e-02 9.97153248e-01 -2.74784124e-02 -5.85150657e+01] [ 5.65133658e-01 -1.70653850e-02 8.24822842e-01 6.40033339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:150.17, Y:-58.51, Z:64.02 [[ 8.22083951e-01 -6.93609016e-02 -5.65125688e-01 1.50173545e+02] [ 6.51197364e-02 9.97492965e-01 -2.76984775e-02 -5.85107605e+01] [ 5.65630089e-01 -1.40303621e-02 8.24539721e-01 6.40183353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:150.20, Y:-58.51, Z:64.03 [[ 8.22018158e-01 -6.83017559e-02 -5.65350351e-01 1.50196945e+02] [ 6.37377920e-02 9.97578116e-01 -2.78459447e-02 -5.85083501e+01] [ 5.65883064e-01 -1.31443109e-02 8.24380728e-01 6.40342824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:150.22, Y:-58.51, Z:64.05 [[ 8.22200596e-01 -6.75470465e-02 -5.65175704e-01 1.50219910e+02] [ 6.26887741e-02 9.97639285e-01 -2.80352457e-02 -5.85062543e+01] [ 5.65735183e-01 -1.23795763e-02 8.24494056e-01 6.40501020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57 meters Centerline goodness : 0.997056 Centerline is valid? [True, True] Translation: X:150.24, Y:-58.50, Z:64.07 [[ 8.22047353e-01 -6.66303765e-02 -5.65507332e-01 1.50241463e+02] [ 6.14358984e-02 9.97711211e-01 -2.82483623e-02 -5.85038081e+01] [ 5.66095204e-01 -1.15209595e-02 8.24259357e-01 6.40656463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.6 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:150.26, Y:-58.50, Z:64.08 [[ 8.22097639e-01 -6.66909224e-02 -5.65427089e-01 1.50264784e+02] [ 6.14519041e-02 9.97707908e-01 -2.83300814e-02 -5.85024846e+01] [ 5.66020438e-01 -1.14564782e-02 8.24311600e-01 6.40812891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:150.29, Y:-58.50, Z:64.10 [[ 8.22169271e-01 -6.66302265e-02 -5.65330084e-01 1.50286523e+02] [ 6.12434046e-02 9.97715200e-01 -2.85241224e-02 -5.85013054e+01] [ 5.65938986e-01 -1.11710821e-02 8.24371440e-01 6.40965722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:150.31, Y:-58.50, Z:64.11 [[ 8.22082498e-01 -6.66760944e-02 -5.65450851e-01 1.50309529e+02] [ 6.12371755e-02 9.97712918e-01 -2.86171476e-02 -5.85005222e+01] [ 5.66065698e-01 -1.11009568e-02 8.24285384e-01 6.41124882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:150.33, Y:-58.50, Z:64.13 [[ 8.22204340e-01 -6.67501720e-02 -5.65264927e-01 1.50332456e+02] [ 6.11953777e-02 9.97710089e-01 -2.88045731e-02 -5.84999873e+01] [ 5.65893231e-01 -1.09083557e-02 8.24406368e-01 6.41279104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:150.36, Y:-58.50, Z:64.14 [[ 8.22134934e-01 -6.56574303e-02 -5.65493813e-01 1.50355658e+02] [ 5.97278747e-02 9.97792902e-01 -2.90156059e-02 -5.85009462e+01] [ 5.66150803e-01 -9.92100035e-03 8.24241980e-01 6.41431018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:150.38, Y:-58.50, Z:64.16 [[ 8.22104388e-01 -6.46792137e-02 -5.65650929e-01 1.50377656e+02] [ 5.83999432e-02 9.97865439e-01 -2.92235042e-02 -5.85005854e+01] [ 5.66333666e-01 -9.00921108e-03 8.24126818e-01 6.41586622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:150.40, Y:-58.50, Z:64.17 [[ 8.21366945e-01 -6.31861242e-02 -5.66889633e-01 1.50401969e+02] [ 5.64977809e-02 9.97970491e-01 -2.93751670e-02 -5.85003428e+01] [ 5.67595228e-01 -7.90021513e-03 8.23269849e-01 6.41734891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:150.42, Y:-58.50, Z:64.19 [[ 8.21523351e-01 -6.23264801e-02 -5.66758144e-01 1.50424693e+02] [ 5.53205837e-02 9.98030813e-01 -2.95656913e-02 -5.84995858e+01] [ 5.67484817e-01 -7.06448561e-03 8.23353554e-01 6.41902495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:150.45, Y:-58.50, Z:64.21 [[ 8.21229880e-01 -5.88005683e-02 -5.67559669e-01 1.50448010e+02] [ 5.08775113e-02 9.98260056e-01 -2.98050180e-02 -5.85007236e+01] [ 5.68324699e-01 -4.39925210e-03 8.22792613e-01 6.42063905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:150.47, Y:-58.50, Z:64.22 [[ 8.20780314e-01 -5.70093578e-02 -5.68392127e-01 1.50471139e+02] [ 4.85364693e-02 9.98369358e-01 -3.00472449e-02 -5.85007598e+01] [ 5.69178256e-01 -2.92555995e-03 8.22208948e-01 6.42217269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.9 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:150.49, Y:-58.50, Z:64.24 [[ 8.21253047e-01 -5.56452733e-02 -5.67844200e-01 1.50492503e+02] [ 4.67570797e-02 9.98449097e-01 -3.02188147e-02 -5.85006490e+01] [ 5.68645063e-01 -1.73344289e-03 8.22581174e-01 6.42377874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:150.51, Y:-58.50, Z:64.25 [[ 8.21686015e-01 -5.44592270e-02 -5.67332606e-01 1.50514435e+02] [ 4.52394694e-02 9.98515716e-01 -3.03274562e-02 -5.85013803e+01] [ 5.68142133e-01 -7.46179469e-04 8.22930106e-01 6.42539966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95999999999998 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:150.54, Y:-58.51, Z:64.27 [[ 8.22708595e-01 -5.31973237e-02 -5.65968738e-01 1.50537220e+02] [ 4.36971871e-02 9.98583993e-01 -3.03408003e-02 -5.85056784e+01] [ 5.66781371e-01 2.30395396e-04 8.23868208e-01 6.42703469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98999999999998 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:150.56, Y:-58.51, Z:64.29 [[ 8.23215331e-01 -5.38776437e-02 -5.65166983e-01 1.50560142e+02] [ 4.44139924e-02 9.98547545e-01 -3.04991443e-02 -5.85072634e+01] [ 5.65989325e-01 6.04113483e-06 8.24412569e-01 6.42871050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01999999999998 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:150.58, Y:-58.51, Z:64.30 [[ 8.23017202e-01 -5.43819980e-02 -5.65407183e-01 1.50582720e+02] [ 4.48794918e-02 9.98520199e-01 -3.07122553e-02 -5.85095408e+01] [ 5.66240687e-01 -9.84725924e-05 8.24239937e-01 6.43015479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04999999999998 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:150.61, Y:-58.51, Z:64.32 [[ 8.23292170e-01 -5.56348197e-02 -5.64884741e-01 1.50605636e+02] [ 4.63584805e-02 9.98450819e-01 -3.07709803e-02 -5.85114428e+01] [ 5.65721570e-01 -8.53691095e-04 8.24595887e-01 6.43173277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07999999999998 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:150.63, Y:-58.51, Z:64.33 [[ 8.23302278e-01 -5.73849252e-02 -5.64694900e-01 1.50627236e+02] [ 4.83493009e-02 9.98350484e-01 -3.09621679e-02 -5.85132559e+01] [ 5.65540188e-01 -1.81138023e-03 8.24718749e-01 6.43330277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10999999999999 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:150.65, Y:-58.52, Z:64.35 [[ 8.22735998e-01 -5.95248951e-02 -5.65298386e-01 1.50650279e+02] [ 5.08642303e-02 9.98221755e-01 -3.10830748e-02 -5.85152376e+01] [ 5.66143364e-01 -3.18030277e-03 8.24300660e-01 6.43487861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:150.68, Y:-58.52, Z:64.36 [[ 8.20546797e-01 -6.48306581e-02 -5.67890782e-01 1.50675390e+02] [ 5.70928140e-02 9.97874206e-01 -3.14242041e-02 -5.85206929e+01] [ 5.68720814e-01 -6.63745275e-03 8.22503848e-01 6.43625126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:150.70, Y:-58.52, Z:64.38 [[ 8.19957343e-01 -6.85792126e-02 -5.68301723e-01 1.50698479e+02] [ 6.15038761e-02 9.97605038e-01 -3.16458887e-02 -5.85230623e+01] [ 5.69110911e-01 -9.00447991e-03 8.22211463e-01 6.43787674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.2 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:150.72, Y:-58.53, Z:64.40 [[ 8.19434340e-01 -7.27220324e-02 -5.68541000e-01 1.50721025e+02] [ 6.63990092e-02 9.97284301e-01 -3.18621049e-02 -5.85253605e+01] [ 5.69314091e-01 -1.16416562e-02 8.22037674e-01 6.43962270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:150.74, Y:-58.53, Z:64.41 [[ 8.18736000e-01 -7.68995590e-02 -5.68997206e-01 1.50743736e+02] [ 7.13351582e-02 9.96936061e-01 -3.20902831e-02 -5.85275095e+01] [ 5.69721562e-01 -1.43160358e-02 8.21713084e-01 6.44123707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:150.77, Y:-58.53, Z:64.43 [[ 8.18031784e-01 -8.44756327e-02 -5.68935732e-01 1.50766756e+02] [ 8.04225897e-02 9.96237781e-01 -3.22876227e-02 -5.85323692e+01] [ 5.69522789e-01 -1.93429834e-02 8.21747919e-01 6.44289921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:150.79, Y:-58.53, Z:64.44 [[ 8.17870728e-01 -8.79719221e-02 -5.68637330e-01 1.50788375e+02] [ 8.45441368e-02 9.95890517e-01 -3.24710097e-02 -5.85332315e+01] [ 5.69157062e-01 -2.15178639e-02 8.21947212e-01 6.44446467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:150.81, Y:-58.53, Z:64.46 [[ 8.17535446e-01 -9.09053198e-02 -5.68658085e-01 1.50810740e+02] [ 8.80546754e-02 9.95583328e-01 -3.25608710e-02 -5.85338468e+01] [ 5.69106465e-01 -2.34533368e-02 8.21929299e-01 6.44612005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:150.83, Y:-58.54, Z:64.48 [[ 8.17666183e-01 -9.49650071e-02 -5.67806005e-01 1.50832460e+02] [ 9.28590386e-02 9.95141653e-01 -3.27152905e-02 -5.85352932e+01] [ 5.68154214e-01 -2.59757331e-02 8.22512036e-01 6.44770666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:150.86, Y:-58.53, Z:64.49 [[ 8.17314159e-01 -9.61964457e-02 -5.68105456e-01 1.50856433e+02] [ 9.42613203e-02 9.95004639e-01 -3.28720623e-02 -5.85349466e+01] [ 5.68429739e-01 -2.66835684e-02 8.22298984e-01 6.44913593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:150.88, Y:-58.53, Z:64.51 [[ 8.17841272e-01 -9.68443838e-02 -5.67236123e-01 1.50878123e+02] [ 9.49116468e-02 9.94937839e-01 -3.30223679e-02 -5.85344532e+01] [ 5.67562713e-01 -2.68302591e-02 8.22892888e-01 6.45079167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:150.90, Y:-58.53, Z:64.52 [[ 8.17663400e-01 -9.68883659e-02 -5.67484985e-01 1.50900179e+02] [ 9.49046651e-02 9.94935115e-01 -3.31243412e-02 -5.85335045e+01] [ 5.67820102e-01 -2.67724109e-02 8.22717187e-01 6.45227464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:150.92, Y:-58.53, Z:64.54 [[ 8.17498610e-01 -9.65914835e-02 -5.67772937e-01 1.50923108e+02] [ 9.44828307e-02 9.94971791e-01 -3.32284568e-02 -5.85321116e+01] [ 5.68127641e-01 -2.64805770e-02 8.22514293e-01 6.45382395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.5 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:150.95, Y:-58.53, Z:64.55 [[ 8.17832402e-01 -9.45743418e-02 -5.67631796e-01 1.50945185e+02] [ 9.18889778e-02 9.95208213e-01 -3.34219796e-02 -5.85293051e+01] [ 5.68072687e-01 -2.48255276e-02 8.22603863e-01 6.45536764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:150.97, Y:-58.53, Z:64.57 [[ 8.17943014e-01 -9.33380574e-02 -5.67677050e-01 1.50967773e+02] [ 9.03230225e-02 9.95348482e-01 -3.35134360e-02 -5.85267661e+01] [ 5.68164569e-01 -2.38622261e-02 8.22568913e-01 6.45695070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:150.99, Y:-58.52, Z:64.59 [[ 8.18117013e-01 -9.20670465e-02 -5.67633872e-01 1.50989907e+02] [ 8.86371506e-02 9.95493294e-01 -3.37128692e-02 -5.85239067e+01] [ 5.68179557e-01 -2.27323772e-02 8.22590560e-01 6.45850335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:151.01, Y:-58.52, Z:64.60 [[ 8.18038107e-01 -9.09346601e-02 -5.67930051e-01 1.51011958e+02] [ 8.71959732e-02 9.95616985e-01 -3.38183606e-02 -5.85208677e+01] [ 5.68516067e-01 -2.18565059e-02 8.22381770e-01 6.46007442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:151.04, Y:-58.52, Z:64.62 [[ 8.18680567e-01 -8.89321587e-02 -5.67321074e-01 1.51035028e+02] [ 8.47050966e-02 9.95830256e-01 -3.38695647e-02 -5.85173058e+01] [ 5.67967584e-01 -2.03266320e-02 8.22799886e-01 6.46159958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:151.06, Y:-58.51, Z:64.63 [[ 8.18866977e-01 -8.78371843e-02 -5.67222622e-01 1.51058062e+02] [ 8.32340816e-02 9.95947552e-01 -3.40670261e-02 -5.85146564e+01] [ 5.67916333e-01 -1.93158913e-02 8.22859608e-01 6.46302356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:151.08, Y:-58.51, Z:64.65 [[ 8.19667180e-01 -8.65276857e-02 -5.66267316e-01 1.51079544e+02] [ 8.15939618e-02 9.96082189e-01 -3.40983726e-02 -5.85114424e+01] [ 5.66999241e-01 -1.82546769e-02 8.23516015e-01 6.46475473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70999999999998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:151.10, Y:-58.51, Z:64.66 [[ 8.19842880e-01 -8.45269266e-02 -5.66315152e-01 1.51102331e+02] [ 7.90269812e-02 9.96282312e-01 -3.42971116e-02 -5.85081233e+01] [ 5.67108798e-01 -1.66359341e-02 8.23474867e-01 6.46628083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73999999999998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:151.13, Y:-58.50, Z:64.68 [[ 8.18841933e-01 -8.18383440e-02 -5.68155238e-01 1.51126293e+02] [ 7.55837885e-02 9.96538626e-01 -3.46100750e-02 -5.85048856e+01] [ 5.69021071e-01 -1.46031446e-02 8.22193267e-01 6.46754761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76999999999998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:151.15, Y:-58.50, Z:64.69 [[ 8.19454312e-01 -7.94797102e-02 -5.67606911e-01 1.51148137e+02] [ 7.26650736e-02 9.96753800e-01 -3.46648267e-02 -5.85013399e+01] [ 5.68519496e-01 -1.28389562e-02 8.22569598e-01 6.46928286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79999999999998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:151.17, Y:-58.50, Z:64.71 [[ 8.19368646e-01 -7.37239403e-02 -5.68506643e-01 1.51171751e+02] [ 6.54997373e-02 9.97241391e-01 -3.49197920e-02 -5.84967939e+01] [ 5.69512780e-01 -8.62485308e-03 8.21937227e-01 6.47078324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82999999999998 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:151.20, Y:-58.49, Z:64.72 [[ 8.19242984e-01 -7.12304878e-02 -5.69005405e-01 1.51195377e+02] [ 6.23079512e-02 9.97437687e-01 -3.51536575e-02 -5.84942056e+01] [ 5.70051448e-01 -6.65417379e-03 8.21582053e-01 6.47232966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85999999999999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:151.22, Y:-58.49, Z:64.74 [[ 8.19024297e-01 -6.92619713e-02 -5.69562972e-01 1.51218322e+02] [ 5.97510355e-02 9.97585743e-01 -3.53906526e-02 -5.84920138e+01] [ 5.70639128e-01 -5.04617303e-03 8.21185437e-01 6.47394996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:151.24, Y:-58.49, Z:64.75 [[ 8.18340486e-01 -6.68513525e-02 -5.70832503e-01 1.51242109e+02] [ 5.66267559e-02 9.97758023e-01 -3.56698440e-02 -5.84902707e+01] [ 5.71937287e-01 -3.13431528e-03 8.20291361e-01 6.47524593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:151.26, Y:-58.49, Z:64.77 [[ 8.18684239e-01 -6.56852405e-02 -5.70474859e-01 1.51263624e+02] [ 5.51576405e-02 9.97837946e-01 -3.57360788e-02 -5.84880582e+01] [ 5.71588795e-01 -2.20948276e-03 8.20537243e-01 6.47698928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:151.29, Y:-58.49, Z:64.78 [[ 8.18196425e-01 -6.27379553e-02 -5.71505519e-01 1.51287142e+02] [ 5.13819415e-02 9.98030030e-01 -3.59993768e-02 -5.84867210e+01] [ 5.72638198e-01 8.94983052e-05 8.19808201e-01 6.47834598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:151.31, Y:-58.49, Z:64.80 [[ 8.19240252e-01 -6.19874152e-02 -5.70090318e-01 1.51309514e+02] [ 5.04687974e-02 9.98076672e-01 -3.59980202e-02 -5.84856961e+01] [ 5.71225271e-01 7.19254429e-04 8.20793014e-01 6.48011023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:151.33, Y:-58.49, Z:64.82 [[ 8.19580245e-01 -6.13610134e-02 -5.69669245e-01 1.51331547e+02] [ 4.95890863e-02 9.98114667e-01 -3.61667619e-02 -5.84850692e+01] [ 5.70814457e-01 1.39218623e-03 8.21077900e-01 6.48168664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:151.35, Y:-58.49, Z:64.83 [[ 8.20040027e-01 -6.09291222e-02 -5.69053597e-01 1.51354244e+02] [ 4.89991638e-02 9.98140376e-01 -3.62611562e-02 -5.84851240e+01] [ 5.70204731e-01 1.85244911e-03 8.21500537e-01 6.48330405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:151.38, Y:-58.49, Z:64.85 [[ 8.20723095e-01 -6.08052138e-02 -5.68081268e-01 1.51377827e+02] [ 4.87606638e-02 9.98147297e-01 -3.63919005e-02 -5.84853237e+01] [ 5.69241600e-01 2.16765345e-03 8.22167442e-01 6.48487144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.1 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:151.40, Y:-58.48, Z:64.86 [[ 8.20707765e-01 -6.11257383e-02 -5.68069017e-01 1.51401272e+02] [ 4.90186847e-02 9.98127699e-01 -3.65823108e-02 -5.84836560e+01] [ 5.69241541e-01 2.17739051e-03 8.22167457e-01 6.48647779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:151.42, Y:-58.49, Z:64.88 [[ 8.21450602e-01 -6.17595936e-02 -5.66925622e-01 1.51423421e+02] [ 4.97205620e-02 9.98089153e-01 -3.66866376e-02 -5.84864028e+01] [ 5.68108066e-01 1.94840003e-03 8.22951657e-01 6.48806248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:151.45, Y:-58.49, Z:64.89 [[ 8.20790160e-01 -6.25627332e-02 -5.67793464e-01 1.51448393e+02] [ 5.05977019e-02 9.98039909e-01 -3.68267866e-02 -5.84875794e+01] [ 5.68984522e-01 1.49801959e-03 8.22346867e-01 6.48942148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:151.47, Y:-58.49, Z:64.91 [[ 8.21478762e-01 -6.46789939e-02 -5.66559151e-01 1.51468708e+02] [ 5.30962844e-02 9.97906088e-01 -3.69354051e-02 -5.84882414e+01] [ 5.67761771e-01 2.59465056e-04 8.23192872e-01 6.49116553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:151.49, Y:-58.49, Z:64.93 [[ 8.21227917e-01 -6.66846316e-02 -5.66690275e-01 1.51492484e+02] [ 5.54698811e-02 9.97773574e-01 -3.70268369e-02 -5.84892805e+01] [ 5.67897702e-01 -1.02677003e-03 8.23098503e-01 6.49274579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:151.52, Y:-58.49, Z:64.94 [[ 8.20375130e-01 -6.86683936e-02 -5.67687676e-01 1.51516706e+02] [ 5.77105056e-02 9.97637158e-01 -3.72773241e-02 -5.84910005e+01] [ 5.68906094e-01 -2.18015323e-03 8.22399601e-01 6.49418327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:151.54, Y:-58.50, Z:64.96 [[ 8.20119164e-01 -7.32551967e-02 -5.67484125e-01 1.51539409e+02] [ 6.31696516e-02 9.97300001e-01 -3.74473311e-02 -5.84954085e+01] [ 5.68695131e-01 -5.13650062e-03 8.22532349e-01 6.49594654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:151.56, Y:-58.50, Z:64.97 [[ 8.18780741e-01 -7.53399800e-02 -5.69141445e-01 1.51564424e+02] [ 6.55167890e-02 9.97137456e-01 -3.77418146e-02 -5.84968041e+01] [ 5.70355720e-01 -6.38604901e-03 8.21372979e-01 6.49733618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:151.59, Y:-58.50, Z:64.99 [[ 8.18735393e-01 -7.78367331e-02 -5.68870635e-01 1.51586563e+02] [ 6.84278812e-02 9.96935002e-01 -3.79239744e-02 -5.84975934e+01] [ 5.70078926e-01 -7.87691213e-03 8.21552173e-01 6.49910865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:151.61, Y:-58.50, Z:65.01 [[ 8.18141751e-01 -7.99313039e-02 -5.69433984e-01 1.51609477e+02] [ 7.08204381e-02 9.96758789e-01 -3.81625843e-02 -5.84986670e+01] [ 5.70638713e-01 -9.10516070e-03 8.21150750e-01 6.50065334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.4 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:151.63, Y:-58.50, Z:65.02 [[ 8.17948421e-01 -8.36297726e-02 -5.69180500e-01 1.51632292e+02] [ 7.51953926e-02 9.96431279e-01 -3.83452501e-02 -5.85025051e+01] [ 5.70356059e-01 -1.14353144e-02 8.21317965e-01 6.50228233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:151.66, Y:-58.50, Z:65.04 [[ 8.17479670e-01 -8.50424791e-02 -5.69644420e-01 1.51656539e+02] [ 7.67635997e-02 9.96302734e-01 -3.85773502e-02 -5.85040056e+01] [ 5.70819007e-01 -1.21917567e-02 8.20985397e-01 6.50374905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45999999999998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:151.68, Y:-58.51, Z:65.05 [[ 8.17777027e-01 -8.65664589e-02 -5.68987683e-01 1.51678949e+02] [ 7.85000524e-02 9.96161379e-01 -3.87330417e-02 -5.85050231e+01] [ 5.70156537e-01 -1.29905712e-02 8.21433362e-01 6.50546054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48999999999998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:151.70, Y:-58.51, Z:65.07 [[ 8.17680050e-01 -8.79440677e-02 -5.68915791e-01 1.51702756e+02] [ 8.00419649e-02 9.96031102e-01 -3.89272176e-02 -5.85081625e+01] [ 5.70081240e-01 -1.37071286e-02 8.21473977e-01 6.50702851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:-58.51, Z:65.09 [[ 8.17968077e-01 -8.81574414e-02 -5.68468548e-01 1.51723736e+02] [ 8.01754393e-02 9.96013740e-01 -3.90963987e-02 -5.85086950e+01] [ 5.69649124e-01 -1.35976095e-02 8.21775505e-01 6.50867157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:-58.51, Z:65.10 [[ 8.17825731e-01 -8.80103200e-02 -5.68696103e-01 1.51746965e+02] [ 7.99294127e-02 9.96029466e-01 -3.91993923e-02 -5.85093960e+01] [ 5.69888026e-01 -1.33972738e-02 8.21613139e-01 6.51025092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:-58.51, Z:65.12 [[ 8.17990312e-01 -8.76226823e-02 -5.68519231e-01 1.51770545e+02] [ 7.93341448e-02 9.96070245e-01 -3.93720802e-02 -5.85100808e+01] [ 5.69734977e-01 -1.28970068e-02 8.21727281e-01 6.51181979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:-58.51, Z:65.13 [[ 8.18102978e-01 -8.71041183e-02 -5.68436794e-01 1.51793193e+02] [ 7.85663839e-02 9.96123393e-01 -3.95665049e-02 -5.85102805e+01] [ 5.69679594e-01 -1.22905479e-02 8.21774971e-01 6.51340506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:-58.51, Z:65.15 [[ 8.18458424e-01 -8.58494790e-02 -5.68115899e-01 1.51815645e+02] [ 7.69092864e-02 9.96245576e-01 -3.97456053e-02 -5.85103671e+01] [ 5.69395091e-01 -1.11632629e-02 8.21988207e-01 6.51496006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:-58.51, Z:65.17 [[ 8.19436232e-01 -8.17723302e-02 -5.67307278e-01 1.51838522e+02] [ 7.19146413e-02 9.96617283e-01 -3.97778343e-02 -5.85120696e+01] [ 5.68640964e-01 -8.20230074e-03 8.22544939e-01 6.51656720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:-58.51, Z:65.18 [[ 8.19754950e-01 -7.96245929e-02 -5.67152313e-01 1.51861890e+02] [ 6.91691518e-02 9.96803957e-01 -3.99687248e-02 -5.85118412e+01] [ 5.68522163e-01 -6.46488439e-03 8.22642544e-01 6.51819456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-58.51, Z:65.20 [[ 8.20118917e-01 -7.72565732e-02 -5.66953599e-01 1.51884182e+02] [ 6.61614209e-02 9.97000722e-01 -4.01525388e-02 -5.85115094e+01] [ 5.68355196e-01 -4.58059911e-03 8.22770557e-01 6.51974439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:-58.51, Z:65.21 [[ 8.20590109e-01 -7.51263583e-02 -5.66557944e-01 1.51907115e+02] [ 6.35294381e-02 9.97169521e-01 -4.02113967e-02 -5.85112617e+01] [ 5.67975249e-01 -2.99603345e-03 8.23040181e-01 6.52129719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:151.93, Y:-58.51, Z:65.23 [[ 8.20959735e-01 -7.12061959e-02 -5.66528721e-01 1.51928856e+02] [ 5.63611518e-02 9.97453828e-01 -4.36953248e-02 -5.85125859e+01] [ 5.68197619e-01 3.94189097e-03 8.22882693e-01 6.52280890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:-58.51, Z:65.24 [[ 8.22290857e-01 -6.89004414e-02 -5.64880940e-01 1.51953895e+02] [ 5.54747684e-02 9.97620845e-01 -4.09291944e-02 -5.85131481e+01] [ 5.66357040e-01 2.31906300e-03 8.24156736e-01 6.52441527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:-58.51, Z:65.26 [[ 8.22440569e-01 -6.66722826e-02 -5.64930366e-01 1.51977429e+02] [ 5.30139887e-02 9.97769059e-01 -4.05761259e-02 -5.85138476e+01] [ 5.66375342e-01 3.42224000e-03 8.24140316e-01 6.52599642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:-58.51, Z:65.27 [[ 8.22570144e-01 -6.48012638e-02 -5.64959428e-01 1.52001145e+02] [ 5.06088684e-02 9.97885930e-01 -4.07727071e-02 -5.85143168e+01] [ 5.66407187e-01 4.94645421e-03 8.24110691e-01 6.52749022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:-58.52, Z:65.29 [[ 8.21818162e-01 -6.20330194e-02 -5.66362792e-01 1.52025165e+02] [ 4.70326636e-02 9.98048749e-01 -4.10685176e-02 -5.85180490e+01] [ 5.67805280e-01 7.11330300e-03 8.23132167e-01 6.52894046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:-58.52, Z:65.30 [[ 8.21440309e-01 -6.13086869e-02 -5.66989474e-01 1.52049096e+02] [ 4.59780268e-02 9.98087858e-01 -4.13116160e-02 -5.85196435e+01] [ 5.68438070e-01 7.86596941e-03 8.22688451e-01 6.53044855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:-58.52, Z:65.32 [[ 8.20887851e-01 -6.10929438e-02 -5.67812283e-01 1.52072447e+02] [ 4.55273975e-02 9.98097795e-01 -4.15698034e-02 -5.85218872e+01] [ 5.69271809e-01 8.27313105e-03 8.22107756e-01 6.53194820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:-58.52, Z:65.33 [[ 8.20616431e-01 -6.14479705e-02 -5.68166190e-01 1.52095673e+02] [ 4.57970371e-02 9.98075948e-01 -4.17975246e-02 -5.85246289e+01] [ 5.69641382e-01 8.27940743e-03 8.21851658e-01 6.53345301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:-58.53, Z:65.35 [[ 8.20406863e-01 -6.22204581e-02 -5.68384724e-01 1.52118336e+02] [ 4.66619423e-02 9.98031524e-01 -4.19015500e-02 -5.85279044e+01] [ 5.69873006e-01 7.85438399e-03 8.21695239e-01 6.53500529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:-58.54, Z:65.37 [[ 8.20382987e-01 -6.42802451e-02 -5.68189937e-01 1.52141826e+02] [ 4.91190653e-02 9.97910546e-01 -4.19745010e-02 -5.85368906e+01] [ 5.69700862e-01 6.52620786e-03 8.21826220e-01 6.53661960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:-58.54, Z:65.38 [[ 8.20643587e-01 -6.56538010e-02 -5.67656305e-01 1.52164950e+02] [ 5.06870295e-02 9.97825603e-01 -4.21294674e-02 -5.85404331e+01] [ 5.69187954e-01 5.80046538e-03 8.22186978e-01 6.53821865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:-58.54, Z:65.40 [[ 8.20664079e-01 -6.74269266e-02 -5.67418787e-01 1.52188457e+02] [ 5.27187035e-02 9.97712621e-01 -4.23115165e-02 -5.85436806e+01] [ 5.68973820e-01 4.80995892e-03 8.22341569e-01 6.53984021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:152.21, Y:-58.54, Z:65.41 [[ 8.18497993e-01 -7.79615162e-02 -5.69195078e-01 1.52209145e+02] [ 5.30797811e-02 9.96774174e-01 -6.01978705e-02 -5.85403795e+01] [ 5.72052071e-01 1.90590860e-02 8.19995841e-01 6.54138769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:-58.56, Z:65.43 [[ 8.20233788e-01 -6.28220265e-02 -5.68568313e-01 1.52235573e+02] [ 5.65944541e-02 9.97986832e-01 -2.86243032e-02 -5.85610321e+01] [ 5.69221926e-01 -8.69919266e-03 8.22137898e-01 6.54316774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:-58.56, Z:65.45 [[ 8.20821129e-01 -7.26985616e-02 -5.66540019e-01 1.52258898e+02] [ 5.87903375e-02 9.97352286e-01 -4.28031993e-02 -5.85589780e+01] [ 5.68151714e-01 1.82669147e-03 8.22921803e-01 6.54463332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:-58.56, Z:65.46 [[ 8.20395537e-01 -7.58942454e-02 -5.66737353e-01 1.52282337e+02] [ 5.93813716e-02 9.97101411e-01 -4.75670905e-02 -5.85606695e+01] [ 5.68704683e-01 5.37018745e-03 8.22524252e-01 6.54613498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:-58.57, Z:65.48 [[ 8.20860464e-01 -7.38481781e-02 -5.66334305e-01 1.52306180e+02] [ 6.20144475e-02 9.97267158e-01 -4.01550008e-02 -5.85729859e+01] [ 5.67751977e-01 -2.15925648e-03 8.23196836e-01 6.54786789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:-58.58, Z:65.49 [[ 8.20928750e-01 -7.63968211e-02 -5.65897087e-01 1.52328891e+02] [ 6.30215014e-02 9.97077470e-01 -4.31834467e-02 -5.85750631e+01] [ 5.67542314e-01 -2.13151166e-04 8.23344203e-01 6.54943524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:-58.58, Z:65.51 [[ 8.21192904e-01 -7.73309388e-02 -5.65386718e-01 1.52352043e+02] [ 6.41238794e-02 9.97005193e-01 -4.32293014e-02 -5.85781257e+01] [ 5.67036456e-01 -7.55194163e-04 8.23692350e-01 6.55103136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:-58.58, Z:65.53 [[ 8.21538670e-01 -7.85066237e-02 -5.64721988e-01 1.52374690e+02] [ 6.54488466e-02 9.96912711e-01 -4.33761979e-02 -5.85809233e+01] [ 5.66383847e-01 -1.32517884e-03 8.24140511e-01 6.55264684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:-58.59, Z:65.54 [[ 8.21761830e-01 -7.99988554e-02 -5.64187626e-01 1.52398472e+02] [ 6.71513614e-02 9.96792715e-01 -4.35313528e-02 -5.85877929e+01] [ 5.65860574e-01 -2.11356296e-03 8.24498238e-01 6.55427738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-58.59, Z:65.56 [[ 8.21938094e-01 -8.09749199e-02 -5.63791479e-01 1.52422114e+02] [ 6.82202766e-02 9.96712888e-01 -4.36968329e-02 -5.85900514e+01] [ 5.65476581e-01 -2.54591913e-03 8.24760423e-01 6.55585952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:-58.59, Z:65.57 [[ 8.21720621e-01 -8.17696361e-02 -5.63993749e-01 1.52444974e+02] [ 6.90399761e-02 9.96647159e-01 -4.39081170e-02 -5.85926086e+01] [ 5.65693118e-01 -2.85790980e-03 8.24610895e-01 6.55745894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:-58.59, Z:65.59 [[ 8.21597365e-01 -8.26885343e-02 -5.64039339e-01 1.52467432e+02] [ 7.00183884e-02 9.96570123e-01 -4.41068515e-02 -5.85946981e+01] [ 5.65751885e-01 -3.25505257e-03 8.24569105e-01 6.55892699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:-58.60, Z:65.61 [[ 8.21498837e-01 -8.34924480e-02 -5.64064422e-01 1.52491225e+02] [ 7.09009813e-02 9.96501733e-01 -4.42419242e-02 -5.85971046e+01] [ 5.65785040e-01 -3.64803177e-03 8.24544711e-01 6.56051149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:-58.60, Z:65.62 [[ 8.22583981e-01 -8.39318313e-02 -5.62415364e-01 1.52513911e+02] [ 7.13762350e-02 9.96464659e-01 -4.43127228e-02 -5.85995433e+01] [ 5.64146282e-01 -3.69215528e-03 8.25666604e-01 6.56204563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:-58.60, Z:65.64 [[ 8.20711857e-01 -8.62150920e-02 -5.64799969e-01 1.52538245e+02] [ 7.39711937e-02 9.96263059e-01 -4.45890172e-02 -5.86048250e+01] [ 5.66533591e-01 -5.18419283e-03 8.24022339e-01 6.56356538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:-58.61, Z:65.65 [[ 8.20212770e-01 -8.73065170e-02 -5.65357041e-01 1.52562071e+02] [ 7.51340499e-02 9.96165153e-01 -4.48314973e-02 -5.86061789e+01] [ 5.67103065e-01 -5.70619757e-03 8.23627071e-01 6.56515691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-58.61, Z:65.67 [[ 8.19785030e-01 -8.88674926e-02 -5.65734101e-01 1.52585270e+02] [ 7.68766630e-02 9.96021903e-01 -4.50593866e-02 -5.86072659e+01] [ 5.67487870e-01 -6.55273928e-03 8.23355682e-01 6.56668829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:152.61, Y:-58.61, Z:65.68 [[ 8.18962346e-01 -9.04972198e-02 -5.66666507e-01 1.52609054e+02] [ 7.86791475e-02 9.95868770e-01 -4.53319466e-02 -5.86081877e+01] [ 5.68427892e-01 -7.45968031e-03 8.22699268e-01 6.56815335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:-58.61, Z:65.70 [[ 8.18417484e-01 -9.30280659e-02 -5.67043738e-01 1.52632002e+02] [ 8.16042447e-02 9.95622936e-01 -4.55600400e-02 -5.86132852e+01] [ 5.68800114e-01 -8.98604266e-03 8.22426703e-01 6.56990953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:-58.61, Z:65.71 [[ 8.18327632e-01 -9.46016462e-02 -5.66913058e-01 1.52654757e+02] [ 8.33850662e-02 9.95466642e-01 -4.57503650e-02 -5.86146583e+01] [ 5.68671098e-01 -9.83329500e-03 8.22506224e-01 6.57144247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:-58.62, Z:65.73 [[ 8.18192096e-01 -9.63438571e-02 -5.66815274e-01 1.52678143e+02] [ 8.54134674e-02 9.95288697e-01 -4.58797236e-02 -5.86152824e+01] [ 5.68565065e-01 -1.08752307e-02 8.22566408e-01 6.57306915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:-58.62, Z:65.75 [[ 8.18611118e-01 -9.79633662e-02 -5.65931989e-01 1.52700752e+02] [ 8.72803111e-02 9.95120855e-01 -4.60068632e-02 -5.86158136e+01] [ 5.67677712e-01 -1.17329903e-02 8.23167269e-01 6.57458683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:-58.62, Z:65.76 [[ 8.19016417e-01 -1.00593433e-01 -5.64883236e-01 1.52723050e+02] [ 9.04561139e-02 9.94837159e-01 -4.60078141e-02 -5.86180494e+01] [ 5.66594918e-01 -1.34159873e-02 8.23887256e-01 6.57609761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:-58.62, Z:65.78 [[ 8.19225468e-01 -1.01536690e-01 -5.64411138e-01 1.52746151e+02] [ 9.15602015e-02 9.94734001e-01 -4.60542810e-02 -5.86182007e+01] [ 5.66115149e-01 -1.39487576e-02 8.24208148e-01 6.57763222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:-58.62, Z:65.79 [[ 8.18817548e-01 -1.02341175e-01 -5.64857599e-01 1.52769152e+02] [ 9.23846601e-02 9.94646836e-01 -4.62898002e-02 -5.86180599e+01] [ 5.66571177e-01 -1.42812766e-02 8.23889038e-01 6.57917994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:-58.62, Z:65.81 [[ 8.18717599e-01 -1.02502517e-01 -5.64973210e-01 1.52791761e+02] [ 9.24409981e-02 9.94631966e-01 -4.64963784e-02 -5.86176719e+01] [ 5.66706410e-01 -1.41592841e-02 8.23798130e-01 6.58063056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:-58.61, Z:65.82 [[ 8.17108084e-01 -1.07527067e-01 -5.66367644e-01 1.52816076e+02] [ 9.12134051e-02 9.94189795e-01 -5.71556341e-02 -5.86135142e+01] [ 5.69222710e-01 -4.95799071e-03 8.22168429e-01 6.58196080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:-58.63, Z:65.85 [[ 8.17113494e-01 -8.63474664e-02 -5.69973379e-01 1.52837741e+02] [ 9.01299770e-02 9.95695069e-01 -2.16314068e-02 -5.86286867e+01] [ 5.69387499e-01 -3.36963731e-02 8.21378372e-01 6.58458941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:-58.61, Z:65.85 [[ 8.18198361e-01 -1.08442354e-01 -5.64616417e-01 1.52864128e+02] [ 9.05348570e-02 9.94100209e-01 -5.97345289e-02 -5.86094451e+01] [ 5.67763051e-01 -2.24277289e-03 8.23188975e-01 6.58515775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:-58.61, Z:65.87 [[ 8.18331651e-01 -1.01414557e-01 -5.65728201e-01 1.52886718e+02] [ 9.08645485e-02 9.94758854e-01 -4.68876966e-02 -5.86127840e+01] [ 5.67518232e-01 -1.30349513e-02 8.23257643e-01 6.58696089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:-58.62, Z:65.89 [[ 8.16248872e-01 -8.64768786e-02 -5.71191325e-01 1.52906402e+02] [ 8.89788713e-02 9.95753858e-01 -2.36011676e-02 -5.86220958e+01] [ 5.70806920e-01 -3.15595330e-02 8.20477578e-01 6.58947491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:-58.60, Z:65.90 [[ 8.18318103e-01 -1.09962855e-01 -5.64148609e-01 1.52934712e+02] [ 8.63399128e-02 9.93908599e-01 -6.84917284e-02 -5.86011645e+01] [ 5.68243699e-01 7.33947957e-03 8.22827582e-01 6.58983423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:-58.61, Z:65.92 [[ 8.18893107e-01 -9.67747471e-02 -5.65728493e-01 1.52956647e+02] [ 8.49621448e-02 9.95262321e-01 -4.72688667e-02 -5.86083144e+01] [ 5.67622686e-01 -9.35735700e-03 8.23235644e-01 6.59177944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:-58.61, Z:65.93 [[ 8.19162631e-01 -9.55174370e-02 -5.65551946e-01 1.52979870e+02] [ 8.33048259e-02 9.95393641e-01 -4.74531989e-02 -5.86061636e+01] [ 5.67479419e-01 -8.24131922e-03 8.23346337e-01 6.59336636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-58.60, Z:65.95 [[ 8.19211411e-01 -9.40555931e-02 -5.65726267e-01 1.53003143e+02] [ 8.13833046e-02 9.95542396e-01 -4.76665133e-02 -5.86038352e+01] [ 5.67687785e-01 -6.99172142e-03 8.23214246e-01 6.59498941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:-58.60, Z:65.97 [[ 8.19374607e-01 -9.26234036e-02 -5.65726222e-01 1.53026459e+02] [ 7.95056150e-02 9.95684560e-01 -4.78655749e-02 -5.86017740e+01] [ 5.67718337e-01 -5.75857462e-03 8.23202726e-01 6.59654497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:-58.60, Z:65.98 [[ 8.19785893e-01 -9.01601170e-02 -5.65528287e-01 1.53049439e+02] [ 7.63851081e-02 9.95920002e-01 -4.80485777e-02 -5.86002539e+01] [ 5.67552997e-01 -3.80839312e-03 8.23328058e-01 6.59812470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:-58.60, Z:66.00 [[ 8.19946424e-01 -8.97590046e-02 -5.65359340e-01 1.53072525e+02] [ 7.57701270e-02 9.95958083e-01 -4.82326187e-02 -5.85984082e+01] [ 5.67403516e-01 -3.28918573e-03 8.23433319e-01 6.59968054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:-58.60, Z:66.01 [[ 8.20022588e-01 -8.94203421e-02 -5.65302536e-01 1.53094531e+02] [ 7.52260007e-02 9.95989997e-01 -4.84249489e-02 -5.85969432e+01] [ 5.67365846e-01 -2.81589702e-03 8.23461029e-01 6.60119788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:-58.60, Z:66.03 [[ 8.19815212e-01 -8.95264105e-02 -5.65586456e-01 1.53116924e+02] [ 7.52801341e-02 9.95980547e-01 -4.85350451e-02 -5.85953920e+01] [ 5.67658277e-01 -2.78765596e-03 8.23259564e-01 6.60276165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:-58.59, Z:66.04 [[ 8.18997643e-01 -9.10889975e-02 -5.66520658e-01 1.53139679e+02] [ 7.70696339e-02 9.95835597e-01 -4.87004619e-02 -5.85943453e+01] [ 5.68597514e-01 -3.77597619e-03 8.22607202e-01 6.60429864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:-58.59, Z:66.06 [[ 8.18726192e-01 -9.26817881e-02 -5.66654665e-01 1.53162517e+02] [ 7.89404833e-02 9.95684304e-01 -4.87971990e-02 -5.85931979e+01] [ 5.68731768e-01 -4.78044821e-03 8.22509163e-01 6.60585189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:-58.59, Z:66.07 [[ 8.18250535e-01 -9.46987923e-02 -5.67008114e-01 1.53184511e+02] [ 8.12369068e-02 9.95488222e-01 -4.90282047e-02 -5.85920336e+01] [ 5.69092811e-01 -5.94463054e-03 8.22251807e-01 6.60736005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:-58.59, Z:66.09 [[ 8.18251322e-01 -9.69402203e-02 -5.66628069e-01 1.53207177e+02] [ 8.39215730e-02 9.95262772e-01 -4.90834393e-02 -5.85908320e+01] [ 5.68701982e-01 -7.38972978e-03 8.22510454e-01 6.60892952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:-58.59, Z:66.11 [[ 8.18271580e-01 -1.01689961e-01 -5.65765652e-01 1.53229467e+02] [ 8.96019841e-02 9.94761455e-01 -4.92049953e-02 -5.85901035e+01] [ 5.67805518e-01 -1.04306758e-02 8.23096650e-01 6.61062875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:-58.59, Z:66.12 [[ 8.18192379e-01 -1.04511970e-01 -5.65365793e-01 1.53251995e+02] [ 9.29150620e-02 9.94449523e-01 -4.93653558e-02 -5.85886084e+01] [ 5.67387013e-01 -1.21406399e-02 8.23361757e-01 6.61221608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:-58.59, Z:66.14 [[ 8.17648328e-01 -1.07557861e-01 -5.65581575e-01 1.53274555e+02] [ 9.64725074e-02 9.94099934e-01 -4.95820217e-02 -5.85871448e+01] [ 5.67577542e-01 -1.40224155e-02 8.23200526e-01 6.61379381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:-58.59, Z:66.15 [[ 8.15693305e-01 -1.13338253e-01 -5.67273190e-01 1.53297510e+02] [ 1.03306387e-01 9.93395633e-01 -4.99290251e-02 -5.85854246e+01] [ 5.69185578e-01 -1.78761719e-02 8.22014733e-01 6.61532586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:-58.58, Z:66.17 [[ 8.14843653e-01 -1.16293511e-01 -5.67895800e-01 1.53320253e+02] [ 1.06749529e-01 9.93018844e-01 -5.01808102e-02 -5.85830384e+01] [ 5.69766934e-01 -1.97330947e-02 8.21569380e-01 6.61687677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:-58.58, Z:66.18 [[ 8.14287497e-01 -1.18790500e-01 -5.68176636e-01 1.53342285e+02] [ 1.09647221e-01 9.92691791e-01 -5.04033271e-02 -5.85806128e+01] [ 5.70011719e-01 -2.12561901e-02 8.21361561e-01 6.61834673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:-58.58, Z:66.20 [[ 8.13804392e-01 -1.21135982e-01 -5.68373544e-01 1.53365248e+02] [ 1.12440680e-01 9.92373934e-01 -5.05081055e-02 -5.85777779e+01] [ 5.70157438e-01 -2.28045899e-02 8.21218878e-01 6.61994205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:-58.58, Z:66.22 [[ 8.13525355e-01 -1.22809830e-01 -5.68413795e-01 1.53387844e+02] [ 1.14347155e-01 9.92146063e-01 -5.07042224e-02 -5.85750415e+01] [ 5.70176486e-01 -2.37473296e-02 8.21178933e-01 6.62151545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:-58.57, Z:66.23 [[ 8.14123973e-01 -1.23668089e-01 -5.67369686e-01 1.53409725e+02] [ 1.15282987e-01 9.92032342e-01 -5.08100829e-02 -5.85708063e+01] [ 5.69132664e-01 -2.40423653e-02 8.21894139e-01 6.62308429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:-58.57, Z:66.25 [[ 8.14322095e-01 -1.23197219e-01 -5.67187774e-01 1.53431655e+02] [ 1.14653776e-01 9.92101628e-01 -5.08809599e-02 -5.85672077e+01] [ 5.68976306e-01 -2.35967299e-02 8.22015302e-01 6.62461395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:-58.56, Z:66.26 [[ 8.14850074e-01 -1.22164559e-01 -5.66652607e-01 1.53454472e+02] [ 1.13317932e-01 9.92250665e-01 -5.09672772e-02 -5.85631010e+01] [ 5.68487822e-01 -2.26812118e-02 8.22378963e-01 6.62618866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:-58.56, Z:66.28 [[ 8.15138706e-01 -1.20795660e-01 -5.66530934e-01 1.53477115e+02] [ 1.11519102e-01 9.92444914e-01 -5.11525503e-02 -5.85588486e+01] [ 5.68429750e-01 -2.14825975e-02 8.22451286e-01 6.62775215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:-58.55, Z:66.29 [[ 8.16175119e-01 -1.17541245e-01 -5.65722751e-01 1.53500198e+02] [ 1.07448500e-01 9.92887462e-01 -5.12767724e-02 -5.85520536e+01] [ 5.67726162e-01 -1.89352350e-02 8.22999673e-01 6.62932456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:-58.55, Z:66.31 [[ 8.16960780e-01 -1.16280814e-01 -5.64848524e-01 1.53523324e+02] [ 1.05812094e-01 9.93057187e-01 -5.13928346e-02 -5.85473460e+01] [ 5.66902888e-01 -1.77818751e-02 8.23592691e-01 6.63089771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:-58.54, Z:66.32 [[ 8.17282862e-01 -1.15371801e-01 -5.64568924e-01 1.53544929e+02] [ 1.04582031e-01 9.93178586e-01 -5.15644746e-02 -5.85424606e+01] [ 5.66666852e-01 -1.69010035e-02 8.23773655e-01 6.63238681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:-58.54, Z:66.34 [[ 8.17516065e-01 -1.14580720e-01 -5.64392365e-01 1.53567494e+02] [ 1.03568217e-01 9.93281173e-01 -5.16346305e-02 -5.85378589e+01] [ 5.66516644e-01 -1.62409706e-02 8.23890238e-01 6.63392623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:-58.53, Z:66.35 [[ 8.17820293e-01 -1.13690611e-01 -5.64131557e-01 1.53590184e+02] [ 1.02359613e-01 9.93397271e-01 -5.18109185e-02 -5.85315073e+01] [ 5.66297165e-01 -1.53722675e-02 8.24057774e-01 6.63541112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:-58.53, Z:66.37 [[ 8.17784719e-01 -1.13646274e-01 -5.64192057e-01 1.53612366e+02] [ 1.02243300e-01 9.93404402e-01 -5.19037812e-02 -5.85274799e+01] [ 5.66369544e-01 -1.52387384e-02 8.24010510e-01 6.63689606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:-58.52, Z:66.38 [[ 8.17549142e-01 -1.13312248e-01 -5.64600509e-01 1.53634837e+02] [ 1.01727587e-01 9.93448293e-01 -5.20767482e-02 -5.85234058e+01] [ 5.66802346e-01 -1.48601464e-02 8.23719781e-01 6.63840840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:-58.52, Z:66.40 [[ 8.17386003e-01 -1.12916039e-01 -5.64916002e-01 1.53657877e+02] [ 1.01140613e-01 9.93499660e-01 -5.22398460e-02 -5.85189751e+01] [ 5.67142573e-01 -1.44358320e-02 8.23493114e-01 6.63997268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.68, Y:-58.51, Z:66.41 [[ 8.17164516e-01 -1.10087270e-01 -5.65794085e-01 1.53680281e+02] [ 9.75279175e-02 9.93846232e-01 -5.25163930e-02 -5.85122672e+01] [ 5.68093706e-01 -1.22661859e-02 8.22872458e-01 6.64146308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:-58.51, Z:66.43 [[ 8.17074480e-01 -1.08385167e-01 -5.66252550e-01 1.53703064e+02] [ 9.53766615e-02 9.94048198e-01 -5.26447853e-02 -5.85080042e+01] [ 5.68588240e-01 -1.09925672e-02 8.22548829e-01 6.64300222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:-58.50, Z:66.45 [[ 8.17247488e-01 -1.06503460e-01 -5.66359917e-01 1.53726225e+02] [ 9.29479480e-02 9.94267410e-01 -5.28487997e-02 -5.85037805e+01] [ 5.68741788e-01 -9.45144333e-03 8.22461822e-01 6.64460841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:-58.50, Z:66.46 [[ 8.17553064e-01 -1.02199935e-01 -5.66711708e-01 1.53748367e+02] [ 8.75543253e-02 9.94744430e-01 -5.30825620e-02 -5.84981910e+01] [ 5.69158350e-01 -6.22025003e-03 8.22204404e-01 6.64611845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:-58.49, Z:66.48 [[ 8.17882104e-01 -1.00118560e-01 -5.66608452e-01 1.53771247e+02] [ 8.49667598e-02 9.94964586e-01 -5.31612777e-02 -5.84945384e+01] [ 5.69077775e-01 -4.66322655e-03 8.22270479e-01 6.64770463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:-58.49, Z:66.49 [[ 8.18272386e-01 -9.83016465e-02 -5.66363037e-01 1.53794229e+02] [ 8.26358905e-02 9.95151646e-01 -5.33339504e-02 -5.84910971e+01] [ 5.68859924e-01 -3.16021502e-03 8.22428356e-01 6.64928028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:-58.49, Z:66.51 [[ 8.18749026e-01 -9.61752394e-02 -5.66039183e-01 1.53817614e+02] [ 7.99361888e-02 9.95363367e-01 -5.34974157e-02 -5.84879702e+01] [ 5.68559793e-01 -1.44605800e-03 8.22640669e-01 6.65087603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:-58.49, Z:66.52 [[ 8.19047599e-01 -9.43192700e-02 -5.65919522e-01 1.53840494e+02] [ 7.75539445e-02 9.95541998e-01 -5.36797570e-02 -5.84851852e+01] [ 5.68459687e-01 7.69848930e-05 8.22711115e-01 6.65246238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:-58.48, Z:66.54 [[ 8.19363653e-01 -9.21665027e-02 -5.65816702e-01 1.53862331e+02] [ 7.48094166e-02 9.95741970e-01 -5.38653916e-02 -5.84830879e+01] [ 5.68372022e-01 1.80692667e-03 8.22769700e-01 6.65397725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:-58.48, Z:66.56 [[ 8.19877412e-01 -8.77049794e-02 -5.65781641e-01 1.53886108e+02] [ 6.93312749e-02 9.96133923e-01 -5.39479487e-02 -5.84821638e+01] [ 5.68325790e-01 5.00434211e-03 8.22788401e-01 6.65555663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:-58.48, Z:66.57 [[ 8.19964104e-01 -8.55403856e-02 -5.65987376e-01 1.53908970e+02] [ 6.65483499e-02 9.96311844e-01 -5.41666519e-02 -5.84810080e+01] [ 5.68533363e-01 6.74918424e-03 8.22632520e-01 6.65712055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.4 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:153.93, Y:-58.48, Z:66.58 [[ 8.19845514e-01 -8.38918581e-02 -5.66405764e-01 1.53934264e+02] [ 6.43735805e-02 9.96441580e-01 -5.44078936e-02 -5.84793072e+01] [ 5.68954634e-01 8.14450048e-03 8.22328579e-01 6.65846605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:-58.48, Z:66.60 [[ 8.20806991e-01 -8.18526495e-02 -5.65310558e-01 1.53955436e+02] [ 6.18443416e-02 9.96596493e-01 -5.45041925e-02 -5.84792243e+01] [ 5.67847833e-01 9.77616298e-03 8.23075492e-01 6.66029538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:-58.48, Z:66.62 [[ 8.21546959e-01 -8.05111976e-02 -5.64427623e-01 1.53978106e+02] [ 6.01499087e-02 9.96693856e-01 -5.46200083e-02 -5.84792118e+01] [ 5.66959066e-01 1.09226318e-02 8.23673548e-01 6.66186294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:-58.48, Z:66.63 [[ 8.22481249e-01 -7.93448419e-02 -5.63230851e-01 1.54000107e+02] [ 5.87754070e-02 9.96777431e-01 -5.45912524e-02 -5.84832790e+01] [ 5.65747335e-01 1.17961590e-02 8.24494272e-01 6.66343090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51999999999998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:154.03, Y:-58.48, Z:66.65 [[ 8.22505677e-01 -7.98977622e-02 -5.63117003e-01 1.54025567e+02] [ 5.93957382e-02 9.96736530e-01 -5.46665902e-02 -5.84837913e+01] [ 5.65647026e-01 1.15168307e-02 8.24567041e-01 6.66464053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54999999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.05, Y:-58.49, Z:66.67 [[ 8.22949769e-01 -7.95983826e-02 -5.62510244e-01 1.54046578e+02] [ 5.89485474e-02 9.96755471e-01 -5.48050995e-02 -5.84853396e+01] [ 5.65047561e-01 1.19426822e-02 8.24971894e-01 6.66658813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:-58.49, Z:66.68 [[ 8.23087677e-01 -7.95153035e-02 -5.62320187e-01 1.54069057e+02] [ 5.87270614e-02 9.96758553e-01 -5.49865345e-02 -5.84865748e+01] [ 5.64869727e-01 1.22353268e-02 8.25089382e-01 6.66813004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:-58.49, Z:66.70 [[ 8.23046656e-01 -7.99074216e-02 -5.62324645e-01 1.54092232e+02] [ 5.91420607e-02 9.96729195e-01 -5.50738528e-02 -5.84877318e+01] [ 5.64886200e-01 1.20713120e-02 8.25080520e-01 6.66970307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.12, Y:-58.49, Z:66.71 [[ 8.23040631e-01 -8.01650126e-02 -5.62296800e-01 1.54116722e+02] [ 5.93203584e-02 9.96707753e-01 -5.52697871e-02 -5.84933101e+01] [ 5.64876283e-01 1.21336328e-02 8.25086395e-01 6.67115773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:-58.50, Z:66.73 [[ 8.23040930e-01 -8.00081590e-02 -5.62318702e-01 1.54138659e+02] [ 5.89915352e-02 9.96716033e-01 -5.54720424e-02 -5.84954760e+01] [ 5.64910282e-01 1.24837179e-02 8.25057895e-01 6.67272981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:-58.50, Z:66.74 [[ 8.22931708e-01 -8.00305744e-02 -5.62475343e-01 1.54162296e+02] [ 5.89455988e-02 9.96713041e-01 -5.55745514e-02 -5.84977439e+01] [ 5.65074172e-01 1.25786146e-02 8.24944215e-01 6.67433004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:-58.50, Z:66.76 [[ 8.22596987e-01 -7.94715198e-02 -5.63043937e-01 1.54185776e+02] [ 5.80855088e-02 9.96749508e-01 -5.58255434e-02 -5.85049125e+01] [ 5.65650308e-01 1.32172302e-02 8.24539286e-01 6.67592192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:-58.51, Z:66.78 [[ 8.22665744e-01 -7.93312274e-02 -5.62963257e-01 1.54209074e+02] [ 5.77899286e-02 9.96756288e-01 -5.60109469e-02 -5.85070426e+01] [ 5.65580584e-01 1.35446808e-02 8.24581800e-01 6.67752066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.23, Y:-58.51, Z:66.79 [[ 8.22434873e-01 -7.91576289e-02 -5.63324906e-01 1.54232639e+02] [ 5.74117493e-02 9.96764971e-01 -5.62448536e-02 -5.85093217e+01] [ 5.65954743e-01 1.39162607e-02 8.24318850e-01 6.67910977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:-58.51, Z:66.81 [[ 8.22240297e-01 -7.92456309e-02 -5.63596509e-01 1.54256091e+02] [ 5.73586228e-02 9.96755336e-01 -5.64693605e-02 -5.85114837e+01] [ 5.66242777e-01 1.41042642e-02 8.24117823e-01 6.68063827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:-58.52, Z:66.82 [[ 8.21731277e-01 -7.98191639e-02 -5.64257573e-01 1.54279958e+02] [ 5.78593005e-02 9.96711442e-01 -5.67327379e-02 -5.85184041e+01] [ 5.66930339e-01 1.39715167e-02 8.23647247e-01 6.68217077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:-58.52, Z:66.84 [[ 8.21447470e-01 -8.05314147e-02 -5.64569522e-01 1.54303468e+02] [ 5.85587227e-02 9.96657485e-01 -5.69625555e-02 -5.85211146e+01] [ 5.67269715e-01 1.37312771e-02 8.23417587e-01 6.68374456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:-58.52, Z:66.85 [[ 8.21428287e-01 -8.08673485e-02 -5.64549414e-01 1.54326932e+02] [ 5.88298248e-02 9.96630143e-01 -5.71612584e-02 -5.85185877e+01] [ 5.67269443e-01 1.37415314e-02 8.23417603e-01 6.68535096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:-58.52, Z:66.87 [[ 8.20953396e-01 -8.18129437e-02 -5.65103676e-01 1.54350845e+02] [ 5.97975298e-02 9.96558476e-01 -5.74060986e-02 -5.85215900e+01] [ 5.67855420e-01 1.33359277e-02 8.23020277e-01 6.68695130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:-58.52, Z:66.89 [[ 8.20980201e-01 -8.28991603e-02 -5.64906398e-01 1.54374308e+02] [ 6.09952275e-02 9.96475465e-01 -5.75867176e-02 -5.85249712e+01] [ 5.67689256e-01 1.28209608e-02 8.23143081e-01 6.68851535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:-58.53, Z:66.90 [[ 8.20570304e-01 -8.41817337e-02 -5.65312136e-01 1.54396853e+02] [ 6.23741266e-02 9.96375779e-01 -5.78340394e-02 -5.85281489e+01] [ 5.68131890e-01 1.21960445e-02 8.22847138e-01 6.69001702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:-58.53, Z:66.92 [[ 8.20037865e-01 -8.53860822e-02 -5.65903806e-01 1.54419867e+02] [ 6.37227428e-02 9.96281704e-01 -5.79842885e-02 -5.85314689e+01] [ 5.68750659e-01 1.14883695e-02 8.22429757e-01 6.69155868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:-58.53, Z:66.92 [[ 8.21442950e-01 -9.53607452e-02 -5.62261334e-01 1.54442344e+02] [ 7.18673087e-02 9.95370237e-01 -6.38214853e-02 -5.85319226e+01] [ 5.65744262e-01 1.20175002e-02 8.24493184e-01 6.69221262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:-58.54, Z:66.95 [[ 8.19765211e-01 -9.13927420e-02 -5.65360385e-01 1.54468890e+02] [ 6.65274218e-02 9.95698019e-01 -6.44946252e-02 -5.85410926e+01] [ 5.68822556e-01 1.52584813e-02 8.22318721e-01 6.69466017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:-58.55, Z:66.96 [[ 8.19787546e-01 -8.82759021e-02 -5.65823069e-01 1.54491761e+02] [ 6.72285890e-02 9.96050731e-01 -5.79936003e-02 -5.85472364e+01] [ 5.68707919e-01 9.50294471e-03 8.22484649e-01 6.69642272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:-58.55, Z:66.98 [[ 8.19856648e-01 -8.87152864e-02 -5.65654201e-01 1.54513956e+02] [ 6.76384493e-02 9.96012327e-01 -5.81763318e-02 -5.85502686e+01] [ 5.68559687e-01 9.43627936e-03 8.22587892e-01 6.69794163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.54, Y:-58.56, Z:67.00 [[ 8.20467881e-01 -8.85209078e-02 -5.64797755e-01 1.54536482e+02] [ 6.74153782e-02 9.96027528e-01 -5.81749982e-02 -5.85584852e+01] [ 5.67703816e-01 9.65466328e-03 8.23176266e-01 6.69956493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:-58.56, Z:67.01 [[ 8.20899709e-01 -8.81313447e-02 -5.64230923e-01 1.54559564e+02] [ 6.69314424e-02 9.96058524e-01 -5.82030764e-02 -5.85608013e+01] [ 5.67136536e-01 1.00140990e-02 8.23562911e-01 6.70116676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23999999999998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:154.58, Y:-58.57, Z:67.03 [[ 8.21057256e-01 -8.66940823e-02 -5.64224352e-01 1.54584763e+02] [ 6.50514435e-02 9.96171493e-01 -5.84009068e-02 -5.85660866e+01] [ 5.67127228e-01 1.12468797e-02 8.23553408e-01 6.70250053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:-58.57, Z:67.04 [[ 8.21173926e-01 -8.49254341e-02 -5.64323536e-01 1.54606334e+02] [ 6.27560867e-02 9.96306130e-01 -5.86154332e-02 -5.85680511e+01] [ 5.67216939e-01 1.27187287e-02 8.23470205e-01 6.70423227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:-58.57, Z:67.06 [[ 8.20626390e-01 -8.35857262e-02 -5.65319161e-01 1.54629202e+02] [ 6.09778429e-02 9.96405206e-01 -5.88078875e-02 -5.85698863e+01] [ 5.68202455e-01 1.37873615e-02 8.22773285e-01 6.70571785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:-58.57, Z:67.07 [[ 8.20027815e-01 -8.24046741e-02 -5.66360179e-01 1.54651680e+02] [ 5.93852231e-02 9.96489763e-01 -5.90046417e-02 -5.85720960e+01] [ 5.69234379e-01 1.47520218e-02 8.22042943e-01 6.70720815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:-58.57, Z:67.07 [[ 8.22176745e-01 -9.31646844e-02 -5.61556535e-01 1.54677338e+02] [ 6.17490144e-02 9.95291186e-01 -7.47162269e-02 -5.85671876e+01] [ 5.65873184e-01 2.67543816e-02 8.24058095e-01 6.70745700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:-58.57, Z:67.09 [[ 8.21364369e-01 -8.91554890e-02 -5.63393177e-01 1.54700605e+02] [ 6.10253909e-02 9.95775318e-01 -6.86106175e-02 -5.85728465e+01] [ 5.67130034e-01 2.19730276e-02 8.23335115e-01 6.70935868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:-58.59, Z:67.12 [[ 8.18070121e-01 -7.73148493e-02 -5.69897966e-01 1.54721933e+02] [ 5.71899059e-02 9.96947220e-01 -5.31559554e-02 -5.85870676e+01] [ 5.72267937e-01 1.08928878e-02 8.19994362e-01 6.71229143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:-58.59, Z:67.14 [[ 8.17717628e-01 -8.14853190e-02 -5.69822801e-01 1.54746767e+02] [ 5.77860464e-02 9.96549395e-01 -5.95825168e-02 -5.85868719e+01] [ 5.72711668e-01 1.57938675e-02 8.19604721e-01 6.71373128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:-58.59, Z:67.15 [[ 8.16800624e-01 -8.35376447e-02 -5.70839909e-01 1.54770800e+02] [ 6.00501123e-02 9.96397086e-01 -5.98901652e-02 -5.85948698e+01] [ 5.73786305e-01 1.46393237e-02 8.18874207e-01 6.71533328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:-58.60, Z:67.17 [[ 8.16410688e-01 -8.48418969e-02 -5.71205253e-01 1.54794535e+02] [ 6.14646936e-02 9.96296309e-01 -6.01311625e-02 -5.85979168e+01] [ 5.74191327e-01 1.39827679e-02 8.18601736e-01 6.71695576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:-58.60, Z:67.19 [[ 8.16093400e-01 -8.61543223e-02 -5.71462156e-01 1.54816816e+02] [ 6.28980019e-02 9.96192775e-01 -6.03638732e-02 -5.86009574e+01] [ 5.74487079e-01 1.33187308e-02 8.18405283e-01 6.71851005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:-58.60, Z:67.20 [[ 8.16287055e-01 -8.77686396e-02 -5.70939672e-01 1.54840298e+02] [ 6.48525895e-02 9.96065228e-01 -6.04003582e-02 -5.86037237e+01] [ 5.73994412e-01 1.22771143e-02 8.18767176e-01 6.72015645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:-58.60, Z:67.21 [[ 8.19092895e-01 -9.77107712e-02 -5.65278193e-01 1.54865798e+02] [ 6.93008178e-02 9.95024700e-01 -7.15768339e-02 -5.85985406e+01] [ 5.69459592e-01 1.94538350e-02 8.21789098e-01 6.72080566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:-58.62, Z:67.24 [[ 8.18181959e-01 -8.75142372e-02 -5.68260099e-01 1.54885481e+02] [ 6.83200056e-02 9.96143904e-01 -5.50427135e-02 -5.86155174e+01] [ 5.70885854e-01 6.21142205e-03 8.21005944e-01 6.72363855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:-58.61, Z:67.25 [[ 8.18806911e-01 -9.06456214e-02 -5.66867369e-01 1.54908778e+02] [ 6.83932482e-02 9.95825450e-01 -6.04486240e-02 -5.86147553e+01] [ 5.69980357e-01 1.07258504e-02 8.21588309e-01 6.72500062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:-58.62, Z:67.27 [[ 8.19108836e-01 -9.05218128e-02 -5.66450806e-01 1.54931929e+02] [ 6.81864740e-02 9.95834118e-01 -6.05393547e-02 -5.86158527e+01] [ 5.69571172e-01 1.09640372e-02 8.21868889e-01 6.72658787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:-58.61, Z:67.27 [[ 8.20964831e-01 -9.85077234e-02 -5.62417082e-01 1.54959513e+02] [ 6.94322089e-02 9.94918747e-01 -7.29099105e-02 -5.86092038e+01] [ 5.66741488e-01 2.08066121e-02 8.23632910e-01 6.72731581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.98, Y:-58.62, Z:67.30 [[ 8.18955048e-01 -8.39657511e-02 -5.67681584e-01 1.54978773e+02] [ 6.61642716e-02 9.96456235e-01 -5.19351566e-02 -5.86212935e+01] [ 5.70030629e-01 4.97232014e-03 8.21608397e-01 6.73008486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.00, Y:-58.62, Z:67.31 [[ 8.18560246e-01 -8.52852437e-02 -5.68054180e-01 1.55003385e+02] [ 6.14080193e-02 9.96241887e-01 -6.10832029e-02 -5.86209275e+01] [ 5.71128864e-01 1.51171996e-02 8.20721202e-01 6.73145990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:-58.62, Z:67.33 [[ 8.18130637e-01 -8.35376889e-02 -5.68932083e-01 1.55026081e+02] [ 5.90549347e-02 9.96366073e-01 -6.13772166e-02 -5.86210341e+01] [ 5.71991936e-01 1.66163343e-02 8.20090923e-01 6.73296938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.05, Y:-58.62, Z:67.35 [[ 8.17309782e-01 -8.21897349e-02 -5.70306556e-01 1.55049334e+02] [ 5.72112966e-02 9.96458970e-01 -6.16148385e-02 -5.86210065e+01] [ 5.73351191e-01 1.77304327e-02 8.19117845e-01 6.73453543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:155.07, Y:-58.62, Z:67.36 [[ 8.16056349e-01 -8.17242526e-02 -5.72165345e-01 1.55074569e+02] [ 5.63119247e-02 9.96485325e-01 -6.20158404e-02 -5.86205893e+01] [ 5.75222568e-01 1.83886884e-02 8.17790226e-01 6.73579868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:-58.62, Z:67.38 [[ 8.16281905e-01 -8.02325486e-02 -5.72054709e-01 1.55095880e+02] [ 5.43623567e-02 9.96581943e-01 -6.22026188e-02 -5.86216006e+01] [ 5.75090068e-01 1.96766299e-02 8.17853437e-01 6.73763592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:-58.62, Z:67.39 [[ 8.16026576e-01 -7.97029008e-02 -5.72492860e-01 1.55119129e+02] [ 5.35292063e-02 9.96611635e-01 -6.24489594e-02 -5.86219333e+01] [ 5.75530409e-01 2.03149220e-02 8.17528013e-01 6.73918670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:-58.63, Z:67.41 [[ 8.15820691e-01 -7.95117616e-02 -5.72812779e-01 1.55142258e+02] [ 5.31219262e-02 9.96618809e-01 -6.26818254e-02 -5.86254841e+01] [ 5.75859931e-01 2.07082120e-02 8.17286063e-01 6.74070460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:-58.63, Z:67.42 [[ 8.15629438e-01 -8.04928358e-02 -5.72948098e-01 1.55165552e+02] [ 5.42432512e-02 9.96551874e-01 -6.27856066e-02 -5.86260554e+01] [ 5.76026292e-01 2.01312214e-02 8.17183238e-01 6.74228013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:155.19, Y:-58.63, Z:67.44 [[ 8.15377263e-01 -8.24206098e-02 -5.73032951e-01 1.55190317e+02] [ 5.64483453e-02 9.96416150e-01 -6.29955562e-02 -5.86261139e+01] [ 5.76171419e-01 1.90183823e-02 8.17107580e-01 6.74363342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:-58.63, Z:67.45 [[ 8.15682369e-01 -8.60948952e-02 -5.72057638e-01 1.55211181e+02] [ 6.08973084e-02 9.96148244e-01 -6.30887790e-02 -5.86316230e+01] [ 5.75285834e-01 1.66236343e-02 8.17783507e-01 6.74545783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.24, Y:-58.63, Z:67.46 [[ 8.17580395e-01 -9.66481348e-02 -5.67645519e-01 1.55238103e+02] [ 6.59565790e-02 9.95043399e-01 -7.44201816e-02 -5.86260447e+01] [ 5.72024499e-01 2.34045249e-02 8.19902556e-01 6.74626067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:-58.64, Z:67.49 [[ 8.15949060e-01 -8.65676967e-02 -5.71605779e-01 1.55255298e+02] [ 6.74506635e-02 9.96227970e-01 -5.45915673e-02 -5.86377372e+01] [ 5.74175531e-01 5.98874901e-03 8.18710324e-01 6.74909302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:-58.63, Z:67.50 [[ 8.15994176e-01 -9.47664505e-02 -5.70239269e-01 1.55280507e+02] [ 7.14066720e-02 9.95439949e-01 -6.32486818e-02 -5.86345028e+01] [ 5.73632802e-01 1.08916675e-02 8.19040158e-01 6.75039923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:-58.63, Z:67.52 [[ 8.15835618e-01 -9.80062659e-02 -5.69918429e-01 1.55303950e+02] [ 7.52499814e-02 9.95146478e-01 -6.34107855e-02 -5.86347868e+01] [ 5.73366972e-01 8.84642623e-03 8.19250912e-01 6.75199530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:-58.64, Z:67.54 [[ 8.16022877e-01 -1.04266869e-01 -5.68537672e-01 1.55327890e+02] [ 8.28659566e-02 9.94538397e-01 -6.34555813e-02 -5.86371267e+01] [ 5.72048860e-01 4.66878792e-03 8.20206257e-01 6.75362096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:-58.64, Z:67.55 [[ 8.16039221e-01 -1.06908934e-01 -5.68023301e-01 1.55350742e+02] [ 8.59912663e-02 9.94264136e-01 -6.35950545e-02 -5.86363821e+01] [ 5.71564075e-01 3.05101583e-03 8.20551765e-01 6.75519952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:-58.63, Z:67.57 [[ 8.15950427e-01 -1.09426643e-01 -5.67671305e-01 1.55373702e+02] [ 8.89483811e-02 9.93993700e-01 -6.37550712e-02 -5.86347135e+01] [ 5.71238204e-01 1.52753399e-03 8.20782907e-01 6.75680741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:155.40, Y:-58.63, Z:67.58 [[ 8.15529176e-01 -1.11892064e-01 -5.67796027e-01 1.55398464e+02] [ 9.18043200e-02 9.93720365e-01 -6.39671992e-02 -5.86316116e+01] [ 5.71387898e-01 4.09891124e-05 8.20680126e-01 6.75808804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:-58.62, Z:67.59 [[ 8.16600857e-01 -1.22405069e-01 -5.64074498e-01 1.55427920e+02] [ 9.37079622e-02 9.92404994e-01 -7.96940814e-02 -5.86200759e+01] [ 5.69545308e-01 1.22199833e-02 8.21869098e-01 6.75899697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:-58.63, Z:67.62 [[ 8.14984803e-01 -1.02457916e-01 -5.70352651e-01 1.55439858e+02] [ 9.25081921e-02 9.94626111e-01 -4.64879883e-02 -5.86310778e+01] [ 5.72050702e-01 -1.48752886e-02 8.20083362e-01 6.76212956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:155.47, Y:-58.62, Z:67.63 [[ 8.14860891e-01 -1.13942401e-01 -5.68347479e-01 1.55473904e+02] [ 8.93583090e-02 9.93461902e-01 -7.10530878e-02 -5.86184131e+01] [ 5.72727528e-01 7.11181277e-03 8.19714951e-01 6.76287730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:155.49, Y:-58.62, Z:67.65 [[ 8.13635432e-01 -1.01258118e-01 -5.72489456e-01 1.55487497e+02] [ 9.03491294e-02 9.94774706e-01 -4.75428181e-02 -5.86216428e+01] [ 5.74312126e-01 -1.30414026e-02 8.18532530e-01 6.76491547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:-58.61, Z:67.66 [[ 8.13622045e-01 -1.07879651e-01 -5.71297776e-01 1.55512505e+02] [ 8.60700243e-02 9.94156557e-01 -6.51512999e-02 -5.86094844e+01] [ 5.74987929e-01 3.83692048e-03 8.18152895e-01 6.76610633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:-58.61, Z:67.68 [[ 8.13781256e-01 -1.07356253e-01 -5.71169591e-01 1.55535723e+02] [ 8.53006989e-02 9.94210662e-01 -6.53371998e-02 -5.86057376e+01] [ 5.74877254e-01 4.44902324e-03 8.18227565e-01 6.76768914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.5 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:155.56, Y:-58.60, Z:67.69 [[ 8.13539101e-01 -1.07330485e-01 -5.71519290e-01 1.55559739e+02] [ 8.50973008e-02 9.94212215e-01 -6.55783592e-02 -5.86022120e+01] [ 5.75250016e-01 4.71581047e-03 8.17964046e-01 6.76912123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:-58.59, Z:67.70 [[ 8.16100487e-01 -1.19143395e-01 -5.65495222e-01 1.55589609e+02] [ 8.76461855e-02 9.92715680e-01 -8.26663422e-02 -5.85898804e+01] [ 5.71225123e-01 1.79005430e-02 8.20598215e-01 6.76966395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:155.60, Y:-58.60, Z:67.73 [[ 8.13658513e-01 -9.93617085e-02 -5.72788858e-01 1.55601660e+02] [ 8.71853183e-02 9.94998383e-01 -4.87538514e-02 -5.86032596e+01] [ 5.74768253e-01 -1.02697927e-02 8.18251787e-01 6.77302332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:-58.59, Z:67.73 [[ 8.15539796e-01 -1.18706516e-01 -5.66395271e-01 1.55633617e+02] [ 9.07798603e-02 9.92860632e-01 -7.73743004e-02 -5.85870177e+01] [ 5.71536401e-01 1.16845376e-02 8.20493519e-01 6.77319575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:155.65, Y:-58.60, Z:67.76 [[ 8.14717885e-01 -1.09233281e-01 -5.69475950e-01 1.55648688e+02] [ 9.51599800e-02 9.93968071e-01 -5.45165360e-02 -5.85962784e+01] [ 5.71995931e-01 -9.77572307e-03 8.20198202e-01 6.77604735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.68, Y:-58.58, Z:67.77 [[ 8.16317207e-01 -1.26607876e-01 -5.63557152e-01 1.55678885e+02] [ 1.00595636e-01 9.91933008e-01 -7.71325195e-02 -5.85824438e+01] [ 5.68776526e-01 6.27321291e-03 8.22468182e-01 6.77652148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:-58.59, Z:67.80 [[ 8.15809707e-01 -1.15009527e-01 -5.66769205e-01 1.55694678e+02] [ 1.02157244e-01 9.93273612e-01 -5.45108240e-02 -5.85909600e+01] [ 5.69226159e-01 -1.34291208e-02 8.22071310e-01 6.77953216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:-58.58, Z:67.81 [[ 8.15710631e-01 -1.26507781e-01 -5.64457215e-01 1.55720562e+02] [ 1.08321615e-01 9.91937357e-01 -6.57777054e-02 -5.85830693e+01] [ 5.68227589e-01 -7.48734369e-03 8.22837375e-01 6.78069690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:-58.58, Z:67.82 [[ 8.15081255e-01 -1.28622657e-01 -5.64888273e-01 1.55743712e+02] [ 1.10727965e-01 9.91655157e-01 -6.60255042e-02 -5.85799508e+01] [ 5.68666745e-01 -8.73277782e-03 8.22521655e-01 6.78225862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:-58.56, Z:67.82 [[ 8.16974722e-01 -1.46067573e-01 -5.57867876e-01 1.55775700e+02] [ 1.16344370e-01 9.89246129e-01 -8.86345565e-02 -5.85630769e+01] [ 5.64815271e-01 7.50740535e-03 8.25183221e-01 6.78203986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:-58.58, Z:67.86 [[ 8.13684343e-01 -1.20486179e-01 -5.68683454e-01 1.55787816e+02] [ 1.13463112e-01 9.92386388e-01 -4.79101095e-02 -5.85813462e+01] [ 5.70126225e-01 -2.55408884e-02 8.21160003e-01 6.78613903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:-58.57, Z:67.87 [[ 8.13489210e-01 -1.31223780e-01 -5.66582408e-01 1.55815166e+02] [ 1.13496972e-01 9.91301329e-01 -6.66341633e-02 -5.85705842e+01] [ 5.70397881e-01 -1.00992150e-02 8.21306437e-01 6.78704560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:-58.57, Z:67.89 [[ 8.11928725e-01 -1.30844699e-01 -5.68903691e-01 1.55837334e+02] [ 1.12792458e-01 9.91354994e-01 -6.70308690e-02 -5.85669489e+01] [ 5.72756149e-01 -9.74375780e-03 8.19667892e-01 6.78850126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:-58.55, Z:67.88 [[ 8.15521644e-01 -1.49227779e-01 -5.59156076e-01 1.55870481e+02] [ 1.16095087e-01 9.88727688e-01 -9.45488795e-02 -5.85465741e+01] [ 5.66962414e-01 1.21913841e-02 8.23653441e-01 6.78791258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:-58.55, Z:67.90 [[ 8.15097651e-01 -1.35177758e-01 -5.63331868e-01 1.55888403e+02] [ 1.14724729e-01 9.90802340e-01 -7.17562497e-02 -5.85532607e+01] [ 5.67850382e-01 -6.13974529e-03 8.23108892e-01 6.79038822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:-58.55, Z:67.92 [[ 8.15138486e-01 -1.34156013e-01 -5.63517003e-01 1.55911356e+02] [ 1.12684279e-01 9.90951891e-01 -7.29150343e-02 -5.85489438e+01] [ 5.68200230e-01 -4.06365667e-03 8.22880298e-01 6.79192442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:-58.56, Z:67.96 [[ 8.11705638e-01 -1.11391522e-01 -5.73346218e-01 1.55923662e+02] [ 1.04470616e-01 9.93504006e-01 -4.51185241e-02 -5.85606515e+01] [ 5.74647585e-01 -2.32748722e-02 8.18069944e-01 6.79571593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:-58.53, Z:67.94 [[ 8.17038686e-01 -1.45572743e-01 -5.57903542e-01 1.55962140e+02] [ 1.07702097e-01 9.89104940e-01 -1.00357742e-01 -5.85272461e+01] [ 5.66434501e-01 2.19087756e-02 8.23815490e-01 6.79397709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:155.97, Y:-58.55, Z:67.99 [[ 8.12676382e-01 -1.07282455e-01 -5.72754373e-01 1.55970196e+02] [ 1.01077647e-01 9.93959201e-01 -4.27599808e-02 -5.85548993e+01] [ 5.73881875e-01 -2.31426381e-02 8.18611026e-01 6.79882793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:156.00, Y:-58.54, Z:68.00 [[ 8.12230590e-01 -1.23374009e-01 -5.70140616e-01 1.55997574e+02] [ 9.88312782e-02 9.92353311e-01 -7.39410901e-02 -5.85384678e+01] [ 5.74903337e-01 3.70948936e-03 8.18212926e-01 6.79950120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.1 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:156.02, Y:-58.54, Z:68.01 [[ 8.14352162e-01 -1.13068526e-01 -5.69250442e-01 1.56018636e+02] [ 9.54802346e-02 9.93575246e-01 -6.07598169e-02 -5.85407985e+01] [ 5.72463171e-01 -4.87227753e-03 8.19915959e-01 6.80138356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:-58.53, Z:68.02 [[ 8.12455740e-01 -1.24726576e-01 -5.69525198e-01 1.56045927e+02] [ 9.34210246e-02 9.92077191e-01 -8.39961850e-02 -5.85279315e+01] [ 5.75489515e-01 1.50375552e-02 8.17670893e-01 6.80238962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:-58.54, Z:68.05 [[ 8.15059113e-01 -1.05710605e-01 -5.69652446e-01 1.56062705e+02] [ 9.24210574e-02 9.94346327e-01 -5.22850852e-02 -5.85380405e+01] [ 5.71958906e-01 -1.00324463e-02 8.20220922e-01 6.80510971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:-58.53, Z:68.06 [[ 8.15314496e-01 -1.13768949e-01 -5.67731361e-01 1.56087781e+02] [ 9.11279011e-02 9.93499636e-01 -6.82215459e-02 -5.85282560e+01] [ 5.71802394e-01 3.88584799e-03 8.20382181e-01 6.80602351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:-58.52, Z:68.08 [[ 8.16088650e-01 -1.12065198e-01 -5.66957412e-01 1.56110952e+02] [ 8.90626731e-02 9.93687384e-01 -6.82145357e-02 -5.85244787e+01] [ 5.71022903e-01 5.17436567e-03 8.20917822e-01 6.80752203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:-58.52, Z:68.09 [[ 8.16343785e-01 -1.11190445e-01 -5.66762304e-01 1.56134436e+02] [ 8.78786220e-02 9.93780872e-01 -6.83880535e-02 -5.85211464e+01] [ 5.70841635e-01 6.02187216e-03 8.21038102e-01 6.80911842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:-58.52, Z:68.11 [[ 8.16450531e-01 -1.10408123e-01 -5.66761482e-01 1.56157223e+02] [ 8.67887491e-02 9.93863014e-01 -6.85858702e-02 -5.85181411e+01] [ 5.70855712e-01 6.80845009e-03 8.21022169e-01 6.81065149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:-58.49, Z:68.09 [[ 8.23466161e-01 -1.39577383e-01 -5.49928755e-01 1.56194144e+02] [ 9.26983677e-02 9.89341322e-01 -1.12297644e-01 -5.84881814e+01] [ 5.59741453e-01 4.14958121e-02 8.27627696e-01 6.80898343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:-58.51, Z:68.12 [[ 8.22620098e-01 -1.14032744e-01 -5.57039233e-01 1.56208485e+02] [ 9.10064114e-02 9.93458582e-01 -6.89773777e-02 -5.85057854e+01] [ 5.61261086e-01 6.04803567e-03 8.27616707e-01 6.81234179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:-58.52, Z:68.16 [[ 8.17300140e-01 -9.28475194e-02 -5.68682529e-01 1.56221129e+02] [ 8.51410546e-02 9.95558444e-01 -4.01794233e-02 -5.85212088e+01] [ 5.69887253e-01 -1.55795819e-02 8.21575191e-01 6.81647310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:-58.51, Z:68.17 [[ 8.17437689e-01 -1.08718000e-01 -5.65664230e-01 1.56249926e+02] [ 8.41791469e-02 9.94030849e-01 -6.94013095e-02 -5.85053726e+01] [ 5.69832866e-01 9.11411373e-03 8.21710069e-01 6.81684857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:-58.50, Z:68.18 [[ 8.17119676e-01 -1.08554704e-01 -5.66154847e-01 1.56272178e+02] [ 8.38734080e-02 9.94046579e-01 -6.95460275e-02 -5.85027124e+01] [ 5.70333838e-01 9.34209103e-03 8.21359872e-01 6.81835983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:-58.50, Z:68.20 [[ 8.17081379e-01 -1.08756923e-01 -5.66171309e-01 1.56295629e+02] [ 8.40588237e-02 9.94024831e-01 -6.96329570e-02 -5.84998830e+01] [ 5.70361406e-01 9.30409830e-03 8.21341159e-01 6.81988632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:-58.47, Z:68.19 [[ 8.22558316e-01 -1.35524739e-01 -5.52295991e-01 1.56330797e+02] [ 9.03785202e-02 9.89998648e-01 -1.08325437e-01 -5.84733529e+01] [ 5.61453061e-01 3.91882946e-02 8.26580146e-01 6.81856650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:-58.51, Z:68.24 [[ 8.15481687e-01 -9.28829951e-02 -5.71281338e-01 1.56336529e+02] [ 8.46704139e-02 9.95565029e-01 -4.10023716e-02 -5.85074020e+01] [ 5.72556145e-01 -1.49339442e-02 8.19729491e-01 6.82417748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:-58.49, Z:68.25 [[ 8.15308934e-01 -1.09739978e-01 -5.68531863e-01 1.56364786e+02] [ 8.47950231e-02 9.93918987e-01 -7.02484945e-02 -5.84926529e+01] [ 5.72783682e-01 9.06555261e-03 8.19656434e-01 6.82454873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:-58.49, Z:68.26 [[ 8.14460414e-01 -1.11044745e-01 -5.69493898e-01 1.56387257e+02] [ 8.62331437e-02 9.93781004e-01 -7.04497029e-02 -5.84917317e+01] [ 5.73775287e-01 8.26924504e-03 8.18971025e-01 6.82603010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-58.49, Z:68.28 [[ 8.14357197e-01 -1.12297621e-01 -5.69395821e-01 1.56410513e+02] [ 8.77133988e-02 9.93646424e-01 -7.05205241e-02 -5.84899647e+01] [ 5.73697408e-01 7.48525365e-03 8.19033122e-01 6.82767560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:-58.49, Z:68.29 [[ 8.14200628e-01 -1.13620831e-01 -5.69357220e-01 1.56433052e+02] [ 8.92014705e-02 9.93501066e-01 -7.07017007e-02 -5.84882000e+01] [ 5.73690191e-01 6.77786783e-03 8.19044337e-01 6.82928104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:-58.49, Z:68.31 [[ 8.14262718e-01 -1.15095016e-01 -5.68972199e-01 1.56456221e+02] [ 9.09082918e-02 9.93336629e-01 -7.08380164e-02 -5.84863504e+01] [ 5.73334029e-01 5.95646516e-03 8.19300075e-01 6.83091753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:-58.49, Z:68.33 [[ 8.14180839e-01 -1.17529828e-01 -5.68591506e-01 1.56477851e+02] [ 9.37866500e-02 9.93059343e-01 -7.09732731e-02 -5.84855620e+01] [ 5.72986584e-01 4.45878647e-03 8.19552618e-01 6.83250197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:-58.48, Z:68.34 [[ 8.14317018e-01 -1.18937414e-01 -5.68103587e-01 1.56500850e+02] [ 9.54919047e-02 9.92895364e-01 -7.09936083e-02 -5.84835656e+01] [ 5.72511214e-01 3.56200982e-03 8.19889152e-01 6.83409896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:-58.46, Z:68.33 [[ 8.18367418e-01 -1.39748215e-01 -5.57445249e-01 1.56533113e+02] [ 1.01759218e-01 9.89893604e-01 -9.87710191e-02 -5.84634989e+01] [ 5.65614561e-01 2.41057911e-02 8.24317342e-01 6.83346291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:-58.49, Z:68.38 [[ 8.13945359e-01 -1.09734261e-01 -5.70483431e-01 1.56543132e+02] [ 9.83412275e-02 9.93852193e-01 -5.08608109e-02 -5.84882049e+01] [ 5.72557382e-01 -1.47041199e-02 8.19732781e-01 6.83814509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:-58.48, Z:68.39 [[ 8.13865231e-01 -1.22560871e-01 -5.67980826e-01 1.56570614e+02] [ 9.97327280e-02 9.92460093e-01 -7.12484863e-02 -5.84770414e+01] [ 5.72430580e-01 1.34038851e-03 8.19952093e-01 6.83900344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:-58.47, Z:68.41 [[ 8.14016749e-01 -1.24172308e-01 -5.67413404e-01 1.56592651e+02] [ 1.01616607e-01 9.92260576e-01 -7.13653656e-02 -5.84749862e+01] [ 5.71883553e-01 4.33977795e-04 8.20334696e-01 6.84053276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:-58.46, Z:68.40 [[ 8.17630659e-01 -1.41089056e-01 -5.58188126e-01 1.56623703e+02] [ 1.05986480e-01 9.89824650e-01 -9.49422393e-02 -5.84565990e+01] [ 5.65903677e-01 1.84672913e-02 8.24264513e-01 6.84016677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:-58.46, Z:68.42 [[ 8.17634329e-01 -1.32481174e-01 -5.60288177e-01 1.56644000e+02] [ 1.06546562e-01 9.91173906e-01 -7.88804010e-02 -5.84603923e+01] [ 5.65793190e-01 4.79854478e-03 8.24533226e-01 6.84238017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:-58.46, Z:68.44 [[ 8.17756337e-01 -1.31861980e-01 -5.60256183e-01 1.56666423e+02] [ 1.06370146e-01 9.91259077e-01 -7.80438036e-02 -5.84575369e+01] [ 5.65650037e-01 4.22628310e-03 8.24634570e-01 6.84398910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:-58.46, Z:68.46 [[ 8.17767224e-01 -1.28551783e-01 -5.61009096e-01 1.56688420e+02] [ 1.04560591e-01 9.91699567e-01 -7.48268153e-02 -5.84550136e+01] [ 5.65971598e-01 2.53147460e-03 8.24420852e-01 6.84584040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:-58.46, Z:68.49 [[ 8.14868264e-01 -1.12956045e-01 -5.68533767e-01 1.56703274e+02] [ 1.00905085e-01 9.93496012e-01 -5.27620875e-02 -5.84645885e+01] [ 5.70795826e-01 -1.43737976e-02 8.20966210e-01 6.84922573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:-58.44, Z:68.49 [[ 8.17888418e-01 -1.36698529e-01 -5.58902538e-01 1.56738259e+02] [ 1.02476487e-01 9.90445416e-01 -9.22846031e-02 -5.84406429e+01] [ 5.66177626e-01 1.82041391e-02 8.24082220e-01 6.84864959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:-58.46, Z:68.52 [[ 8.14529574e-01 -1.11958383e-01 -5.69216034e-01 1.56749903e+02] [ 9.89511383e-02 9.93634656e-01 -5.38408960e-02 -5.84563391e+01] [ 5.71620718e-01 -1.24695725e-02 8.20423223e-01 6.85239313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:-58.44, Z:68.53 [[ 8.14232073e-01 -1.22091585e-01 -5.67555967e-01 1.56776287e+02] [ 9.84973045e-02 9.92514644e-01 -7.22008467e-02 -5.84449862e+01] [ 5.72122724e-01 2.88551222e-03 8.20162949e-01 6.85325384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:156.80, Y:-58.43, Z:68.54 [[ 8.10207288e-01 -1.33620053e-01 -5.70709938e-01 1.56803509e+02] [ 9.86388965e-02 9.90865297e-01 -9.19583082e-02 -5.84327414e+01] [ 5.77784146e-01 1.82110930e-02 8.15986420e-01 6.85443629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:-58.45, Z:68.57 [[ 8.13279839e-01 -1.09951426e-01 -5.71390048e-01 1.56818080e+02] [ 9.83582558e-02 9.93830822e-01 -5.12440306e-02 -5.84470958e+01] [ 5.73499395e-01 -1.45251915e-02 8.19077202e-01 6.85720159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:-58.43, Z:68.58 [[ 8.13323093e-01 -1.22299717e-01 -5.68813085e-01 1.56845874e+02] [ 9.83260529e-02 9.92487789e-01 -7.28009389e-02 -5.84342917e+01] [ 5.73443575e-01 3.28153930e-03 8.19238486e-01 6.85799942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.87, Y:-58.43, Z:68.60 [[ 8.13662518e-01 -1.22611809e-01 -5.68260196e-01 1.56868542e+02] [ 9.86340503e-02 9.92449308e-01 -7.29088117e-02 -5.84307575e+01] [ 5.72908920e-01 3.27336258e-03 8.19612503e-01 6.85959899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:-58.43, Z:68.61 [[ 8.14439010e-01 -1.23575510e-01 -5.66937556e-01 1.56890051e+02] [ 9.98103542e-02 9.92331225e-01 -7.29152460e-02 -5.84270930e+01] [ 5.71600378e-01 2.79878254e-03 8.20527376e-01 6.86114778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:-58.43, Z:68.63 [[ 8.16990494e-01 -1.17585202e-01 -5.64535431e-01 1.56912729e+02] [ 1.00652248e-01 9.93039218e-01 -6.11738169e-02 -5.84303321e+01] [ 5.67798959e-01 -6.84333360e-03 8.23138816e-01 6.86315947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:156.94, Y:-58.42, Z:68.65 [[ 8.15372868e-01 -1.28251620e-01 -5.64551688e-01 1.56938992e+02] [ 1.01786499e-01 9.91721218e-01 -7.82849543e-02 -5.84207174e+01] [ 5.69918060e-01 6.36768812e-03 8.21676857e-01 6.86456218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:-58.42, Z:68.66 [[ 8.15938190e-01 -1.24445387e-01 -5.64586766e-01 1.56956667e+02] [ 1.03608329e-01 9.92223974e-01 -6.89702742e-02 -5.84190071e+01] [ 5.68779557e-01 -2.22041075e-03 8.22487012e-01 6.86619494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35999999999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:156.98, Y:-58.42, Z:68.68 [[ 8.14601220e-01 -1.22177137e-01 -5.67007583e-01 1.56981106e+02] [ 1.02229465e-01 9.92502510e-01 -6.69918177e-02 -5.84190847e+01] [ 5.70941318e-01 -3.39326545e-03 8.20983859e-01 6.86823712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-58.41, Z:68.69 [[ 8.14782642e-01 -1.28992968e-01 -5.65234518e-01 1.57004242e+02] [ 1.03156502e-01 9.91633296e-01 -7.76024694e-02 -5.84093068e+01] [ 5.70515541e-01 4.92152931e-03 8.21272060e-01 6.86911986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:-58.41, Z:68.71 [[ 8.15550403e-01 -1.21815558e-01 -5.65719462e-01 1.57024185e+02] [ 1.02374172e-01 9.92544793e-01 -6.61389656e-02 -5.84113473e+01] [ 5.69558662e-01 -3.97540181e-03 8.21941073e-01 6.87105733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:-58.40, Z:68.72 [[ 8.15184689e-01 -1.28791304e-01 -5.64700561e-01 1.57051283e+02] [ 1.02975886e-01 9.91658921e-01 -7.75148513e-02 -5.84028236e+01] [ 5.69973588e-01 5.03837946e-03 8.21647567e-01 6.87235682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.07, Y:-58.40, Z:68.74 [[ 8.14563286e-01 -1.26244875e-01 -5.66170367e-01 1.57072326e+02] [ 1.02542537e-01 9.91997195e-01 -7.36654173e-02 -5.84006900e+01] [ 5.70939297e-01 1.94859861e-03 8.20989965e-01 6.87398299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:-58.40, Z:68.76 [[ 8.14274416e-01 -1.26540391e-01 -5.66519819e-01 1.57095026e+02] [ 1.02811084e-01 9.91959740e-01 -7.37953661e-02 -5.83970365e+01] [ 5.71302947e-01 1.84516186e-03 8.20737192e-01 6.87553265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.12, Y:-58.39, Z:68.77 [[ 8.14158473e-01 -1.29377385e-01 -5.66045470e-01 1.57121800e+02] [ 1.03220782e-01 9.91581695e-01 -7.81742372e-02 -5.83921496e+01] [ 5.71394305e-01 5.21856137e-03 8.20659073e-01 6.87694163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:-58.39, Z:68.79 [[ 8.13381958e-01 -1.23425727e-01 -5.68485602e-01 1.57140139e+02] [ 1.03583562e-01 9.92344968e-01 -6.72451482e-02 -5.83928345e+01] [ 5.72433608e-01 -4.18977335e-03 8.19940370e-01 6.87895847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:-58.38, Z:68.79 [[ 8.14789446e-01 -1.37205615e-01 -5.63287474e-01 1.57170163e+02] [ 1.05530541e-01 9.90460495e-01 -8.86076340e-02 -5.83792863e+01] [ 5.70071455e-01 1.27525333e-02 8.21496141e-01 6.87930320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:-58.39, Z:68.82 [[ 8.11718530e-01 -1.21145607e-01 -5.71346453e-01 1.57183921e+02] [ 1.05212478e-01 9.92578041e-01 -6.09849781e-02 -5.83896831e+01] [ 5.74494005e-01 -1.06101392e-02 8.18440018e-01 6.88233935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:-58.38, Z:68.83 [[ 8.10520065e-01 -1.30748659e-01 -5.70930830e-01 1.57209495e+02] [ 1.07004532e-01 9.91415529e-01 -7.51350752e-02 -5.83814965e+01] [ 5.75853501e-01 -1.93700371e-04 8.17552878e-01 6.88342643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:-58.38, Z:68.85 [[ 8.10081463e-01 -1.31742263e-01 -5.71324776e-01 1.57232588e+02] [ 1.08043473e-01 9.91283785e-01 -7.53861138e-02 -5.83787795e+01] [ 5.76276524e-01 -6.59019623e-04 8.17254510e-01 6.88506559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:-58.38, Z:68.87 [[ 8.10046957e-01 -1.32065499e-01 -5.71299073e-01 1.57256015e+02] [ 1.08301929e-01 9.91240779e-01 -7.55804838e-02 -5.83755249e+01] [ 5.76276513e-01 -6.49050502e-04 8.17254525e-01 6.88667379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:-58.37, Z:68.88 [[ 8.09771288e-01 -1.33622342e-01 -5.71327866e-01 1.57278672e+02] [ 1.10073399e-01 9.91031142e-01 -7.57701955e-02 -5.83726340e+01] [ 5.76328298e-01 -1.53147160e-03 8.17216830e-01 6.88835320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:-58.37, Z:68.90 [[ 8.09822295e-01 -1.34499829e-01 -5.71049600e-01 1.57301892e+02] [ 1.11031954e-01 9.90911771e-01 -7.59326543e-02 -5.83692238e+01] [ 5.76072699e-01 -1.91279631e-03 8.17396223e-01 6.88997645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:-58.37, Z:68.92 [[ 8.09912212e-01 -1.35510508e-01 -5.70683022e-01 1.57325025e+02] [ 1.12161944e-01 9.90773029e-01 -7.60822143e-02 -5.83656534e+01] [ 5.75727286e-01 -2.38900298e-03 8.17638297e-01 6.89155775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:-58.36, Z:68.93 [[ 8.09811603e-01 -1.36280296e-01 -5.70642487e-01 1.57347738e+02] [ 1.12967962e-01 9.90666650e-01 -7.62746888e-02 -5.83623088e+01] [ 5.75711218e-01 -2.69619078e-03 8.17648656e-01 6.89317149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:-58.36, Z:68.95 [[ 8.10014967e-01 -1.36817601e-01 -5.70225128e-01 1.57370451e+02] [ 1.13522564e-01 9.90592204e-01 -7.64180162e-02 -5.83591975e+01] [ 5.75315896e-01 -2.83368176e-03 8.17926396e-01 6.89480355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:-58.36, Z:68.96 [[ 8.10258655e-01 -1.37099703e-01 -5.69811007e-01 1.57392741e+02] [ 1.13765773e-01 9.90553320e-01 -7.65602339e-02 -5.83562512e+01] [ 5.74924570e-01 -2.79139733e-03 8.18201654e-01 6.89638772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-58.35, Z:68.98 [[ 8.10913071e-01 -1.36703420e-01 -5.68974663e-01 1.57413960e+02] [ 1.13296637e-01 9.90609112e-01 -7.65340393e-02 -5.83535578e+01] [ 5.74093950e-01 -2.40046327e-03 8.18785915e-01 6.89800921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:-58.35, Z:69.00 [[ 8.11104718e-01 -1.36440643e-01 -5.68764527e-01 1.57436809e+02] [ 1.12933774e-01 9.90646005e-01 -7.65927881e-02 -5.83498531e+01] [ 5.73894676e-01 -2.10795270e-03 8.18926406e-01 6.89958180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:-58.35, Z:69.01 [[ 8.10994847e-01 -1.35750621e-01 -5.69086222e-01 1.57459582e+02] [ 1.11923631e-01 9.90742073e-01 -7.68325815e-02 -5.83460464e+01] [ 5.74247734e-01 -1.38336852e-03 8.18680418e-01 6.90114943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:-58.34, Z:69.03 [[ 8.10936211e-01 -1.34586390e-01 -5.69446191e-01 1.57482059e+02] [ 1.10328012e-01 9.90901812e-01 -7.70800104e-02 -5.83420041e+01] [ 5.74639184e-01 -3.18894539e-04 8.18406810e-01 6.90264222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:-58.34, Z:69.04 [[ 8.11132743e-01 -1.33463636e-01 -5.69430533e-01 1.57505413e+02] [ 1.08895263e-01 9.91053539e-01 -7.71667354e-02 -5.83376926e+01] [ 5.74635098e-01 5.84178323e-04 8.18409533e-01 6.90422392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:-58.33, Z:69.06 [[ 8.11407208e-01 -1.31933751e-01 -5.69396021e-01 1.57528489e+02] [ 1.06890365e-01 9.91256700e-01 -7.73602207e-02 -5.83335746e+01] [ 5.74624045e-01 1.90769232e-03 8.18415278e-01 6.90576034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:-58.30, Z:69.04 [[ 8.18971437e-01 -1.60347287e-01 -5.50975982e-01 1.57565273e+02] [ 1.10056790e-01 9.86231656e-01 -1.23428616e-01 -5.82994985e+01] [ 5.63181399e-01 4.04458627e-02 8.25342865e-01 6.90369685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:157.57, Y:-58.34, Z:69.10 [[ 8.10548853e-01 -1.08863560e-01 -5.75464405e-01 1.57569776e+02] [ 1.01391934e-01 9.93819484e-01 -4.51941268e-02 -5.83396871e+01] [ 5.76827732e-01 -2.17154011e-02 8.16577130e-01 6.91001202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:-58.29, Z:69.07 [[ 8.19025780e-01 -1.56326297e-01 -5.52049691e-01 1.57610991e+02] [ 1.06027408e-01 9.86833006e-01 -1.22142571e-01 -5.82933410e+01] [ 5.63874952e-01 4.15055165e-02 8.24816544e-01 6.90706278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:-58.31, Z:69.10 [[ 8.18568053e-01 -1.36266885e-01 -5.58012257e-01 1.57629117e+02] [ 1.03707458e-01 9.90549251e-01 -8.97604813e-02 -5.83052038e+01] [ 5.64970005e-01 1.56050296e-02 8.24963864e-01 6.90995963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:-58.30, Z:69.12 [[ 8.18349385e-01 -1.31509343e-01 -5.59472588e-01 1.57650338e+02] [ 1.02286929e-01 9.91253756e-01 -8.33869009e-02 -5.83048343e+01] [ 5.65545461e-01 1.10128863e-02 8.24643588e-01 6.91187844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:-58.32, Z:69.16 [[ 8.12789751e-01 -1.05519028e-01 -5.72921072e-01 1.57661679e+02] [ 9.48636373e-02 9.94305795e-01 -4.85476807e-02 -5.83236392e+01] [ 5.74781446e-01 -1.48903194e-02 8.18171478e-01 6.91645625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:157.69, Y:-58.31, Z:69.17 [[ 8.12743956e-01 -1.22803501e-01 -5.69531880e-01 1.57691930e+02] [ 9.52993305e-02 9.92389230e-01 -7.79849534e-02 -5.83073743e+01] [ 5.74774130e-01 9.10579259e-03 8.18261440e-01 6.91679925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:157.71, Y:-58.30, Z:69.18 [[ 8.12997550e-01 -1.23280510e-01 -5.69066692e-01 1.57714182e+02] [ 9.57935800e-02 9.92331070e-01 -7.81193757e-02 -5.83041823e+01] [ 5.74333156e-01 8.99792542e-03 8.18572210e-01 6.91823900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:157.74, Y:-58.30, Z:69.20 [[ 8.13249290e-01 -1.23708556e-01 -5.68613916e-01 1.57736868e+02] [ 9.63047993e-02 9.92279661e-01 -7.81438394e-02 -5.83010339e+01] [ 5.73891086e-01 8.79017288e-03 8.18884457e-01 6.91976709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:157.76, Y:-58.30, Z:69.21 [[ 8.13693033e-01 -1.24566862e-01 -5.67791111e-01 1.57759640e+02] [ 9.73802936e-02 9.92176731e-01 -7.81179458e-02 -5.82977501e+01] [ 5.73080036e-01 8.27236308e-03 8.19457650e-01 6.92142645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:157.78, Y:-58.29, Z:69.23 [[ 8.14004791e-01 -1.26545118e-01 -5.66906106e-01 1.57783027e+02] [ 9.97493834e-02 9.91935436e-01 -7.81930383e-02 -5.82945057e+01] [ 5.72229203e-01 7.10097324e-03 8.20062995e-01 6.92290331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:157.81, Y:-58.29, Z:69.24 [[ 8.14072960e-01 -1.27578062e-01 -5.66576609e-01 1.57805314e+02] [ 1.00904893e-01 9.91806515e-01 -7.83456410e-02 -5.82912747e+01] [ 5.71929557e-01 6.60871572e-03 8.20276116e-01 6.92442412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:157.83, Y:-58.29, Z:69.26 [[ 8.13575232e-01 -1.29000807e-01 -5.66969253e-01 1.57829410e+02] [ 1.02535659e-01 9.91627983e-01 -7.84880965e-02 -5.82878582e+01] [ 5.72347605e-01 5.72140550e-03 8.19991149e-01 6.92590514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:-58.28, Z:69.28 [[ 8.13808543e-01 -1.29748215e-01 -5.66463640e-01 1.57850187e+02] [ 1.03359434e-01 9.91532098e-01 -7.86188674e-02 -5.82847693e+01] [ 5.71867539e-01 5.43134492e-03 8.20327994e-01 6.92764252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:157.87, Y:-58.28, Z:69.29 [[ 8.13246832e-01 -1.31425908e-01 -5.66883428e-01 1.57874743e+02] [ 1.05298426e-01 9.91316390e-01 -7.87658339e-02 -5.82816302e+01] [ 5.72312705e-01 4.36413243e-03 8.20023855e-01 6.92895150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:157.90, Y:-58.28, Z:69.30 [[ 8.13081876e-01 -1.32810155e-01 -5.66797429e-01 1.57896352e+02] [ 1.06856278e-01 9.91134852e-01 -7.89521410e-02 -5.82786759e+01] [ 5.72258332e-01 3.62869115e-03 8.20065384e-01 6.93049005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:157.92, Y:-58.28, Z:69.32 [[ 8.12425967e-01 -1.35659327e-01 -5.67063132e-01 1.57919663e+02] [ 1.10241725e-01 9.90754033e-01 -7.90772359e-02 -5.82758681e+01] [ 5.72547649e-01 1.73038221e-03 8.19869621e-01 6.93201510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:157.94, Y:-58.27, Z:69.33 [[ 8.12061311e-01 -1.37371615e-01 -5.67173225e-01 1.57943113e+02] [ 1.12180586e-01 9.90519286e-01 -7.92909778e-02 -5.82728349e+01] [ 5.72688348e-01 7.63310396e-04 8.19772818e-01 6.93348981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:157.97, Y:-58.27, Z:69.35 [[ 8.11846319e-01 -1.38777398e-01 -5.67138774e-01 1.57965996e+02] [ 1.13759633e-01 9.90323600e-01 -7.94852957e-02 -5.82699651e+01] [ 5.72681675e-01 1.23458971e-05 8.19777835e-01 6.93514831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:-58.27, Z:69.37 [[ 8.12349210e-01 -1.39908940e-01 -5.66139779e-01 1.57986978e+02] [ 1.15099555e-01 9.90164224e-01 -7.95418305e-02 -5.82669406e+01] [ 5.71699968e-01 -5.46693547e-04 8.20462581e-01 6.93690343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:158.01, Y:-58.26, Z:69.38 [[ 8.11798537e-01 -1.41778048e-01 -5.66464580e-01 1.58011902e+02] [ 1.17286233e-01 9.89896910e-01 -7.96746364e-02 -5.82640408e+01] [ 5.72037651e-01 -1.75874319e-03 8.20225476e-01 6.93822055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73999999999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:158.03, Y:-58.26, Z:69.40 [[ 8.11899417e-01 -1.43811132e-01 -5.65807118e-01 1.58033512e+02] [ 1.19691780e-01 9.89600749e-01 -7.97761570e-02 -5.82614237e+01] [ 5.71395847e-01 -2.95224582e-03 8.20669282e-01 6.93989577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:158.06, Y:-58.26, Z:69.41 [[ 8.11543281e-01 -1.44922422e-01 -5.66034447e-01 1.58057437e+02] [ 1.20932413e-01 9.89436559e-01 -7.99415214e-02 -5.82582061e+01] [ 5.71640495e-01 -3.57590728e-03 8.20496409e-01 6.94138511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:158.08, Y:-58.24, Z:69.41 [[ 8.14305529e-01 -1.61108786e-01 -5.57629326e-01 1.58084383e+02] [ 1.27091228e-01 9.86884114e-01 -9.95367523e-02 -5.82405177e+01] [ 5.66351768e-01 1.01835320e-02 8.24100704e-01 6.94121450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82999999999998 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:158.11, Y:-58.24, Z:69.43 [[ 8.13912750e-01 -1.56845060e-01 -5.59415465e-01 1.58106109e+02] [ 1.27628678e-01 9.87619138e-01 -9.12105184e-02 -5.82407725e+01] [ 5.66795339e-01 2.83994753e-03 8.23853736e-01 6.94302489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85999999999999 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:158.12, Y:-58.25, Z:69.47 [[ 8.10723523e-01 -1.40962384e-01 -5.68205047e-01 1.58124812e+02] [ 1.23032800e-01 9.89927949e-01 -7.00398891e-02 -5.82525142e+01] [ 5.72355046e-01 -1.31248725e-02 8.19900871e-01 6.94651716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:158.15, Y:-58.24, Z:69.48 [[ 8.10361599e-01 -1.46967378e-01 -5.67198967e-01 1.58149459e+02] [ 1.23017072e-01 9.89131061e-01 -8.05390890e-02 -5.82446364e+01] [ 5.72870735e-01 -4.50937098e-03 8.19633325e-01 6.94766785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:158.17, Y:-58.24, Z:69.49 [[ 8.10537676e-01 -1.47293594e-01 -5.66862657e-01 1.58172681e+02] [ 1.23384446e-01 9.89081983e-01 -8.05798319e-02 -5.82411861e+01] [ 5.72542534e-01 -4.62904522e-03 8.19861951e-01 6.94921454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:158.20, Y:-58.24, Z:69.51 [[ 8.10942371e-01 -1.47332617e-01 -5.66273406e-01 1.58195387e+02] [ 1.23347775e-01 9.89077173e-01 -8.06949282e-02 -5.82378144e+01] [ 5.71977095e-01 -4.40962798e-03 8.20257739e-01 6.95082551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:-58.23, Z:69.53 [[ 8.11973781e-01 -1.46991935e-01 -5.64882245e-01 1.58216634e+02] [ 1.22923046e-01 9.89129947e-01 -8.06961721e-02 -5.82340484e+01] [ 5.70603632e-01 -3.91386999e-03 8.21216279e-01 6.95264529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:-58.23, Z:69.54 [[ 8.12522670e-01 -1.47017984e-01 -5.64085653e-01 1.58239404e+02] [ 1.22891655e-01 9.89126954e-01 -8.07806309e-02 -5.82301573e+01] [ 5.69828529e-01 -3.68532531e-03 8.21755357e-01 6.95421514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.26, Y:-58.23, Z:69.56 [[ 8.13213534e-01 -1.45491213e-01 -5.63485630e-01 1.58262816e+02] [ 1.20953624e-01 9.89356698e-01 -8.08921816e-02 -5.82258836e+01] [ 5.69257384e-01 -2.37301241e-03 8.22155946e-01 6.95580212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:158.29, Y:-58.22, Z:69.57 [[ 8.12838982e-01 -1.44771711e-01 -5.64210901e-01 1.58287103e+02] [ 1.19870977e-01 9.89463733e-01 -8.11940266e-02 -5.82219954e+01] [ 5.70020822e-01 -1.63484181e-03 8.21628620e-01 6.95725985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.1 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:158.31, Y:-58.22, Z:69.59 [[ 8.12448188e-01 -1.43809748e-01 -5.65019202e-01 1.58310419e+02] [ 1.18483765e-01 9.89605088e-01 -8.15068539e-02 -5.82182122e+01] [ 5.70867357e-01 -7.25506809e-04 8.21041981e-01 6.95859402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:158.33, Y:-58.21, Z:69.60 [[ 8.12192844e-01 -1.40641582e-01 -5.66182593e-01 1.58333664e+02] [ 1.14445068e-01 9.90059269e-01 -8.17616732e-02 -5.82134972e+01] [ 5.72053415e-01 1.60944045e-03 8.20214789e-01 6.96013278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:158.36, Y:-58.21, Z:69.62 [[ 8.11975157e-01 -1.38745717e-01 -5.66962054e-01 1.58356083e+02] [ 1.11913079e-01 9.90322899e-01 -8.20732538e-02 -5.82092772e+01] [ 5.72862817e-01 3.19097395e-03 8.19645051e-01 6.96181198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:158.38, Y:-58.20, Z:69.63 [[ 8.11618252e-01 -1.37432569e-01 -5.67792306e-01 1.58380070e+02] [ 1.10083309e-01 9.90501501e-01 -8.23919988e-02 -5.82049638e+01] [ 5.73722475e-01 4.36639437e-03 8.19038128e-01 6.96324015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:158.41, Y:-58.18, Z:69.62 [[ 8.16935481e-01 -1.61322536e-01 -5.53707016e-01 1.58411165e+02] [ 1.14590875e-01 9.86343233e-01 -1.18304516e-01 -5.81776277e+01] [ 5.65230353e-01 3.31973852e-02 8.24264874e-01 6.96222125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:158.43, Y:-58.18, Z:69.64 [[ 8.17009244e-01 -1.50150934e-01 -5.56732065e-01 1.58432302e+02] [ 1.14024576e-01 9.88506022e-01 -9.92685240e-02 -5.81822629e+01] [ 5.65238260e-01 1.76221644e-02 8.24739455e-01 6.96434201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:158.44, Y:-58.21, Z:69.69 [[ 8.10644029e-01 -1.18321732e-01 -5.73459873e-01 1.58444245e+02] [ 1.06324595e-01 9.92833994e-01 -5.45503551e-02 -5.82070429e+01] [ 5.75804948e-01 -1.67519689e-02 8.17415459e-01 6.96916529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:158.47, Y:-58.19, Z:69.70 [[ 8.11587249e-01 -1.33472994e-01 -5.68780359e-01 1.58472269e+02] [ 1.04959965e-01 9.91024115e-01 -8.27925679e-02 -5.81917150e+01] [ 5.74725624e-01 7.49422570e-03 8.18311856e-01 6.96971100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:158.49, Y:-58.19, Z:69.71 [[ 8.11716979e-01 -1.33165385e-01 -5.68667325e-01 1.58494207e+02] [ 1.04455345e-01 9.91061909e-01 -8.29781506e-02 -5.81885535e+01] [ 5.74634342e-01 7.95443193e-03 8.18371615e-01 6.97136920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:158.52, Y:-58.18, Z:69.73 [[ 8.11612711e-01 -1.33146453e-01 -5.68820560e-01 1.58517344e+02] [ 1.04273284e-01 9.91062328e-01 -8.32018285e-02 -5.81849926e+01] [ 5.74814657e-01 8.21487375e-03 8.18242401e-01 6.97300415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.4 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:158.54, Y:-58.18, Z:69.74 [[ 8.11496407e-01 -1.33291755e-01 -5.68952449e-01 1.58540042e+02] [ 1.04295157e-01 9.91041610e-01 -8.34209085e-02 -5.81819717e+01] [ 5.74974870e-01 8.35678243e-03 8.18128390e-01 6.97449133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.57, Y:-58.16, Z:69.74 [[ 8.17234201e-01 -1.58793853e-01 -5.53997088e-01 1.58572008e+02] [ 1.10533753e-01 9.86632194e-01 -1.19746414e-01 -5.81555393e+01] [ 5.65606357e-01 3.66254878e-02 8.23861653e-01 6.97356810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45999999999998 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:158.58, Y:-58.19, Z:69.79 [[ 8.10770044e-01 -1.19735117e-01 -5.72988166e-01 1.58581480e+02] [ 1.06074950e-01 9.92703103e-01 -5.73467871e-02 -5.81886611e+01] [ 5.75673554e-01 -1.42846339e-02 8.17554835e-01 6.97875301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:158.61, Y:-58.17, Z:69.79 [[ 8.10859632e-01 -1.35640062e-01 -5.69305217e-01 1.58608511e+02] [ 1.06991609e-01 9.90733975e-01 -8.36599411e-02 -5.81748013e+01] [ 5.75377661e-01 6.92558774e-03 8.17858535e-01 6.97938168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:158.63, Y:-58.17, Z:69.81 [[ 8.10770846e-01 -1.37013120e-01 -5.69102838e-01 1.58630721e+02] [ 1.08594662e-01 9.90550354e-01 -8.37687059e-02 -5.81725352e+01] [ 5.75202430e-01 6.11569427e-03 8.17988242e-01 6.98104352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54999999999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:158.65, Y:-58.17, Z:69.83 [[ 8.10362520e-01 -1.38559742e-01 -5.69309920e-01 1.58653129e+02] [ 1.10320122e-01 9.90340087e-01 -8.39998966e-02 -5.81702070e+01] [ 5.75449439e-01 5.26402795e-03 8.17820416e-01 6.98268064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57999999999998 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:158.68, Y:-58.17, Z:69.84 [[ 8.09482212e-01 -1.41927053e-01 -5.69732622e-01 1.58677096e+02] [ 1.14249395e-01 9.89872212e-01 -8.42619712e-02 -5.81686499e+01] [ 5.75921544e-01 3.11695973e-03 8.17499027e-01 6.98411938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60999999999999 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:158.70, Y:-58.17, Z:69.86 [[ 8.09117718e-01 -1.43488465e-01 -5.69859262e-01 1.58699813e+02] [ 1.16002875e-01 9.89649429e-01 -8.44827828e-02 -5.81660223e+01] [ 5.76083198e-01 2.25120381e-03 8.17387962e-01 6.98567916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:158.72, Y:-58.16, Z:69.87 [[ 8.09092870e-01 -1.43744283e-01 -5.69830070e-01 1.58723113e+02] [ 1.16177363e-01 9.89612164e-01 -8.46793056e-02 -5.81623955e+01] [ 5.76082935e-01 2.31206744e-03 8.17387978e-01 6.98729219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.74, Y:-58.16, Z:69.89 [[ 8.08832399e-01 -1.44290859e-01 -5.70061662e-01 1.58743293e+02] [ 1.16731796e-01 9.89533139e-01 -8.48401694e-02 -5.81601560e+01] [ 5.76336566e-01 2.07715602e-03 8.17209794e-01 6.98915431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.7 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:158.77, Y:-58.16, Z:69.90 [[ 8.07705180e-01 -1.47194141e-01 -5.70917005e-01 1.58768997e+02] [ 1.20095963e-01 9.89107605e-01 -8.51064375e-02 -5.81570877e+01] [ 5.77225521e-01 1.76082743e-04 8.16584758e-01 6.99043718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:158.79, Y:-58.15, Z:69.92 [[ 8.07407829e-01 -1.48350786e-01 -5.71038214e-01 1.58791193e+02] [ 1.21358208e-01 9.88934719e-01 -8.53247188e-02 -5.81543602e+01] [ 5.77377505e-01 -4.08328430e-04 8.16477220e-01 6.99222631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:-58.15, Z:69.94 [[ 8.07106595e-01 -1.49264508e-01 -5.71225919e-01 1.58813128e+02] [ 1.22316805e-01 9.88796962e-01 -8.55521273e-02 -5.81515455e+01] [ 5.77596350e-01 -8.20842930e-04 8.16322107e-01 6.99399778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:158.84, Y:-58.15, Z:69.95 [[ 8.06015379e-01 -1.52566333e-01 -5.71893979e-01 1.58836580e+02] [ 1.26152925e-01 9.88288837e-01 -8.58522859e-02 -5.81491717e+01] [ 5.78294603e-01 -2.94783573e-03 8.15822690e-01 6.99539181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:158.86, Y:-58.15, Z:69.97 [[ 8.05466733e-01 -1.54474322e-01 -5.72154722e-01 1.58860192e+02] [ 1.28404211e-01 9.87987818e-01 -8.59792392e-02 -5.81459900e+01] [ 5.78563480e-01 -4.21365871e-03 8.15626474e-01 6.99678949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:-58.14, Z:69.99 [[ 8.05950960e-01 -1.54889338e-01 -5.71360082e-01 1.58880191e+02] [ 1.28929789e-01 9.87922050e-01 -8.59484356e-02 -5.81432000e+01] [ 5.77771720e-01 -4.39511072e-03 8.16186574e-01 6.99878551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:158.91, Y:-58.12, Z:69.97 [[ 8.10602709e-01 -1.83331663e-01 -5.56158925e-01 1.58913338e+02] [ 1.38886457e-01 9.82820665e-01 -1.21548727e-01 -5.81151980e+01] [ 5.68888214e-01 2.12847847e-02 8.22139379e-01 6.99716371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:158.92, Y:-58.15, Z:70.03 [[ 8.06300463e-01 -1.44803239e-01 -5.73508139e-01 1.58922131e+02] [ 1.32540742e-01 9.89147401e-01 -6.34063987e-02 -5.81466892e+01] [ 5.76465537e-01 -2.48885855e-02 8.16742336e-01 7.00275830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:158.95, Y:-58.13, Z:70.03 [[ 8.06081465e-01 -1.59230637e-01 -5.69980944e-01 1.58949556e+02] [ 1.34224838e-01 9.87215080e-01 -8.59655623e-02 -5.81333106e+01] [ 5.76382134e-01 -7.21035355e-03 8.17148485e-01 7.00332982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:158.97, Y:-58.13, Z:70.05 [[ 8.06787792e-01 -1.60124329e-01 -5.68729864e-01 1.58971901e+02] [ 1.35375275e-01 9.87066690e-01 -8.58654976e-02 -5.81293814e+01] [ 5.75123459e-01 -7.71672626e-03 8.18030231e-01 7.00503961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.0 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.00, Y:-58.10, Z:70.04 [[ 8.11966229e-01 -1.87905623e-01 -5.52632174e-01 1.59004476e+02] [ 1.42247970e-01 9.81922859e-01 -1.24871989e-01 -5.80990158e+01] [ 5.66106314e-01 2.27810330e-02 8.24017394e-01 7.00360203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:159.02, Y:-58.11, Z:70.06 [[ 8.11390105e-01 -1.71656565e-01 -5.58730813e-01 1.59022743e+02] [ 1.41824046e-01 9.85156549e-01 -9.67083975e-02 -5.81075143e+01] [ 5.67037951e-01 -7.73227909e-04 8.23691304e-01 7.00611424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:159.05, Y:-58.10, Z:70.08 [[ 8.11397157e-01 -1.72808141e-01 -5.58365472e-01 1.59045955e+02] [ 1.40309074e-01 9.84949079e-01 -1.00938970e-01 -5.81017591e+01] [ 5.67404633e-01 3.55785084e-03 8.23431432e-01 7.00753534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:-58.10, Z:70.10 [[ 8.10616729e-01 -1.66852936e-01 -5.61302606e-01 1.59067107e+02] [ 1.34238515e-01 9.85968677e-01 -9.92259465e-02 -5.80984683e+01] [ 5.69982929e-01 5.08578390e-03 8.21640795e-01 7.00959491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:-58.12, Z:70.14 [[ 8.05050237e-01 -1.37125219e-01 -5.77140183e-01 1.59079331e+02] [ 1.25012228e-01 9.90283950e-01 -6.09068318e-02 -5.81196128e+01] [ 5.79884522e-01 -2.31165207e-02 8.14370657e-01 7.01427912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:159.11, Y:-58.10, Z:70.15 [[ 8.04521897e-01 -1.50945928e-01 -5.74421312e-01 1.59109366e+02] [ 1.23508634e-01 9.88541380e-01 -8.67845513e-02 -5.81036311e+01] [ 5.80939011e-01 -1.12591952e-03 8.13946311e-01 7.01462331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:159.13, Y:-58.10, Z:70.16 [[ 8.05048829e-01 -1.49079696e-01 -5.74170382e-01 1.59130438e+02] [ 1.21100969e-01 9.88825076e-01 -8.69455317e-02 -5.80990830e+01] [ 5.80715885e-01 4.62809084e-04 8.14106164e-01 7.01629614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:-58.06, Z:70.15 [[ 8.11940859e-01 -1.78613024e-01 -5.55742233e-01 1.59164035e+02] [ 1.26258450e-01 9.83236995e-01 -1.31543969e-01 -5.80647943e+01] [ 5.69921789e-01 3.66387703e-02 8.20881693e-01 7.01458642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:159.18, Y:-58.08, Z:70.17 [[ 8.11769417e-01 -1.56869908e-01 -5.62514218e-01 1.59182167e+02] [ 1.22827273e-01 9.87562560e-01 -9.81511632e-02 -5.80755768e+01] [ 5.70914945e-01 1.05840252e-02 8.20940987e-01 7.01727126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:-58.07, Z:70.19 [[ 8.12380356e-01 -1.54236998e-01 -5.62360298e-01 1.59203721e+02] [ 1.18828165e-01 9.87936863e-01 -9.93006598e-02 -5.80721012e+01] [ 5.70892305e-01 1.38456629e-02 8.20908201e-01 7.01930037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:159.23, Y:-58.07, Z:70.20 [[ 8.11978190e-01 -1.54131884e-01 -5.62969610e-01 1.59226437e+02] [ 1.18889374e-01 9.87958545e-01 -9.90112654e-02 -5.80674804e+01] [ 5.71451429e-01 1.34638838e-02 8.20525434e-01 7.02049105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:159.24, Y:-58.09, Z:70.25 [[ 8.06719207e-01 -1.24579391e-01 -5.77653960e-01 1.59238756e+02] [ 1.10107736e-01 9.92095522e-01 -6.01893754e-02 -5.80900604e+01] [ 5.80586262e-01 -1.50482443e-02 8.14059667e-01 7.02539621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:159.27, Y:-58.05, Z:70.24 [[ 8.12932872e-01 -1.60608694e-01 -5.59772268e-01 1.59272927e+02] [ 1.14344955e-01 9.86528027e-01 -1.16994372e-01 -5.80530909e+01] [ 5.71021345e-01 3.11014364e-02 8.20345857e-01 7.02374483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:159.29, Y:-58.08, Z:70.28 [[ 8.08218069e-01 -1.27375024e-01 -5.74942742e-01 1.59285820e+02] [ 1.08126824e-01 9.91826860e-01 -6.77352952e-02 -5.80779905e+01] [ 5.78871439e-01 -7.42184346e-03 8.15385046e-01 7.02834684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:159.31, Y:-58.07, Z:70.29 [[ 8.08810763e-01 -1.37997191e-01 -5.71648427e-01 1.59312062e+02] [ 1.07737811e-01 9.90396197e-01 -8.66483474e-02 -5.80654319e+01] [ 5.78115657e-01 8.49396568e-03 8.15910620e-01 7.02933196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:159.33, Y:-58.06, Z:70.31 [[ 8.08851785e-01 -1.37993917e-01 -5.71591172e-01 1.59333959e+02] [ 1.07596388e-01 9.90394493e-01 -8.68433363e-02 -5.80610901e+01] [ 5.78084602e-01 8.74224187e-03 8.15930001e-01 7.03081797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:159.36, Y:-58.06, Z:70.32 [[ 8.08829884e-01 -1.38378529e-01 -5.71529178e-01 1.59356850e+02] [ 1.08010783e-01 9.90342285e-01 -8.69242745e-02 -5.80566746e+01] [ 5.78037965e-01 8.57563656e-03 8.15964809e-01 7.03233543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.38, Y:-58.05, Z:70.34 [[ 8.08557262e-01 -1.38369652e-01 -5.71916947e-01 1.59378234e+02] [ 1.07810377e-01 9.90341244e-01 -8.71845295e-02 -5.80528782e+01] [ 5.78456634e-01 8.83510291e-03 8.15665289e-01 7.03391629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:-58.05, Z:70.36 [[ 8.07536053e-01 -1.38913017e-01 -5.73226568e-01 1.59400036e+02] [ 1.08253582e-01 9.90267378e-01 -8.74738917e-02 -5.80487468e+01] [ 5.79798832e-01 8.58449208e-03 8.14714441e-01 7.03570729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:159.43, Y:-58.03, Z:70.35 [[ 8.09745894e-01 -1.59901225e-01 -5.64573455e-01 1.59431043e+02] [ 1.14789149e-01 9.86730836e-01 -1.14829039e-01 -5.80262162e+01] [ 5.75443341e-01 2.81754362e-02 8.17356168e-01 7.03494601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.6 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.45, Y:-58.05, Z:70.39 [[ 8.04870072e-01 -1.31728987e-01 -5.78646387e-01 1.59445482e+02] [ 1.10894009e-01 9.91263191e-01 -7.14129184e-02 -5.80482858e+01] [ 5.82998015e-01 -6.69029684e-03 8.12446032e-01 7.03928892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:159.47, Y:-58.04, Z:70.40 [[ 8.04340693e-01 -1.42311701e-01 -5.76873842e-01 1.59470869e+02] [ 1.11810224e-01 9.89800504e-01 -8.82804454e-02 -5.80372093e+01] [ 5.83553360e-01 6.50716099e-03 8.12048726e-01 7.04026089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:159.49, Y:-58.03, Z:70.42 [[ 8.02918373e-01 -1.45482831e-01 -5.78063000e-01 1.59494706e+02] [ 1.15507677e-01 9.89351293e-01 -8.85550390e-02 -5.80340701e+01] [ 5.84790614e-01 4.33175374e-03 8.11172715e-01 7.04177099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:159.52, Y:-58.03, Z:70.43 [[ 8.02460323e-01 -1.47434988e-01 -5.78204422e-01 1.59517392e+02] [ 1.17750406e-01 9.89066705e-01 -8.87800364e-02 -5.80314828e+01] [ 5.84972026e-01 3.15865148e-03 8.11047318e-01 7.04343385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:159.54, Y:-58.03, Z:70.45 [[ 8.02190611e-01 -1.49718737e-01 -5.77991803e-01 1.59540324e+02] [ 1.20441854e-01 9.88727093e-01 -8.89522073e-02 -5.80287522e+01] [ 5.84793967e-01 1.74222102e-03 8.11179993e-01 7.04509210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.56, Y:-58.03, Z:70.47 [[ 8.02625174e-01 -1.51851820e-01 -5.76830873e-01 1.59561371e+02] [ 1.23055277e-01 9.88403176e-01 -8.89750543e-02 -5.80263631e+01] [ 5.83652490e-01 4.31535372e-04 8.12003439e-01 7.04679982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.58, Y:-58.02, Z:70.48 [[ 8.02600576e-01 -1.54270481e-01 -5.76222990e-01 1.59584347e+02] [ 1.26035095e-01 9.88027905e-01 -8.89719792e-02 -5.80239138e+01] [ 5.83050144e-01 -1.21535766e-03 8.12435261e-01 7.04848850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:-58.02, Z:70.50 [[ 8.03180720e-01 -1.58312394e-01 -5.74315173e-01 1.59605676e+02] [ 1.31065207e-01 9.87381431e-01 -8.88809376e-02 -5.80219243e+01] [ 5.81139091e-01 -3.88528152e-03 8.13794975e-01 7.05036285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:159.63, Y:-58.02, Z:70.52 [[ 8.02389167e-01 -1.60634532e-01 -5.74776628e-01 1.59629538e+02] [ 1.33727913e-01 9.86999583e-01 -8.91553085e-02 -5.80190243e+01] [ 5.81625713e-01 -5.32642497e-03 8.13439094e-01 7.05164189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:159.65, Y:-58.02, Z:70.53 [[ 8.02744408e-01 -1.62076837e-01 -5.73874999e-01 1.59652555e+02] [ 1.35529056e-01 9.86758362e-01 -8.91056110e-02 -5.80156484e+01] [ 5.80717910e-01 -6.24770614e-03 8.14080878e-01 7.05329530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.9 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:159.67, Y:-58.01, Z:70.55 [[ 8.02993938e-01 -1.62998934e-01 -5.73264409e-01 1.59673992e+02] [ 1.36580373e-01 9.86603767e-01 -8.92121515e-02 -5.80124649e+01] [ 5.80126311e-01 -6.65984976e-03 8.14499300e-01 7.05503227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.69, Y:-58.01, Z:70.57 [[ 8.03064354e-01 -1.63699807e-01 -5.72965982e-01 1.59694833e+02] [ 1.37328065e-01 9.86485951e-01 -8.93670620e-02 -5.80089059e+01] [ 5.79852262e-01 -6.91680755e-03 8.14692281e-01 7.05673326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:159.72, Y:-58.01, Z:70.58 [[ 8.02638953e-01 -1.64276938e-01 -5.73396721e-01 1.59718896e+02] [ 1.37929919e-01 9.86387739e-01 -8.95241109e-02 -5.80051906e+01] [ 5.80298241e-01 -7.23302484e-03 8.14371926e-01 7.05810904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98999999999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:159.74, Y:-58.00, Z:70.60 [[ 8.02151779e-01 -1.64320453e-01 -5.74065599e-01 1.59740650e+02] [ 1.37772302e-01 9.86381938e-01 -8.98302026e-02 -5.80014515e+01] [ 5.81008877e-01 -7.03288246e-03 8.13866834e-01 7.05961112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:159.76, Y:-58.00, Z:70.61 [[ 8.01886885e-01 -1.64421913e-01 -5.74406526e-01 1.59763800e+02] [ 1.37798199e-01 9.86365240e-01 -8.99737175e-02 -5.79973927e+01] [ 5.81368282e-01 -7.00344080e-03 8.13610394e-01 7.06119473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04999999999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:159.79, Y:-57.98, Z:70.61 [[ 8.05030843e-01 -1.80586340e-01 -5.65078681e-01 1.59791233e+02] [ 1.41428941e-01 9.83498686e-01 -1.12819278e-01 -5.79777850e+01] [ 5.76127761e-01 1.09045193e-02 8.17286911e-01 7.06118654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:159.81, Y:-57.98, Z:70.63 [[ 8.04442170e-01 -1.69460219e-01 -5.69347019e-01 1.59811294e+02] [ 1.39313873e-01 9.85535574e-01 -9.64949644e-02 -5.79805252e+01] [ 5.77463799e-01 -1.69331952e-03 8.16414535e-01 7.06346805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10999999999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:159.83, Y:-57.99, Z:70.67 [[ 8.01776707e-01 -1.53973628e-01 -5.77448036e-01 1.59829152e+02] [ 1.34279391e-01 9.87948414e-01 -7.69868648e-02 -5.79890302e+01] [ 5.82342818e-01 -1.58130956e-02 8.12789510e-01 7.06671878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:159.86, Y:-57.96, Z:70.65 [[ 8.05116268e-01 -1.84170574e-01 -5.63798718e-01 1.59862761e+02] [ 1.39360604e-01 9.82697825e-01 -1.21998384e-01 -5.79576063e+01] [ 5.76512287e-01 1.96515536e-02 8.16852128e-01 7.06529204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:159.87, Y:-57.98, Z:70.70 [[ 8.01057641e-01 -1.48826551e-01 -5.79790750e-01 1.59873548e+02] [ 1.33340134e-01 9.88627364e-01 -6.95438271e-02 -5.79834188e+01] [ 5.83546969e-01 -2.16007621e-02 8.11792056e-01 7.07011496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.2 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.90, Y:-57.95, Z:70.69 [[ 8.05437647e-01 -1.77715834e-01 -5.65408949e-01 1.59904829e+02] [ 1.36088182e-01 9.83951619e-01 -1.15408922e-01 -5.79524763e+01] [ 5.76845043e-01 1.60092143e-02 8.16696701e-01 7.06931814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:159.92, Y:-57.97, Z:70.73 [[ 8.01420637e-01 -1.50390093e-01 -5.78884947e-01 1.59919467e+02] [ 1.31476729e-01 9.88494388e-01 -7.47844600e-02 -5.79721219e+01] [ 5.83471363e-01 -1.61760899e-02 8.11972600e-01 7.07329690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:159.94, Y:-57.96, Z:70.74 [[ 8.01751496e-01 -1.59372113e-01 -5.76016552e-01 1.59944681e+02] [ 1.30894551e-01 9.87215476e-01 -9.09517517e-02 -5.79609899e+01] [ 5.83147627e-01 -2.47672505e-03 8.12362426e-01 7.07437821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:159.97, Y:-57.96, Z:70.76 [[ 8.02128461e-01 -1.59127828e-01 -5.75559090e-01 1.59966075e+02] [ 1.30500242e-01 9.87255854e-01 -9.10799994e-02 -5.79565947e+01] [ 5.82717443e-01 -2.05274063e-03 8.12672239e-01 7.07591456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:159.99, Y:-57.95, Z:70.78 [[ 8.02817459e-01 -1.58634125e-01 -5.74734149e-01 1.59988735e+02] [ 1.29920097e-01 9.87336170e-01 -9.10387648e-02 -5.79518280e+01] [ 5.81897668e-01 -1.58200686e-03 8.13260475e-01 7.07757882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:160.01, Y:-57.95, Z:70.79 [[ 8.03455879e-01 -1.58217837e-01 -5.73956241e-01 1.60011352e+02] [ 1.29351578e-01 9.87403690e-01 -9.11159876e-02 -5.79470132e+01] [ 5.81142685e-01 -1.03446964e-03 8.13801026e-01 7.07921741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:160.03, Y:-57.94, Z:70.81 [[ 8.03353779e-01 -1.57067349e-01 -5.74414966e-01 1.60033723e+02] [ 1.27741416e-01 9.87587893e-01 -9.13908350e-02 -5.79413508e+01] [ 5.81639782e-01 4.25918065e-05 8.13446472e-01 7.08070762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:160.06, Y:-57.94, Z:70.82 [[ 8.03514251e-01 -1.56251385e-01 -5.74413051e-01 1.60056102e+02] [ 1.26674232e-01 9.87717041e-01 -9.14805197e-02 -5.79366952e+01] [ 5.81651517e-01 7.42569055e-04 8.13437743e-01 7.08231762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:160.08, Y:-57.93, Z:70.84 [[ 8.03808481e-01 -1.55263610e-01 -5.74269220e-01 1.60078028e+02] [ 1.25332440e-01 9.87871608e-01 -9.16595081e-02 -5.79318005e+01] [ 5.81535644e-01 1.70212750e-03 8.13519144e-01 7.08393210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:160.11, Y:-57.90, Z:70.82 [[ 8.09912365e-01 -1.86178349e-01 -5.56219006e-01 1.60113137e+02] [ 1.30553472e-01 9.81719263e-01 -1.38502998e-01 -5.78970084e+01] [ 5.71837172e-01 3.95589683e-02 8.19412800e-01 7.08220327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.5 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:160.13, Y:-57.91, Z:70.85 [[ 8.08730373e-01 -1.64214816e-01 -5.64790826e-01 1.60130965e+02] [ 1.25978700e-01 9.86312307e-01 -1.06383266e-01 -5.79063489e+01] [ 5.74529852e-01 1.48837638e-02 8.18348290e-01 7.08498996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:160.15, Y:-57.90, Z:70.87 [[ 8.08282685e-01 -1.62913020e-01 -5.65807785e-01 1.60154321e+02] [ 1.25772768e-01 9.86551999e-01 -1.04385652e-01 -5.79036884e+01] [ 5.75204583e-01 1.32099034e-02 8.17902920e-01 7.08680070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:-57.93, Z:70.92 [[ 8.02217758e-01 -1.27683856e-01 -5.83218228e-01 1.60162198e+02] [ 1.16756971e-01 9.91553172e-01 -5.64811175e-02 -5.79277331e+01] [ 5.85503611e-01 -2.27846384e-02 8.10349543e-01 7.09210011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:160.19, Y:-57.91, Z:70.92 [[ 8.02190628e-01 -1.47376161e-01 -5.78593522e-01 1.60191784e+02] [ 1.15438151e-01 9.89056366e-01 -9.18778473e-02 -5.79074845e+01] [ 5.85802211e-01 6.91178144e-03 8.10424578e-01 7.09226769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:160.22, Y:-57.90, Z:70.94 [[ 8.02184765e-01 -1.46800614e-01 -5.78747945e-01 1.60215021e+02] [ 1.14642087e-01 9.89138062e-01 -9.19950373e-02 -5.79024939e+01] [ 5.85966548e-01 7.44814509e-03 8.10301012e-01 7.09379229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:160.24, Y:-57.90, Z:70.95 [[ 8.02671989e-01 -1.45577592e-01 -5.78381226e-01 1.60236453e+02] [ 1.13030836e-01 9.89309573e-01 -9.21444496e-02 -5.78974735e+01] [ 5.85612250e-01 8.58685521e-03 8.10545840e-01 7.09532138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:160.26, Y:-57.89, Z:70.97 [[ 8.03087249e-01 -1.45410731e-01 -5.77846511e-01 1.60258907e+02] [ 1.12826953e-01 9.89332156e-01 -9.21518490e-02 -5.78930243e+01] [ 5.85082002e-01 8.80931354e-03 8.10926289e-01 7.09699798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70999999999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:160.28, Y:-57.89, Z:70.99 [[ 8.02507182e-01 -1.45710181e-01 -5.78576499e-01 1.60281760e+02] [ 1.12953362e-01 9.89287653e-01 -9.24741998e-02 -5.78888220e+01] [ 5.85853020e-01 8.85904856e-03 8.10368902e-01 7.09852689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73999999999998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:160.30, Y:-57.88, Z:71.00 [[ 8.02474383e-01 -1.46306021e-01 -5.78471618e-01 1.60303955e+02] [ 1.13552770e-01 9.89201361e-01 -9.26630187e-02 -5.78844805e+01] [ 5.85782070e-01 8.67264424e-03 8.10422206e-01 7.10012135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76999999999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:160.33, Y:-57.88, Z:71.02 [[ 8.02896486e-01 -1.46303891e-01 -5.77886152e-01 1.60325874e+02] [ 1.13477269e-01 9.89199553e-01 -9.27747500e-02 -5.78800257e+01] [ 5.85218030e-01 8.91157836e-03 8.10827011e-01 7.10188786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79999999999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:160.35, Y:-57.88, Z:71.03 [[ 8.02119813e-01 -1.47444475e-01 -5.78674289e-01 1.60350491e+02] [ 1.14631627e-01 9.89035090e-01 -9.31084410e-02 -5.78754741e+01] [ 5.86057502e-01 8.34975020e-03 8.10226441e-01 7.10327150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82999999999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:160.37, Y:-57.87, Z:71.05 [[ 8.01902213e-01 -1.48042306e-01 -5.78823217e-01 1.60372780e+02] [ 1.15198613e-01 9.88947275e-01 -9.33411283e-02 -5.78716100e+01] [ 5.86244079e-01 8.17082560e-03 8.10093277e-01 7.10498888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85999999999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:160.39, Y:-57.87, Z:71.07 [[ 8.01422940e-01 -1.48762009e-01 -5.79302284e-01 1.60394616e+02] [ 1.15873364e-01 9.88841397e-01 -9.36272171e-02 -5.78682523e+01] [ 5.86766253e-01 7.90929516e-03 8.09717733e-01 7.10650430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:160.42, Y:-57.86, Z:71.08 [[ 8.00892417e-01 -1.49920262e-01 -5.79737227e-01 1.60417375e+02] [ 1.17178903e-01 9.88671993e-01 -9.37912331e-02 -5.78646632e+01] [ 5.87231165e-01 7.18371487e-03 8.09387394e-01 7.10806695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:160.44, Y:-57.86, Z:71.10 [[ 8.00834082e-01 -1.50621239e-01 -5.79636106e-01 1.60439516e+02] [ 1.17906255e-01 9.88567311e-01 -9.39829060e-02 -5.78613152e+01] [ 5.87165129e-01 6.92199179e-03 8.09437581e-01 7.10973439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:160.46, Y:-57.86, Z:71.11 [[ 7.99997931e-01 -1.52473756e-01 -5.80306009e-01 1.60463152e+02] [ 1.19957263e-01 9.88290337e-01 -9.42998644e-02 -5.78583512e+01] [ 5.87889076e-01 5.82777584e-03 8.08920559e-01 7.11128499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.48, Y:-57.86, Z:71.13 [[ 8.00554734e-01 -1.52645285e-01 -5.79492480e-01 1.60482827e+02] [ 1.20121826e-01 9.88263174e-01 -9.43750256e-02 -5.78556068e+01] [ 5.87096980e-01 5.94267861e-03 8.09494793e-01 7.11315493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:160.51, Y:-57.85, Z:71.14 [[ 7.99501476e-01 -1.54595750e-01 -5.80428758e-01 1.60507955e+02] [ 1.22344512e-01 9.87966926e-01 -9.46212078e-02 -5.78524218e+01] [ 5.88072453e-01 4.63752224e-03 8.08794958e-01 7.11449223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:160.53, Y:-57.85, Z:71.16 [[ 7.99255153e-01 -1.55836115e-01 -5.80436306e-01 1.60529390e+02] [ 1.23725498e-01 9.87774912e-01 -9.48299795e-02 -5.78498994e+01] [ 5.88118357e-01 3.97857892e-03 8.08765089e-01 7.11604934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:160.55, Y:-57.85, Z:71.18 [[ 7.98561718e-01 -1.58598209e-01 -5.80642568e-01 1.60552284e+02] [ 1.27046231e-01 9.87341056e-01 -9.49573275e-02 -5.78481751e+01] [ 5.88352308e-01 2.06083683e-03 8.08602074e-01 7.11773013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.1 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:160.58, Y:-57.85, Z:71.19 [[ 7.98442969e-01 -1.60523681e-01 -5.80276635e-01 1.60575317e+02] [ 1.29319727e-01 9.87031583e-01 -9.51055284e-02 -5.78452893e+01] [ 5.88018056e-01 8.95124415e-04 8.08847306e-01 7.11926338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:160.60, Y:-57.84, Z:71.21 [[ 7.98309984e-01 -1.62291934e-01 -5.79967669e-01 1.60597969e+02] [ 1.31391782e-01 9.86742775e-01 -9.52622445e-02 -5.78423946e+01] [ 5.87739201e-01 -1.54185012e-04 8.09050436e-01 7.12096696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:160.62, Y:-57.84, Z:71.23 [[ 7.98511935e-01 -1.64183776e-01 -5.79156609e-01 1.60619282e+02] [ 1.33677431e-01 9.86428917e-01 -9.53327634e-02 -5.78399282e+01] [ 5.86948920e-01 -1.29581824e-03 8.09622928e-01 7.12262133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:160.64, Y:-57.84, Z:71.24 [[ 7.98777470e-01 -1.66130148e-01 -5.78234664e-01 1.60641252e+02] [ 1.36122313e-01 9.86100382e-01 -9.52719875e-02 -5.78373308e+01] [ 5.86024973e-01 -2.60952268e-03 8.10288789e-01 7.12432350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:160.66, Y:-57.84, Z:71.26 [[ 7.98418691e-01 -1.70807583e-01 -5.77366750e-01 1.60664621e+02] [ 1.41847360e-01 9.85287428e-01 -9.53310535e-02 -5.78355750e+01] [ 5.85155467e-01 -5.78385456e-03 8.10900503e-01 7.12585745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:-57.81, Z:71.25 [[ 8.04421421e-01 -2.01965028e-01 -5.58673703e-01 1.60697168e+02] [ 1.51444196e-01 9.79081204e-01 -1.35884698e-01 -5.78054252e+01] [ 5.74430878e-01 2.47006724e-02 8.18180324e-01 7.12461957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:160.72, Y:-57.81, Z:71.26 [[ 8.05117367e-01 -1.98424774e-01 -5.58939741e-01 1.60720934e+02] [ 1.57102791e-01 9.80063936e-01 -1.21628102e-01 -5.78065601e+01] [ 5.71930711e-01 1.01139039e-02 8.20239581e-01 7.12605493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:160.73, Y:-57.84, Z:71.32 [[ 7.97909328e-01 -1.55065537e-01 -5.82490673e-01 1.60725510e+02] [ 1.50304055e-01 9.87003284e-01 -5.68613159e-02 -5.78443529e+01] [ 5.83737437e-01 -4.21805360e-02 8.10846106e-01 7.13247455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:160.76, Y:-57.82, Z:71.33 [[ 7.96878498e-01 -1.79871915e-01 -5.76741497e-01 1.60755415e+02] [ 1.52936057e-01 9.83615151e-01 -9.54557378e-02 -5.78245580e+01] [ 5.84461481e-01 -1.21379458e-02 8.11330665e-01 7.13263546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:160.78, Y:-57.82, Z:71.34 [[ 7.95618963e-01 -1.84321057e-01 -5.77075571e-01 1.60778657e+02] [ 1.58250889e-01 9.82748992e-01 -9.57135041e-02 -5.78211479e+01] [ 5.84762450e-01 -1.51712434e-02 8.11062705e-01 7.13418981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.4 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:160.80, Y:-57.82, Z:71.36 [[ 7.94997680e-01 -1.86421641e-01 -5.77257015e-01 1.60801258e+02] [ 1.60682514e-01 9.82331637e-01 -9.59462576e-02 -5.78172763e+01] [ 5.84944287e-01 -1.64780562e-02 8.10906070e-01 7.13573657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:160.83, Y:-57.79, Z:71.35 [[ 7.98946387e-01 -2.15247003e-01 -5.61563352e-01 1.60834868e+02] [ 1.69252349e-01 9.76490676e-01 -1.33490082e-01 -5.77882287e+01] [ 5.77094717e-01 1.16055024e-02 8.16594759e-01 7.13454229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45999999999998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:160.84, Y:-57.82, Z:71.40 [[ 7.93551656e-01 -1.75332106e-01 -5.82695824e-01 1.60842036e+02] [ 1.66384655e-01 9.83617389e-01 -6.93756302e-02 -5.78207103e+01] [ 5.85313520e-01 -4.18984971e-02 8.09723780e-01 7.14002513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:160.87, Y:-57.80, Z:71.41 [[ 7.92908655e-01 -1.92014729e-01 -5.78295953e-01 1.60867776e+02] [ 1.67273989e-01 9.81182712e-01 -9.64359837e-02 -5.78047565e+01] [ 5.85931121e-01 -2.02689446e-02 8.10107333e-01 7.14071516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:160.89, Y:-57.80, Z:71.42 [[ 7.92509427e-01 -1.93251159e-01 -5.78431325e-01 1.60890011e+02] [ 1.68726260e-01 9.80922841e-01 -9.65496187e-02 -5.78003088e+01] [ 5.86054824e-01 -2.10800712e-02 8.09997144e-01 7.14231718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54999999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.91, Y:-57.80, Z:71.44 [[ 7.92258162e-01 -1.93932435e-01 -5.78547505e-01 1.60911618e+02] [ 1.69412241e-01 9.80782660e-01 -9.67722425e-02 -5.77957945e+01] [ 5.86196637e-01 -2.13444302e-02 8.09887596e-01 7.14411403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57999999999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:160.93, Y:-57.79, Z:71.46 [[ 7.92103206e-01 -1.94875006e-01 -5.78442947e-01 1.60934173e+02] [ 1.70438110e-01 9.80586133e-01 -9.69622941e-02 -5.77910060e+01] [ 5.86108660e-01 -2.17845785e-02 8.09939548e-01 7.14559583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60999999999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:160.96, Y:-57.79, Z:71.47 [[ 7.91971294e-01 -1.95624876e-01 -5.78370450e-01 1.60956872e+02] [ 1.71305648e-01 9.80426973e-01 -9.70429064e-02 -5.77861285e+01] [ 5.86033996e-01 -2.22229286e-02 8.09981665e-01 7.14711594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:160.98, Y:-57.78, Z:71.49 [[ 7.92154643e-01 -1.94829744e-01 -5.78387752e-01 1.60979088e+02] [ 1.70170583e-01 9.80603902e-01 -9.72520415e-02 -5.77791252e+01] [ 5.86116877e-01 -2.13859250e-02 8.09944225e-01 7.14873223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:161.00, Y:-57.77, Z:71.50 [[ 7.92805877e-01 -1.93726597e-01 -5.77865769e-01 1.61000970e+02] [ 1.68703475e-01 9.80845667e-01 -9.73699954e-02 -5.77734434e+01] [ 5.85660293e-01 -2.02924585e-02 8.10302559e-01 7.15037201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.7 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:161.02, Y:-57.77, Z:71.52 [[ 7.93437955e-01 -1.92241736e-01 -5.77494005e-01 1.61022303e+02] [ 1.66752979e-01 9.81165027e-01 -9.75122256e-02 -5.77674746e+01] [ 5.85362841e-01 -1.89289449e-02 8.10550455e-01 7.15192228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.04, Y:-57.76, Z:71.54 [[ 7.94926140e-01 -1.87192257e-01 -5.77106134e-01 1.61043527e+02] [ 1.60482774e-01 9.82207537e-01 -9.75378533e-02 -5.77594635e+01] [ 5.85096326e-01 -1.50802039e-02 8.10823579e-01 7.15368302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:161.07, Y:-57.75, Z:71.55 [[ 7.94971211e-01 -1.85475116e-01 -5.77598265e-01 1.61066933e+02] [ 1.58163049e-01 9.82555046e-01 -9.78265408e-02 -5.77525261e+01] [ 5.85666479e-01 -1.35854192e-02 8.10438284e-01 7.15510244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:161.10, Y:-57.72, Z:71.54 [[ 8.00800565e-01 -2.11893281e-01 -5.60196119e-01 1.61100900e+02] [ 1.60984918e-01 9.77056678e-01 -1.39442114e-01 -5.77190369e+01] [ 5.76890207e-01 2.14821973e-02 8.16539163e-01 7.15361016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:161.12, Y:-57.73, Z:71.56 [[ 8.01751318e-01 -1.91685760e-01 -5.66084263e-01 1.61119006e+02] [ 1.56842845e-01 9.81456255e-01 -1.10199550e-01 -5.77258802e+01] [ 5.76710626e-01 -4.33631804e-04 8.16948387e-01 7.15609775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:-57.72, Z:71.59 [[ 8.02171528e-01 -1.75090161e-01 -5.70845229e-01 1.61137516e+02] [ 1.43687726e-01 9.84550844e-01 -1.00067339e-01 -5.77239416e+01] [ 5.79546959e-01 -1.75228225e-03 8.14936962e-01 7.15875471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:161.16, Y:-57.71, Z:71.60 [[ 8.02956533e-01 -1.78020347e-01 -5.68831752e-01 1.61163481e+02] [ 1.39526770e-01 9.83978479e-01 -1.10989337e-01 -5.77121224e+01] [ 5.79476562e-01 9.75235671e-03 8.14930552e-01 7.15955994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:161.17, Y:-57.73, Z:71.64 [[ 7.99183445e-01 -1.45368290e-01 -5.83244272e-01 1.61173696e+02] [ 1.30323950e-01 9.89139636e-01 -6.79591654e-02 -5.77302791e+01] [ 5.86789135e-01 -2.16988577e-02 8.09448992e-01 7.16390873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:161.20, Y:-57.71, Z:71.65 [[ 8.00267061e-01 -1.59122425e-01 -5.78145903e-01 1.61200071e+02] [ 1.25100537e-01 9.87237184e-01 -9.85525202e-02 -5.77110069e+01] [ 5.86449049e-01 6.54197302e-03 8.09959700e-01 7.16458370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:161.23, Y:-57.69, Z:71.64 [[ 8.04348270e-01 -1.75294060e-01 -5.67711064e-01 1.61233514e+02] [ 1.22122340e-01 9.83863185e-01 -1.30764546e-01 -5.76891572e+01] [ 5.81472264e-01 3.58500324e-02 8.12775972e-01 7.16444200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.0 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:161.24, Y:-57.71, Z:71.69 [[ 8.01001385e-01 -1.34618983e-01 -5.83330533e-01 1.61240018e+02] [ 1.18831160e-01 9.90753706e-01 -6.54694561e-02 -5.77136426e+01] [ 5.86750319e-01 -1.68767190e-02 8.09592021e-01 7.16879256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:161.27, Y:-57.69, Z:71.69 [[ 8.02764335e-01 -1.50457294e-01 -5.77002622e-01 1.61266399e+02] [ 1.14216144e-01 9.88524906e-01 -9.88594057e-02 -5.76936891e+01] [ 5.85255582e-01 1.34577907e-02 8.10737191e-01 7.16942950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:161.29, Y:-57.69, Z:71.71 [[ 8.03041609e-01 -1.50037787e-01 -5.76725964e-01 1.61289707e+02] [ 1.13589478e-01 9.88581034e-01 -9.90200491e-02 -5.76890706e+01] [ 5.84997098e-01 1.40072185e-02 8.10914418e-01 7.17099076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:161.31, Y:-57.68, Z:71.73 [[ 8.03125936e-01 -1.49987946e-01 -5.76621494e-01 1.61312529e+02] [ 1.13393454e-01 9.88584508e-01 -9.92098563e-02 -5.76847863e+01] [ 5.84919359e-01 1.42929058e-02 8.10965509e-01 7.17265678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:161.34, Y:-57.68, Z:71.74 [[ 8.03347940e-01 -1.50351274e-01 -5.76217478e-01 1.61335337e+02] [ 1.13749573e-01 9.88529693e-01 -9.93482783e-02 -5.76806236e+01] [ 5.84545227e-01 1.42667428e-02 8.11235686e-01 7.17431666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:161.36, Y:-57.68, Z:71.76 [[ 8.03092753e-01 -1.50868903e-01 -5.76437858e-01 1.61357791e+02] [ 1.14203657e-01 9.88452459e-01 -9.95954869e-02 -5.76764802e+01] [ 5.84807280e-01 1.41531025e-02 8.11048787e-01 7.17588003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:161.38, Y:-57.67, Z:71.77 [[ 8.02449827e-01 -1.52251369e-01 -5.76969494e-01 1.61379608e+02] [ 1.15678443e-01 9.88250719e-01 -9.98950178e-02 -5.76727574e+01] [ 5.85399670e-01 1.34178069e-02 8.10633819e-01 7.17745331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20999999999998 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:161.40, Y:-57.67, Z:71.79 [[ 8.01505877e-01 -1.53802227e-01 -5.77869539e-01 1.61402851e+02] [ 1.17391881e-01 9.88023486e-01 -1.00143589e-01 -5.76690862e+01] [ 5.86350983e-01 1.24284826e-02 8.09961763e-01 7.17893475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23999999999998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:161.42, Y:-57.67, Z:71.81 [[ 8.01381579e-01 -1.54436422e-01 -5.77872786e-01 1.61424243e+02] [ 1.18024985e-01 9.87927225e-01 -1.00348897e-01 -5.76665292e+01] [ 5.86393782e-01 1.22143301e-02 8.09934036e-01 7.18075118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26999999999998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:161.45, Y:-57.66, Z:71.82 [[ 8.00356344e-01 -1.56585223e-01 -5.78714775e-01 1.61447786e+02] [ 1.20403906e-01 9.87604097e-01 -1.00702764e-01 -5.76629928e+01] [ 5.87309647e-01 1.09185770e-02 8.09288677e-01 7.18221603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:-57.66, Z:71.84 [[ 8.00080995e-01 -1.57291298e-01 -5.78904007e-01 1.61468961e+02] [ 1.21098589e-01 9.87494745e-01 -1.00941865e-01 -5.76610447e+01] [ 5.87541942e-01 1.06572095e-02 8.09123532e-01 7.18411034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32999999999998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:161.49, Y:-57.66, Z:71.85 [[ 7.98213740e-01 -1.62242669e-01 -5.80113904e-01 1.61494218e+02] [ 1.26892651e-01 9.86723915e-01 -1.01361584e-01 -5.76587196e+01] [ 5.88857437e-01 7.29601808e-03 8.08203989e-01 7.18544581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35999999999999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:161.52, Y:-57.66, Z:71.87 [[ 7.97397278e-01 -1.64905595e-01 -5.80485768e-01 1.61517893e+02] [ 1.29980318e-01 9.86293491e-01 -1.01637915e-01 -5.76559385e+01] [ 5.89289995e-01 5.59407237e-03 8.07902227e-01 7.18693988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:161.54, Y:-57.65, Z:71.89 [[ 7.96986009e-01 -1.66966511e-01 -5.80461442e-01 1.61539598e+02] [ 1.32380560e-01 9.85953080e-01 -1.01842582e-01 -5.76538587e+01] [ 5.89312047e-01 4.32530190e-03 8.07893931e-01 7.18852101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:161.56, Y:-57.65, Z:71.90 [[ 7.96669326e-01 -1.69212535e-01 -5.80245726e-01 1.61561451e+02] [ 1.35084583e-01 9.85575506e-01 -1.01946440e-01 -5.76517683e+01] [ 5.89126591e-01 2.83534929e-03 8.08035779e-01 7.19006828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:161.58, Y:-57.65, Z:71.92 [[ 7.96625114e-01 -1.69474495e-01 -5.80229975e-01 1.61584446e+02] [ 1.35343413e-01 9.85530725e-01 -1.02036024e-01 -5.76476109e+01] [ 5.89126972e-01 2.75415392e-03 8.08035783e-01 7.19171548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:161.61, Y:-57.65, Z:71.93 [[ 7.96335567e-01 -1.72057523e-01 -5.79867118e-01 1.61607496e+02] [ 1.38445451e-01 9.85086314e-01 -1.02165604e-01 -5.76453593e+01] [ 5.88797523e-01 1.07813992e-03 8.08279849e-01 7.19325570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:161.63, Y:-57.64, Z:71.95 [[ 7.96521893e-01 -1.74335967e-01 -5.78929913e-01 1.61629677e+02] [ 1.41233719e-01 9.84686166e-01 -1.02206612e-01 -5.76431387e+01] [ 5.87882565e-01 -3.54620418e-04 8.08946206e-01 7.19482568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:161.66, Y:-57.62, Z:71.94 [[ 8.01555936e-01 -2.05260720e-01 -5.61583581e-01 1.61662050e+02] [ 1.53087512e-01 9.78374520e-01 -1.39095332e-01 -5.76169034e+01] [ 5.77989875e-01 2.55212560e-02 8.15644757e-01 7.19364768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:-57.65, Z:71.99 [[ 7.97161242e-01 -1.63840197e-01 -5.81111300e-01 1.61668681e+02] [ 1.47088045e-01 9.86178294e-01 -7.62724052e-02 -5.76526818e+01] [ 5.85575837e-01 -2.46731201e-02 8.10242048e-01 7.19948095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:-57.64, Z:72.00 [[ 7.96733570e-01 -1.82200544e-01 -5.76210535e-01 1.61695568e+02] [ 1.51199555e-01 9.83243188e-01 -1.01840696e-01 -5.76402295e+01] [ 5.85110514e-01 -5.98287520e-03 8.10931497e-01 7.20021275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:161.72, Y:-57.64, Z:72.02 [[ 7.96267375e-01 -1.84523259e-01 -5.76115816e-01 1.61718195e+02] [ 1.53926690e-01 9.82800030e-01 -1.02032719e-01 -5.76368017e+01] [ 5.85034051e-01 -7.43427549e-03 8.10974655e-01 7.20159064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:161.74, Y:-57.63, Z:72.03 [[ 7.95945285e-01 -1.86440536e-01 -5.75943599e-01 1.61741636e+02] [ 1.56209725e-01 9.82428028e-01 -1.02145442e-01 -5.76334813e+01] [ 5.84867185e-01 -8.66580851e-03 8.11082782e-01 7.20317764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:161.76, Y:-57.63, Z:72.05 [[ 7.95752712e-01 -1.88131369e-01 -5.75659804e-01 1.61763074e+02] [ 1.58180022e-01 9.82096454e-01 -1.02301686e-01 -5.76304446e+01] [ 5.84599609e-01 -9.65103625e-03 8.11264541e-01 7.20474081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:161.79, Y:-57.63, Z:72.06 [[ 7.95107491e-01 -1.90023844e-01 -5.75929697e-01 1.61785423e+02] [ 1.60420802e-01 9.81718517e-01 -1.02439837e-01 -5.76272527e+01] [ 5.84866860e-01 -1.09404220e-02 8.11055524e-01 7.20628474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:161.81, Y:-57.62, Z:72.08 [[ 7.94698482e-01 -1.91805805e-01 -5.75903513e-01 1.61808249e+02] [ 1.62558950e-01 9.81357793e-01 -1.02525458e-01 -5.76241400e+01] [ 5.84832378e-01 -1.21414447e-02 8.11063299e-01 7.20789022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:161.83, Y:-57.62, Z:72.10 [[ 7.93823728e-01 -1.94877603e-01 -5.76078648e-01 1.61830634e+02] [ 1.66184545e-01 9.80725368e-01 -1.02764047e-01 -5.76220509e+01] [ 5.85001355e-01 -1.41588289e-02 8.10908714e-01 7.20956436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.85, Y:-57.62, Z:72.11 [[ 7.93547006e-01 -1.95981673e-01 -5.76085352e-01 1.61851831e+02] [ 1.67399304e-01 9.80497014e-01 -1.02971251e-01 -5.76189938e+01] [ 5.85030446e-01 -1.47237592e-02 8.10877666e-01 7.21125309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.87, Y:-57.62, Z:72.13 [[ 7.93059567e-01 -1.97257610e-01 -5.76321056e-01 1.61873664e+02] [ 1.68885039e-01 9.80228141e-01 -1.03104969e-01 -5.76155882e+01] [ 5.85264357e-01 -1.55636215e-02 8.10693164e-01 7.21293516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:-57.61, Z:72.14 [[ 7.92600180e-01 -1.98416641e-01 -5.76555107e-01 1.61895868e+02] [ 1.70143413e-01 9.79984233e-01 -1.03354353e-01 -5.76119966e+01] [ 5.85522138e-01 -1.61783745e-02 8.10494964e-01 7.21449601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:-57.59, Z:72.14 [[ 7.95710679e-01 -2.21747101e-01 -5.63624644e-01 1.61925744e+02] [ 1.78933309e-01 9.75098274e-01 -1.31019946e-01 -5.75883027e+01] [ 5.78642711e-01 3.40274792e-03 8.15574052e-01 7.21369846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:-57.61, Z:72.18 [[ 7.92292720e-01 -1.91294261e-01 -5.79377901e-01 1.61938862e+02] [ 1.73091439e-01 9.81037069e-01 -8.72102202e-02 -5.76128569e+01] [ 5.85074012e-01 -3.11893319e-02 8.10379927e-01 7.21834834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95999999999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:161.97, Y:-57.60, Z:72.19 [[ 7.91707674e-01 -2.02104004e-01 -5.76500590e-01 1.61966322e+02] [ 1.74519945e-01 9.79187707e-01 -1.03606096e-01 -5.76016391e+01] [ 5.85441497e-01 -1.85851098e-02 8.10501602e-01 7.21919613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98999999999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:161.99, Y:-57.60, Z:72.21 [[ 7.91650228e-01 -2.02548310e-01 -5.76423541e-01 1.61988339e+02] [ 1.74926512e-01 9.79094517e-01 -1.03800977e-01 -5.75980369e+01] [ 5.85397841e-01 -1.86576927e-02 8.10531467e-01 7.22071610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.01, Y:-57.60, Z:72.23 [[ 7.92242628e-01 -2.01595305e-01 -5.75943531e-01 1.62009102e+02] [ 1.73730600e-01 9.79306807e-01 -1.03806821e-01 -5.75953500e+01] [ 5.84952389e-01 -1.78188267e-02 8.10871872e-01 7.22267719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04999999999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:162.03, Y:-57.59, Z:72.24 [[ 7.92516779e-01 -2.00795648e-01 -5.75845694e-01 1.62033220e+02] [ 1.72603023e-01 9.79486085e-01 -1.03996178e-01 -5.75901265e+01] [ 5.84914825e-01 -1.69739919e-02 8.10917093e-01 7.22398925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07999999999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:162.06, Y:-57.59, Z:72.26 [[ 7.93132190e-01 -1.99163406e-01 -5.75565171e-01 1.62055298e+02] [ 1.70466355e-01 9.79843584e-01 -1.04152640e-01 -5.75858565e+01] [ 5.84707235e-01 -1.55076851e-02 8.11096148e-01 7.22568351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10999999999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:162.09, Y:-57.56, Z:72.25 [[ 7.98110933e-01 -2.22245836e-01 -5.60022971e-01 1.62086131e+02] [ 1.75837766e-01 9.74936060e-01 -1.36311259e-01 -5.75580257e+01] [ 5.76281198e-01 1.03183178e-02 8.17186339e-01 7.22453605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:162.10, Y:-57.59, Z:72.30 [[ 7.94117499e-01 -1.83727218e-01 -5.79328670e-01 1.62097565e+02] [ 1.65441754e-01 9.82564567e-01 -8.48286376e-02 -5.75852627e+01] [ 5.84813153e-01 -2.84812460e-02 8.10667870e-01 7.22960787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:-57.55, Z:72.28 [[ 8.00383494e-01 -2.11524025e-01 -5.60931234e-01 1.62128532e+02] [ 1.64650809e-01 9.77264339e-01 -1.33583392e-01 -5.75506163e+01] [ 5.76434188e-01 1.45601608e-02 8.17013848e-01 7.22825956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.2 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:162.14, Y:-57.57, Z:72.33 [[ 7.95963411e-01 -1.75868996e-01 -5.79234275e-01 1.62142896e+02] [ 1.54286305e-01 9.84204906e-01 -8.68126733e-02 -5.75736513e+01] [ 5.85352872e-01 -2.02682042e-02 8.10525271e-01 7.23273849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:162.17, Y:-57.56, Z:72.34 [[ 7.96699974e-01 -1.82313042e-01 -5.76221403e-01 1.62166379e+02] [ 1.49243171e-01 9.83237234e-01 -1.04742623e-01 -5.75608686e+01] [ 5.85658285e-01 -2.54866454e-03 8.10554056e-01 7.23378168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:162.19, Y:-57.56, Z:72.35 [[ 7.97183663e-01 -1.78919046e-01 -5.76616148e-01 1.62190337e+02] [ 1.44937188e-01 9.83863797e-01 -1.04905860e-01 -5.75551492e+01] [ 5.86081409e-01 5.61149749e-05 8.10252170e-01 7.23525638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:-57.55, Z:72.37 [[ 7.98733417e-01 -1.71156698e-01 -5.76827802e-01 1.62210637e+02] [ 1.35181221e-01 9.85225480e-01 -1.05151280e-01 -5.75493664e+01] [ 5.86302794e-01 6.01155457e-03 8.10069686e-01 7.23713381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:162.23, Y:-57.54, Z:72.38 [[ 7.99022706e-01 -1.68856221e-01 -5.77105096e-01 1.62234510e+02] [ 1.32152557e-01 9.85608552e-01 -1.05411027e-01 -5.75434689e+01] [ 5.86599026e-01 7.95989011e-03 8.09838393e-01 7.23839594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:162.26, Y:-57.54, Z:72.40 [[ 7.99403271e-01 -1.66710601e-01 -5.77201858e-01 1.62257078e+02] [ 1.29424510e-01 9.85958643e-01 -1.05521803e-01 -5.75385719e+01] [ 5.86688764e-01 9.65040702e-03 8.09755002e-01 7.23996669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:-57.54, Z:72.42 [[ 8.00129729e-01 -1.64279314e-01 -5.76892298e-01 1.62277213e+02] [ 1.26323462e-01 9.86344761e-01 -1.05671169e-01 -5.75350128e+01] [ 5.86374283e-01 1.16756117e-02 8.09956098e-01 7.24192684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:-57.53, Z:72.44 [[ 8.00262928e-01 -1.63097371e-01 -5.77042888e-01 1.62299666e+02] [ 1.24695556e-01 9.86526997e-01 -1.05903270e-01 -5.75304596e+01] [ 5.86540932e-01 1.27957775e-02 8.09818500e-01 7.24354026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:162.32, Y:-57.53, Z:72.45 [[ 7.99627361e-01 -1.62616018e-01 -5.78058919e-01 1.62324327e+02] [ 1.23797676e-01 9.86597974e-01 -1.06294744e-01 -5.75257745e+01] [ 5.87596987e-01 1.34338354e-02 8.09042220e-01 7.24481316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:162.35, Y:-57.52, Z:72.47 [[ 7.99869857e-01 -1.62282602e-01 -5.77817072e-01 1.62345193e+02] [ 1.23271158e-01 9.86646044e-01 -1.06460344e-01 -5.75227165e+01] [ 5.87377591e-01 1.39262408e-02 8.09193194e-01 7.24652083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.5 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.37, Y:-57.52, Z:72.48 [[ 8.00058184e-01 -1.62538790e-01 -5.77484236e-01 1.62367227e+02] [ 1.23570858e-01 9.86605087e-01 -1.06492467e-01 -5.75191379e+01] [ 5.87058042e-01 1.38399474e-02 8.09426532e-01 7.24822780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:-57.49, Z:72.47 [[ 8.04422738e-01 -1.89084381e-01 -5.63161749e-01 1.62398808e+02] [ 1.31990416e-01 9.81185548e-01 -1.40902274e-01 -5.74932815e+01] [ 5.79208589e-01 3.90130393e-02 8.14245291e-01 7.24726021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:162.41, Y:-57.52, Z:72.52 [[ 7.97121604e-01 -1.52124296e-01 -5.84341807e-01 1.62411657e+02] [ 1.27251142e-01 9.88331904e-01 -8.37089878e-02 -5.75238123e+01] [ 5.90257821e-01 -7.63191934e-03 8.07178703e-01 7.25201104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:162.44, Y:-57.51, Z:72.53 [[ 7.96599475e-01 -1.67177884e-01 -5.80931004e-01 1.62438507e+02] [ 1.28524765e-01 9.85865986e-01 -1.07469267e-01 -5.75110201e+01] [ 5.90686601e-01 1.09459412e-02 8.06826825e-01 7.25281113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:162.46, Y:-57.51, Z:72.55 [[ 7.96107367e-01 -1.68770678e-01 -5.81145006e-01 1.62461455e+02] [ 1.30308538e-01 9.85604318e-01 -1.07721001e-01 -5.75085218e+01] [ 5.90959173e-01 1.00293263e-02 8.06639119e-01 7.25450538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:162.48, Y:-57.51, Z:72.56 [[ 7.95631323e-01 -1.71417340e-01 -5.81022284e-01 1.62484622e+02] [ 1.33448524e-01 9.85163372e-01 -1.07910248e-01 -5.75083567e+01] [ 5.90899560e-01 8.32020717e-03 8.06702228e-01 7.25616374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:162.51, Y:-57.51, Z:72.58 [[ 7.95503636e-01 -1.72584888e-01 -5.80851463e-01 1.62505710e+02] [ 1.34764587e-01 9.84964490e-01 -1.08090056e-01 -5.75064481e+01] [ 5.90772775e-01 7.70782558e-03 8.06801164e-01 7.25781866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70999999999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:162.53, Y:-57.50, Z:72.59 [[ 7.95334693e-01 -1.73713077e-01 -5.80746496e-01 1.62528665e+02] [ 1.36107433e-01 9.84771543e-01 -1.08165494e-01 -5.75044048e+01] [ 5.90692384e-01 6.98385545e-03 8.06866614e-01 7.25944191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73999999999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:162.55, Y:-57.50, Z:72.61 [[ 7.95138789e-01 -1.74994072e-01 -5.80630159e-01 1.62551721e+02] [ 1.37557509e-01 9.84549423e-01 -1.08352969e-01 -5.75018437e+01] [ 5.90620215e-01 6.28561003e-03 8.06925184e-01 7.26101561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76999999999998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:162.58, Y:-57.50, Z:72.63 [[ 7.95275313e-01 -1.76981302e-01 -5.79840319e-01 1.62575282e+02] [ 1.39978547e-01 9.84201232e-01 -1.08415595e-01 -5.75015344e+01] [ 5.89867090e-01 5.05504085e-03 8.07484528e-01 7.26260291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79999999999998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:162.60, Y:-57.50, Z:72.64 [[ 7.95200064e-01 -1.77962765e-01 -5.79643091e-01 1.62597690e+02] [ 1.41068779e-01 9.84026566e-01 -1.08587831e-01 -5.74998449e+01] [ 5.89708791e-01 4.57950698e-03 8.07602978e-01 7.26422713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82999999999998 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:162.62, Y:-57.50, Z:72.66 [[ 7.95430946e-01 -1.78890979e-01 -5.79040265e-01 1.62619553e+02] [ 1.42151516e-01 9.83860198e-01 -1.08683287e-01 -5.74985179e+01] [ 5.89137129e-01 4.13859776e-03 8.08022472e-01 7.26594394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:162.64, Y:-57.50, Z:72.68 [[ 7.95727107e-01 -1.79762014e-01 -5.78363199e-01 1.62642151e+02] [ 1.43174124e-01 9.83703021e-01 -1.08763671e-01 -5.74970419e+01] [ 5.88489203e-01 3.73955688e-03 8.08496428e-01 7.26757898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:162.66, Y:-57.50, Z:72.69 [[ 7.95355441e-01 -1.80437408e-01 -5.78664034e-01 1.62664636e+02] [ 1.43817336e-01 9.83580271e-01 -1.09024875e-01 -5.74952132e+01] [ 5.88834694e-01 3.49160770e-03 8.08245948e-01 7.26901147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:-57.46, Z:72.68 [[ 8.02502121e-01 -2.11224022e-01 -5.58009640e-01 1.62696128e+02] [ 1.51841105e-01 9.76747056e-01 -1.51358735e-01 -5.74643938e+01] [ 5.77004874e-01 3.67369054e-02 8.15914074e-01 7.26757283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:-57.50, Z:72.74 [[ 7.95911461e-01 -1.62342258e-01 -5.83240891e-01 1.62702318e+02] [ 1.42882508e-01 9.86532421e-01 -7.96138883e-02 -5.75043848e+01] [ 5.88310747e-01 -1.99693152e-02 8.08388330e-01 7.27387650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:-57.49, Z:72.74 [[ 7.96368461e-01 -1.77669585e-01 -5.78126970e-01 1.62730904e+02] [ 1.40372520e-01 9.84073688e-01 -1.09062056e-01 -5.74901325e+01] [ 5.88296550e-01 5.70044182e-03 8.08625176e-01 7.27445528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:162.76, Y:-57.49, Z:72.76 [[ 7.96280627e-01 -1.77235567e-01 -5.78381117e-01 1.62755827e+02] [ 1.39646895e-01 9.84148425e-01 -1.09318900e-01 -5.74865811e+01] [ 5.88588063e-01 6.27939550e-03 8.08408722e-01 7.27575362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:162.78, Y:-57.48, Z:72.77 [[ 7.96187263e-01 -1.76324707e-01 -5.78787906e-01 1.62778379e+02] [ 1.38309446e-01 9.84305628e-01 -1.09603503e-01 -5.74832411e+01] [ 5.89029998e-01 7.21307805e-03 8.08078977e-01 7.27728925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:162.80, Y:-57.48, Z:72.79 [[ 7.95676922e-01 -1.76251466e-01 -5.79511567e-01 1.62801398e+02] [ 1.38043084e-01 9.84317401e-01 -1.09833336e-01 -5.74795721e+01] [ 5.89781606e-01 7.39428728e-03 8.07528936e-01 7.27890323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.1 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:162.82, Y:-57.47, Z:72.81 [[ 7.94956587e-01 -1.77019782e-01 -5.80265475e-01 1.62823757e+02] [ 1.38727161e-01 9.84181719e-01 -1.10186745e-01 -5.74747700e+01] [ 5.90591906e-01 7.09509682e-03 8.06939192e-01 7.28050374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:162.86, Y:-57.44, Z:72.79 [[ 8.01128389e-01 -2.07000019e-01 -5.61555248e-01 1.62857449e+02] [ 1.46885624e-01 9.77589718e-01 -1.50807684e-01 -5.74414117e+01] [ 5.80187830e-01 3.83319233e-02 8.13580203e-01 7.27892150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:-57.45, Z:72.81 [[ 8.01618924e-01 -1.94841380e-01 -5.65193716e-01 1.62876440e+02] [ 1.47438971e-01 9.80630201e-01 -1.28942466e-01 -5.74462598e+01] [ 5.79369355e-01 2.00311407e-02 8.14818939e-01 7.28141928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:162.89, Y:-57.47, Z:72.87 [[ 7.93530675e-01 -1.58810765e-01 -5.87442090e-01 1.62885845e+02] [ 1.40499356e-01 9.87077389e-01 -7.70594533e-02 -5.74739502e+01] [ 5.92088675e-01 -2.13861952e-02 8.05588997e-01 7.28667793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:162.91, Y:-57.45, Z:72.87 [[ 7.94234310e-01 -1.79326557e-01 -5.80546163e-01 1.62914503e+02] [ 1.41488606e-01 9.83774377e-01 -1.10312961e-01 -5.74535657e+01] [ 5.90908483e-01 5.47367097e-03 8.06720028e-01 7.28708337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:162.94, Y:-57.43, Z:72.86 [[ 7.99081713e-01 -2.03140528e-01 -5.65864243e-01 1.62944531e+02] [ 1.47959679e-01 9.78687924e-01 -1.42400425e-01 -5.74270973e+01] [ 5.82731799e-01 3.00644835e-02 8.12108230e-01 7.28610515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:162.96, Y:-57.43, Z:72.88 [[ 7.99815782e-01 -1.92657942e-01 -5.68487144e-01 1.62963392e+02] [ 1.48745312e-01 9.81165961e-01 -1.23240371e-01 -5.74317899e+01] [ 5.81523471e-01 1.40097964e-02 8.13408986e-01 7.28835148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:162.98, Y:-57.45, Z:72.93 [[ 7.95255566e-01 -1.65838248e-01 -5.83152004e-01 1.62975621e+02] [ 1.42533640e-01 9.86043447e-01 -8.60376824e-02 -5.74526417e+01] [ 5.89281551e-01 -1.46968320e-02 8.07794069e-01 7.29301689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:163.00, Y:-57.44, Z:72.94 [[ 7.95400890e-01 -1.80411566e-01 -5.78609619e-01 1.63003164e+02] [ 1.42532475e-01 9.83575178e-01 -1.10744581e-01 -5.74371621e+01] [ 5.89085662e-01 5.61567718e-03 8.08051079e-01 7.29373992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.03, Y:-57.41, Z:72.93 [[ 8.02518681e-01 -2.08379498e-01 -5.59054337e-01 1.63034589e+02] [ 1.50764241e-01 9.77442463e-01 -1.47906644e-01 -5.74069647e+01] [ 5.77264161e-01 3.44124417e-02 8.15832013e-01 7.29257308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.4 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:163.04, Y:-57.44, Z:72.98 [[ 7.96327142e-01 -1.66426410e-01 -5.81519848e-01 1.63044053e+02] [ 1.43945643e-01 9.85924340e-01 -8.50461527e-02 -5.74397893e+01] [ 5.87488498e-01 -1.59826887e-02 8.09074668e-01 7.29809898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:163.08, Y:-57.40, Z:72.96 [[ 8.00925961e-01 -2.05297740e-01 -5.62468170e-01 1.63080891e+02] [ 1.50540354e-01 9.78251437e-01 -1.42694530e-01 -5.74026149e+01] [ 5.79530160e-01 2.96135963e-02 8.14412567e-01 7.29635713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:163.10, Y:-57.41, Z:72.99 [[ 8.00664953e-01 -1.93475679e-01 -5.67012165e-01 1.63098444e+02] [ 1.51822318e-01 9.81051107e-01 -1.20369057e-01 -5.74086168e+01] [ 5.79556397e-01 1.02901838e-02 8.14867164e-01 7.29883181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48999999999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:163.12, Y:-57.41, Z:73.01 [[ 8.00418528e-01 -1.92776112e-01 -5.67598054e-01 1.63119628e+02] [ 1.51268288e-01 9.81190429e-01 -1.19930178e-01 -5.74052386e+01] [ 5.80041452e-01 1.01347504e-02 8.14523911e-01 7.30088252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:163.13, Y:-57.42, Z:73.05 [[ 7.94312912e-01 -1.69256302e-01 -5.83454628e-01 1.63132462e+02] [ 1.46292261e-01 9.85434226e-01 -8.67061786e-02 -5.74226372e+01] [ 5.89631726e-01 -1.64830596e-02 8.07504016e-01 7.30520003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:-57.38, Z:73.03 [[ 8.00002641e-01 -2.12837949e-01 -5.60977523e-01 1.63170394e+02] [ 1.54180182e-01 9.76495793e-01 -1.50613537e-01 -5.73808987e+01] [ 5.79848468e-01 3.39996113e-02 8.14014607e-01 7.30290556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:-57.40, Z:73.06 [[ 7.97830970e-01 -1.89290105e-01 -5.72394095e-01 1.63185229e+02] [ 1.52676824e-01 9.81919378e-01 -1.11911224e-01 -5.73968887e+01] [ 5.83228541e-01 1.89492770e-03 8.12305902e-01 7.30640281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:-57.41, Z:73.10 [[ 7.92709688e-01 -1.72038592e-01 -5.84819693e-01 1.63200511e+02] [ 1.47206637e-01 9.84982449e-01 -9.02207411e-02 -5.74090050e+01] [ 5.91558582e-01 -1.45704846e-02 8.06130352e-01 7.31021607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:-57.37, Z:73.08 [[ 7.97235905e-01 -2.11982126e-01 -5.65224282e-01 1.63237953e+02] [ 1.55919636e-01 9.76854466e-01 -1.46439135e-01 -5.73709031e+01] [ 5.83184343e-01 2.86169722e-02 8.11835630e-01 7.30815613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:163.25, Y:-57.40, Z:73.13 [[ 7.90540623e-01 -1.72375287e-01 -5.87649797e-01 1.63246744e+02] [ 1.50851864e-01 9.84813647e-01 -8.59406549e-02 -5.74022137e+01] [ 5.93539584e-01 -2.07084886e-02 8.04538328e-01 7.31340624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.7 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:163.27, Y:-57.39, Z:73.14 [[ 7.89680359e-01 -1.88615585e-01 -5.83805697e-01 1.63274629e+02] [ 1.52050266e-01 9.82050795e-01 -1.11610723e-01 -5.73869169e+01] [ 5.94378371e-01 -6.31015447e-04 8.04185273e-01 7.31397485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:163.30, Y:-57.38, Z:73.15 [[ 7.89282392e-01 -1.89630483e-01 -5.84015056e-01 1.63296270e+02] [ 1.53127934e-01 9.81854868e-01 -1.11860867e-01 -5.73830819e+01] [ 5.94630256e-01 -1.13920599e-03 8.03998483e-01 7.31549899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:-57.36, Z:73.15 [[ 7.95393997e-01 -2.12851672e-01 -5.67487934e-01 1.63323811e+02] [ 1.59953031e-01 9.76829333e-01 -1.42195227e-01 -5.73590085e+01] [ 5.84605352e-01 2.23298147e-02 8.11010457e-01 7.31514298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:-57.39, Z:73.20 [[ 7.91154258e-01 -1.77740681e-01 -5.85220634e-01 1.63333324e+02] [ 1.53646655e-01 9.83915831e-01 -9.11171977e-02 -5.73853458e+01] [ 5.92003079e-01 -1.78294342e-02 8.05738460e-01 7.32015727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:163.36, Y:-57.37, Z:73.21 [[ 7.91265850e-01 -1.89947200e-01 -5.81221486e-01 1.63361021e+02] [ 1.53769209e-01 9.81793653e-01 -1.11517956e-01 -5.73714490e+01] [ 5.91822089e-01 -1.13361801e-03 8.06067819e-01 7.32081200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:163.38, Y:-57.37, Z:73.22 [[ 7.91238559e-01 -1.90030001e-01 -5.81231573e-01 1.63383811e+02] [ 1.53715849e-01 9.81777835e-01 -1.11730573e-01 -5.73668340e+01] [ 5.91872436e-01 -9.38967257e-04 8.06031102e-01 7.32232364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:163.41, Y:-57.36, Z:73.24 [[ 7.91800177e-01 -1.89015882e-01 -5.80797276e-01 1.63406077e+02] [ 1.52362966e-01 9.81974027e-01 -1.11859449e-01 -5.73618794e+01] [ 5.91471052e-01 7.83363260e-05 8.06326229e-01 7.32395399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:163.43, Y:-57.36, Z:73.26 [[ 7.92253743e-01 -1.87351865e-01 -5.80717905e-01 1.63427633e+02] [ 1.50157200e-01 9.82291604e-01 -1.12053649e-01 -5.73570541e+01] [ 5.91427783e-01 1.57594770e-03 8.06356431e-01 7.32556735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:163.45, Y:-57.35, Z:73.27 [[ 7.91709248e-01 -1.87144937e-01 -5.81526646e-01 1.63450668e+02] [ 1.49715359e-01 9.82330575e-01 -1.12302951e-01 -5.73519779e+01] [ 5.92268333e-01 1.84781405e-03 8.05738672e-01 7.32709227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:163.47, Y:-57.35, Z:73.29 [[ 7.91217664e-01 -1.86485248e-01 -5.82406954e-01 1.63472771e+02] [ 1.48614907e-01 9.82454317e-01 -1.12681514e-01 -5.73472499e+01] [ 5.93201667e-01 2.60124839e-03 8.05049698e-01 7.32882308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.0 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:163.49, Y:-57.34, Z:73.30 [[ 7.90609884e-01 -1.86319590e-01 -5.83284684e-01 1.63494762e+02] [ 1.48125141e-01 9.82484647e-01 -1.13061319e-01 -5.73424414e+01] [ 5.94133785e-01 2.98827048e-03 8.04360688e-01 7.33045582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:-57.31, Z:73.29 [[ 7.97126450e-01 -2.12890236e-01 -5.65037317e-01 1.63526498e+02] [ 1.53409701e-01 9.76481834e-01 -1.51488256e-01 -5.73118329e+01] [ 5.83999046e-01 3.40730898e-02 8.11038925e-01 7.32944936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:163.53, Y:-57.34, Z:73.35 [[ 7.90762652e-01 -1.68300644e-01 -5.88531496e-01 1.63534387e+02] [ 1.46034169e-01 9.85567008e-01 -8.56253148e-02 -5.73447689e+01] [ 5.94448021e-01 -1.82364071e-02 8.03927225e-01 7.33493846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:163.56, Y:-57.33, Z:73.36 [[ 7.90916567e-01 -1.84694975e-01 -5.83385594e-01 1.63562374e+02] [ 1.45905207e-01 9.82785509e-01 -1.13332761e-01 -5.73279564e+01] [ 5.94274899e-01 4.51776248e-03 8.04249299e-01 7.33556852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:-57.30, Z:73.34 [[ 7.97595348e-01 -2.12436896e-01 -5.64546035e-01 1.63593715e+02] [ 1.51810615e-01 9.76500033e-01 -1.52974584e-01 -5.72961697e+01] [ 5.83776667e-01 3.63077357e-02 8.11102060e-01 7.33430951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:-57.30, Z:73.37 [[ 7.97199382e-01 -1.96377403e-01 -5.70884455e-01 1.63612437e+02] [ 1.51518978e-01 9.80432874e-01 -1.25671712e-01 -5.73047513e+01] [ 5.84392971e-01 1.36855818e-02 8.11355384e-01 7.33704846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:163.62, Y:-57.33, Z:73.42 [[ 7.91223571e-01 -1.64922036e-01 -5.88868392e-01 1.63623709e+02] [ 1.43444259e-01 9.86134116e-01 -8.34460942e-02 -5.73259496e+01] [ 5.94465311e-01 -1.84452734e-02 8.03909675e-01 7.34169483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:-57.31, Z:73.42 [[ 7.92058411e-01 -1.81752576e-01 -5.82760221e-01 1.63649772e+02] [ 1.42194387e-01 9.83319612e-01 -1.13416478e-01 -5.73083892e+01] [ 5.93653291e-01 6.96724265e-03 8.04690765e-01 7.34249299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:163.67, Y:-57.30, Z:73.44 [[ 7.91533664e-01 -1.82299872e-01 -5.83301993e-01 1.63674097e+02] [ 1.42635453e-01 9.83219306e-01 -1.13731809e-01 -5.73032485e+01] [ 5.94247075e-01 6.82301162e-03 8.04253604e-01 7.34389889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:-57.30, Z:73.46 [[ 7.91757055e-01 -1.81762176e-01 -5.83166595e-01 1.63694819e+02] [ 1.41834452e-01 9.83314077e-01 -1.13914066e-01 -5.72990262e+01] [ 5.94141191e-01 7.47915076e-03 8.04325996e-01 7.34580076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:163.72, Y:-57.29, Z:73.47 [[ 7.90935970e-01 -1.82396305e-01 -5.84082082e-01 1.63718950e+02] [ 1.42323285e-01 9.83198152e-01 -1.14304319e-01 -5.72939050e+01] [ 5.95117109e-01 7.27891686e-03 8.03606025e-01 7.34723196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:163.74, Y:-57.29, Z:73.49 [[ 7.90925718e-01 -1.82682559e-01 -5.84006500e-01 1.63740399e+02] [ 1.42535170e-01 9.83144704e-01 -1.14499854e-01 -5.72890473e+01] [ 5.95080024e-01 7.31941325e-03 8.03633120e-01 7.34876207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:163.76, Y:-57.28, Z:73.50 [[ 7.90560225e-01 -1.83044619e-01 -5.84387883e-01 1.63762929e+02] [ 1.42855933e-01 9.83078466e-01 -1.14668710e-01 -5.72836211e+01] [ 5.95488634e-01 7.16924500e-03 8.03331743e-01 7.35041683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:163.79, Y:-57.28, Z:73.52 [[ 7.89959502e-01 -1.83340763e-01 -5.85106955e-01 1.63785972e+02] [ 1.42958706e-01 9.83022968e-01 -1.15015883e-01 -5.72783342e+01] [ 5.96260676e-01 7.21175679e-03 8.02758493e-01 7.35200291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:163.81, Y:-57.27, Z:73.54 [[ 7.90199034e-01 -1.83012255e-01 -5.84886315e-01 1.63807255e+02] [ 1.42430705e-01 9.83080404e-01 -1.15179915e-01 -5.72734961e+01] [ 5.96069611e-01 7.70928711e-03 8.02895750e-01 7.35382390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:163.83, Y:-57.27, Z:73.55 [[ 7.89457683e-01 -1.83162858e-01 -5.85839512e-01 1.63829481e+02] [ 1.42305486e-01 9.83050992e-01 -1.15585018e-01 -5.72682777e+01] [ 5.97080995e-01 7.88130383e-03 8.02142238e-01 7.35522868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.86, Y:-57.23, Z:73.54 [[ 7.96668798e-01 -2.15383364e-01 -5.64737844e-01 1.63861435e+02] [ 1.50446059e-01 9.75609250e-01 -1.59851729e-01 -5.72336006e+01] [ 5.85392868e-01 4.23863013e-02 8.09641027e-01 7.35377171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:163.88, Y:-57.25, Z:73.57 [[ 7.94518728e-01 -1.94876144e-01 -5.75120230e-01 1.63880266e+02] [ 1.49655626e-01 9.80732220e-01 -1.25568728e-01 -5.72460557e+01] [ 5.88509290e-01 1.36967280e-02 8.08374428e-01 7.35670177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:163.89, Y:-57.27, Z:73.61 [[ 7.87914199e-01 -1.67637537e-01 -5.92527527e-01 1.63892595e+02] [ 1.43201974e-01 9.85732246e-01 -8.84597853e-02 -5.72669490e+01] [ 5.98902671e-01 -1.51523904e-02 8.00678460e-01 7.36145062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:-57.25, Z:73.62 [[ 7.88578477e-01 -1.84189550e-01 -5.86701112e-01 1.63917605e+02] [ 1.43571770e-01 9.82866401e-01 -1.15588859e-01 -5.72508212e+01] [ 5.97939071e-01 6.91716961e-03 8.01511710e-01 7.36235334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.6 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:163.94, Y:-57.25, Z:73.64 [[ 7.88457034e-01 -1.85786816e-01 -5.86360609e-01 1.63941307e+02] [ 1.45456658e-01 9.82571988e-01 -1.15735257e-01 -5.72463516e+01] [ 5.97643594e-01 5.96222260e-03 8.01739725e-01 7.36387523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:-57.24, Z:73.66 [[ 7.89215380e-01 -1.88153904e-01 -5.84582921e-01 1.63961815e+02] [ 1.48522520e-01 9.82129673e-01 -1.15595705e-01 -5.72428161e+01] [ 5.95886016e-01 4.40617940e-03 8.03056935e-01 7.36571442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:164.00, Y:-57.21, Z:73.64 [[ 7.94689514e-01 -2.19564492e-01 -5.65915197e-01 1.63996308e+02] [ 1.57885378e-01 9.74967627e-01 -1.56557764e-01 -5.72098679e+01] [ 5.86123523e-01 3.50650782e-02 8.09462572e-01 7.36381163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:164.02, Y:-57.21, Z:73.66 [[ 7.96624664e-01 -2.11902412e-01 -5.66115282e-01 1.64017170e+02] [ 1.60028919e-01 9.77057439e-01 -1.40532938e-01 -5.72115351e+01] [ 5.82906416e-01 2.13571880e-02 8.12258568e-01 7.36586725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:164.04, Y:-57.22, Z:73.69 [[ 7.94067691e-01 -1.99798750e-01 -5.74053100e-01 1.64035399e+02] [ 1.57595617e-01 9.79810336e-01 -1.23025714e-01 -5.72181793e+01] [ 5.87043545e-01 7.22249195e-03 8.09523138e-01 7.36866541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:164.06, Y:-57.21, Z:73.70 [[ 7.91707935e-01 -2.00142256e-01 -5.77184220e-01 1.64058824e+02] [ 1.56947561e-01 9.79734682e-01 -1.24448449e-01 -5.72138618e+01] [ 5.90394791e-01 7.93916876e-03 8.07075560e-01 7.37042116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:164.08, Y:-57.21, Z:73.72 [[ 7.91045380e-01 -2.03422567e-01 -5.76945808e-01 1.64082408e+02] [ 1.57762782e-01 9.79029996e-01 -1.28884333e-01 -5.72068832e+01] [ 5.91065234e-01 1.09327803e-02 8.06549666e-01 7.37188102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:-57.20, Z:73.74 [[ 7.92100852e-01 -2.02863107e-01 -5.75693321e-01 1.64103512e+02] [ 1.57915777e-01 9.79153089e-01 -1.27756939e-01 -5.72034242e+01] [ 5.89609063e-01 1.02853219e-02 8.07623281e-01 7.37360449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:-57.23, Z:73.79 [[ 7.85908361e-01 -1.72507602e-01 -5.93792199e-01 1.64113164e+02] [ 1.50821336e-01 9.84771453e-01 -8.64760653e-02 -5.72272239e+01] [ 5.99667385e-01 -2.15942702e-02 7.99957945e-01 7.37871414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:164.14, Y:-57.21, Z:73.79 [[ 7.85405608e-01 -1.90494945e-01 -5.88939476e-01 1.64143065e+02] [ 1.51256560e-01 9.81686374e-01 -1.15815875e-01 -5.72102333e+01] [ 6.00216197e-01 1.88147877e-03 7.99835594e-01 7.37901217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.9 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:164.16, Y:-57.21, Z:73.81 [[ 7.84874303e-01 -1.90521599e-01 -5.89638744e-01 1.64163394e+02] [ 1.51024682e-01 9.81680702e-01 -1.16166019e-01 -5.72063354e+01] [ 6.00969112e-01 2.12571892e-03 7.99269421e-01 7.38069695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:164.19, Y:-57.20, Z:73.82 [[ 7.84073076e-01 -1.90882492e-01 -5.90587238e-01 1.64186581e+02] [ 1.51221898e-01 9.81610786e-01 -1.16499799e-01 -5.72006646e+01] [ 6.01964574e-01 2.03463267e-03 7.98520201e-01 7.38221073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:164.21, Y:-57.20, Z:73.84 [[ 7.84219804e-01 -1.90639532e-01 -5.90470887e-01 1.64207449e+02] [ 1.50775109e-01 9.81656971e-01 -1.16689580e-01 -5.71960471e+01] [ 6.01885509e-01 2.48196710e-03 7.98578533e-01 7.38399455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:164.23, Y:-57.19, Z:73.85 [[ 7.84107742e-01 -1.91115886e-01 -5.90465720e-01 1.64230089e+02] [ 1.51214373e-01 9.81564610e-01 -1.16897945e-01 -5.71916471e+01] [ 6.01921309e-01 2.37367994e-03 7.98551879e-01 7.38541472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:-57.15, Z:73.83 [[ 7.91157448e-01 -2.28745274e-01 -5.67226139e-01 1.64263775e+02] [ 1.59246491e-01 9.72481725e-01 -1.70058369e-01 -5.71517887e+01] [ 5.90517102e-01 4.42141730e-02 8.05813042e-01 7.38323093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:-57.20, Z:73.91 [[ 7.84325581e-01 -1.68357544e-01 -5.97067098e-01 1.64264632e+02] [ 1.50763427e-01 9.85344237e-01 -7.97942543e-02 -5.72009361e+01] [ 6.01750589e-01 -2.74312070e-02 7.98212852e-01 7.39062139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:-57.15, Z:73.87 [[ 7.91965079e-01 -2.23896287e-01 -5.68033244e-01 1.64307284e+02] [ 1.59536179e-01 9.73901378e-01 -1.61444458e-01 -5.71502360e+01] [ 5.89355174e-01 3.72365199e-02 8.07015440e-01 7.38744491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10999999999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:164.31, Y:-57.19, Z:73.94 [[ 7.84463281e-01 -1.71722931e-01 -5.95926670e-01 1.64312095e+02] [ 1.52466852e-01 9.84810384e-01 -8.30804873e-02 -5.71918214e+01] [ 6.01141597e-01 -2.56854718e-02 7.98729639e-01 7.39363373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:164.35, Y:-57.14, Z:73.91 [[ 7.91128965e-01 -2.22925959e-01 -5.69577894e-01 1.64351667e+02] [ 1.60241231e-01 9.74231505e-01 -1.58731605e-01 -5.71432954e+01] [ 5.90286125e-01 3.43073073e-02 8.06464692e-01 7.39071115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:164.36, Y:-57.18, Z:73.97 [[ 7.85262098e-01 -1.73300134e-01 -5.94416101e-01 1.64355633e+02] [ 1.51989458e-01 9.84609747e-01 -8.62719576e-02 -5.71815121e+01] [ 6.00218829e-01 -2.25988827e-02 7.99516509e-01 7.39692935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.2 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:164.38, Y:-57.16, Z:73.98 [[ 7.85281311e-01 -1.90733356e-01 -5.89028055e-01 1.64382850e+02] [ 1.51209064e-01 9.81639321e-01 -1.16275802e-01 -5.71634381e+01] [ 6.00390774e-01 2.24283326e-03 7.99703625e-01 7.39754548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.42, Y:-57.12, Z:73.95 [[ 7.93832933e-01 -2.32661408e-01 -5.61870042e-01 1.64420137e+02] [ 1.60507088e-01 9.71318442e-01 -1.75436483e-01 -5.71187895e+01] [ 5.86572033e-01 4.90831338e-02 8.08408372e-01 7.39495730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:-57.13, Z:73.98 [[ 7.93482017e-01 -2.08858524e-01 -5.71633105e-01 1.64436809e+02] [ 1.59669669e-01 9.77809265e-01 -1.35626834e-01 -5.71338441e+01] [ 5.87274966e-01 1.63449852e-02 8.09222439e-01 7.39814483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:164.44, Y:-57.17, Z:74.04 [[ 7.84140662e-01 -1.62413014e-01 -5.98953617e-01 1.64441857e+02] [ 1.49839008e-01 9.86140792e-01 -7.12362992e-02 -5.71695300e+01] [ 6.02222296e-01 -3.38873368e-02 7.97608898e-01 7.40431373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:-57.10, Z:73.99 [[ 7.94258924e-01 -2.38398022e-01 -5.58855209e-01 1.64488178e+02] [ 1.61262296e-01 9.69532192e-01 -1.84395774e-01 -5.70983056e+01] [ 5.85787703e-01 5.63357146e-02 8.08504208e-01 7.39943271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:164.49, Y:-57.16, Z:74.08 [[ 7.83461294e-01 -1.61103077e-01 -6.00195134e-01 1.64486614e+02] [ 1.48567733e-01 9.86362715e-01 -7.08253003e-02 -5.71608904e+01] [ 6.03420276e-01 -3.36807487e-02 7.96711728e-01 7.40770233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:164.52, Y:-57.14, Z:74.08 [[ 7.83665528e-01 -1.88965360e-01 -5.91743554e-01 1.64517815e+02] [ 1.48495246e-01 9.81976563e-01 -1.16923875e-01 -5.71358973e+01] [ 6.03172863e-01 3.75810556e-03 7.97601639e-01 7.40771745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:164.56, Y:-57.09, Z:74.05 [[ 7.92037194e-01 -2.32316149e-01 -5.64540778e-01 1.64555911e+02] [ 1.59298173e-01 9.71371800e-01 -1.76241082e-01 -5.70912416e+01] [ 5.89322640e-01 4.96591772e-02 8.06370133e-01 7.40509516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:164.55, Y:-57.15, Z:74.13 [[ 7.82385952e-01 -1.64761912e-01 -6.00604474e-01 1.64554652e+02] [ 1.49974944e-01 9.85835381e-01 -7.50740887e-02 -5.71457972e+01] [ 6.04466491e-01 -3.13387097e-02 7.96013911e-01 7.41263256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:164.60, Y:-57.09, Z:74.09 [[ 7.90005794e-01 -2.29935649e-01 -5.68348874e-01 1.64598739e+02] [ 1.60201632e-01 9.72221362e-01 -1.70648938e-01 -5.70863381e+01] [ 5.91799191e-01 4.37632329e-02 8.04896575e-01 7.40870794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:-57.14, Z:74.16 [[ 7.82458585e-01 -1.68217820e-01 -5.99550938e-01 1.64597562e+02] [ 1.50488467e-01 9.85364069e-01 -8.00679300e-02 -5.71354492e+01] [ 6.04244805e-01 -2.75756623e-02 7.96321417e-01 7.41617569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:164.63, Y:-57.11, Z:74.16 [[ 7.82094137e-01 -1.92075169e-01 -5.92820285e-01 1.64629490e+02] [ 1.51897223e-01 9.81378365e-01 -1.17574398e-01 -5.71144543e+01] [ 6.04364124e-01 1.90649214e-03 7.96705950e-01 7.41613265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:-57.08, Z:74.14 [[ 7.90332800e-01 -2.30296511e-01 -5.67747816e-01 1.64662827e+02] [ 1.62492153e-01 9.72270314e-01 -1.68186613e-01 -5.70755177e+01] [ 5.90737138e-01 4.06688313e-02 8.05838495e-01 7.41423791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:-57.12, Z:74.21 [[ 7.82555163e-01 -1.71548087e-01 -5.98480301e-01 1.64664288e+02] [ 1.52829261e-01 9.84807229e-01 -8.24496123e-02 -5.71218653e+01] [ 6.03531800e-01 -2.69439323e-02 7.96883549e-01 7.42125930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:-57.07, Z:74.18 [[ 7.89683252e-01 -2.30134785e-01 -5.68716400e-01 1.64707047e+02] [ 1.63314176e-01 9.72386078e-01 -1.66714713e-01 -5.70675265e+01] [ 5.91378764e-01 3.87723661e-02 8.05461273e-01 7.41776311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:-57.08, Z:74.21 [[ 7.88666224e-01 -2.08522543e-01 -5.78380443e-01 1.64724457e+02] [ 1.61999214e-01 9.77964799e-01 -1.31685639e-01 -5.70812129e+01] [ 5.93095138e-01 1.01588379e-02 8.05068293e-01 7.42094573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:164.74, Y:-57.11, Z:74.26 [[ 7.79910767e-01 -1.75331067e-01 -6.00831268e-01 1.64736369e+02] [ 1.54688445e-01 9.84177813e-01 -8.64032296e-02 -5.71084480e+01] [ 6.06473974e-01 -2.55548457e-02 7.94692563e-01 7.42599721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:164.77, Y:-57.09, Z:74.27 [[ 7.79559909e-01 -1.94929855e-01 -5.95221556e-01 1.64765049e+02] [ 1.55100178e-01 9.80817148e-01 -1.18074796e-01 -5.70905640e+01] [ 6.06819812e-01 -2.72591465e-04 7.94839381e-01 7.42650684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:164.79, Y:-57.09, Z:74.28 [[ 7.79175528e-01 -1.95761698e-01 -5.95451807e-01 1.64786712e+02] [ 1.55947128e-01 9.80651278e-01 -1.18336653e-01 -5.70870100e+01] [ 6.07096360e-01 -6.53975495e-04 7.94627952e-01 7.42828149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:164.81, Y:-57.08, Z:74.30 [[ 7.78351793e-01 -1.96896927e-01 -5.96154416e-01 1.64809263e+02] [ 1.57104625e-01 9.80423367e-01 -1.18693545e-01 -5.70833536e+01] [ 6.07854114e-01 -1.27328262e-03 7.94047703e-01 7.42991117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79999999999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:164.83, Y:-57.08, Z:74.32 [[ 7.77391473e-01 -1.98761292e-01 -5.96788443e-01 1.64832234e+02] [ 1.59189997e-01 9.80044840e-01 -1.19040563e-01 -5.70800194e+01] [ 6.08540091e-01 -2.46163179e-03 7.93519312e-01 7.43153798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:164.85, Y:-57.08, Z:74.33 [[ 7.77534865e-01 -1.99315083e-01 -5.96416827e-01 1.64853078e+02] [ 1.59775690e-01 9.79931947e-01 -1.19185182e-01 -5.70762574e+01] [ 6.08203307e-01 -2.62227587e-03 7.93776959e-01 7.43324183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85999999999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:164.89, Y:-57.03, Z:74.31 [[ 7.84103437e-01 -2.39977990e-01 -5.72356850e-01 1.64889319e+02] [ 1.71186909e-01 9.70070946e-01 -1.72213249e-01 -5.70346523e+01] [ 5.96554140e-01 3.70530003e-02 8.01717053e-01 7.43066316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:164.91, Y:-57.04, Z:74.33 [[ 7.84846732e-01 -2.24887484e-01 -5.77443700e-01 1.64908481e+02] [ 1.71446705e-01 9.74254977e-01 -1.46401051e-01 -5.70426053e+01] [ 5.95501163e-01 1.59015663e-02 8.03197053e-01 7.43323775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:164.91, Y:-57.08, Z:74.40 [[ 7.77688657e-01 -1.74641480e-01 -6.03904551e-01 1.64912518e+02] [ 1.58961696e-01 9.84048869e-01 -7.98686534e-02 -5.70828834e+01] [ 6.08219970e-01 -3.38847456e-02 7.93044950e-01 7.44001047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:164.94, Y:-57.06, Z:74.40 [[ 7.78568897e-01 -1.97539061e-01 -5.95658285e-01 1.64940641e+02] [ 1.57859804e-01 9.80293766e-01 -1.18762011e-01 -5.70611480e+01] [ 6.07380239e-01 -1.56609231e-03 7.94409713e-01 7.44042038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:164.96, Y:-57.06, Z:74.42 [[ 7.78854055e-01 -1.97556554e-01 -5.95279572e-01 1.64962774e+02] [ 1.57773714e-01 9.80290614e-01 -1.18902348e-01 -5.70569199e+01] [ 6.07036915e-01 -1.31189262e-03 7.94672551e-01 7.44192651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:164.99, Y:-57.05, Z:74.44 [[ 7.80202735e-01 -1.96547757e-01 -5.93845663e-01 1.64985389e+02] [ 1.56648687e-01 9.80494168e-01 -1.18711308e-01 -5.70527531e+01] [ 6.05594651e-01 -4.06255674e-04 7.95773180e-01 7.44357586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:165.02, Y:-57.01, Z:74.41 [[ 7.87713714e-01 -2.33828800e-01 -5.69939643e-01 1.65019964e+02] [ 1.66621596e-01 9.71549882e-01 -1.68309448e-01 -5.70128011e+01] [ 5.93080389e-01 3.76154075e-02 8.04264094e-01 7.44127758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:165.04, Y:-57.02, Z:74.44 [[ 7.89048002e-01 -2.17346505e-01 -5.74598771e-01 1.65037108e+02] [ 1.65677007e-01 9.75953817e-01 -1.41651956e-01 -5.70210195e+01] [ 5.91569421e-01 1.65723885e-02 8.06083728e-01 7.44389698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.1 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:165.06, Y:-57.02, Z:74.46 [[ 7.87768205e-01 -2.10537052e-01 -5.78874257e-01 1.65058080e+02] [ 1.63548990e-01 9.77534021e-01 -1.32962271e-01 -5.70218491e+01] [ 5.93862765e-01 1.00691496e-02 8.04503343e-01 7.44607905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:165.06, Y:-57.05, Z:74.52 [[ 7.81185836e-01 -1.72381427e-01 -6.00027778e-01 1.65064035e+02] [ 1.51338311e-01 9.84744601e-01 -8.58765825e-02 -5.70503348e+01] [ 6.05677642e-01 -2.37216205e-02 7.95356448e-01 7.45198695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:165.09, Y:-57.03, Z:74.52 [[ 7.81069391e-01 -1.91846155e-01 -5.94243771e-01 1.65093656e+02] [ 1.50842467e-01 9.81420489e-01 -1.18576446e-01 -5.70311596e+01] [ 6.05951447e-01 2.97923599e-03 7.95496051e-01 7.45229873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:165.12, Y:-57.03, Z:74.54 [[ 7.80623182e-01 -1.91460192e-01 -5.94954152e-01 1.65116379e+02] [ 1.50079178e-01 9.81493944e-01 -1.18936448e-01 -5.70261190e+01] [ 6.06715492e-01 3.55431782e-03 7.94911113e-01 7.45384464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:165.14, Y:-57.02, Z:74.55 [[ 7.80368695e-01 -1.90845273e-01 -5.95485333e-01 1.65137422e+02] [ 1.49055167e-01 9.81610683e-01 -1.19260322e-01 -5.70210282e+01] [ 6.07295033e-01 4.30685604e-03 7.94464722e-01 7.45539083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:165.17, Y:-56.98, Z:74.53 [[ 7.87805509e-01 -2.26201602e-01 -5.72883335e-01 1.65171809e+02] [ 1.56796174e-01 9.73130383e-01 -1.68618558e-01 -5.69807819e+01] [ 5.95631967e-01 4.30127136e-02 8.02105022e-01 7.45329535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:165.17, Y:-57.03, Z:74.60 [[ 7.79440080e-01 -1.69013835e-01 -6.03247449e-01 1.65174362e+02] [ 1.46072720e-01 9.85410032e-01 -8.73488915e-02 -5.70252952e+01] [ 6.09209259e-01 -2.00347689e-02 7.92756385e-01 7.46015635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:-56.97, Z:74.57 [[ 7.87314364e-01 -2.25272092e-01 -5.73923843e-01 1.65213969e+02] [ 1.55713625e-01 9.73335693e-01 -1.68436624e-01 -5.69711501e+01] [ 5.96564632e-01 4.32448118e-02 8.01399105e-01 7.45687265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:165.22, Y:-57.02, Z:74.63 [[ 7.78034849e-01 -1.70607433e-01 -6.04611344e-01 1.65219572e+02] [ 1.46547406e-01 9.85155041e-01 -8.94058371e-02 -5.70157812e+01] [ 6.10889213e-01 -1.90433673e-02 7.91487030e-01 7.46346613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:-56.97, Z:74.61 [[ 7.85042520e-01 -2.26310493e-01 -5.76621022e-01 1.65257059e+02] [ 1.58776319e-01 9.73289000e-01 -1.65827031e-01 -5.69652125e+01] [ 5.98747294e-01 3.86275071e-02 8.00005996e-01 7.46052145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.4 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:165.26, Y:-57.01, Z:74.67 [[ 7.76379610e-01 -1.75696990e-01 -6.05281149e-01 1.65262356e+02] [ 1.50839476e-01 9.84247151e-01 -9.22225448e-02 -5.70079315e+01] [ 6.11949470e-01 -1.97005881e-02 7.90651461e-01 7.46706495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:-56.99, Z:74.68 [[ 7.76482569e-01 -1.94668780e-01 -5.99315348e-01 1.65288255e+02] [ 1.53371733e-01 9.80868330e-01 -1.19893415e-01 -5.69919634e+01] [ 6.11188949e-01 1.17711329e-03 7.91483849e-01 7.46781350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.32, Y:-56.96, Z:74.66 [[ 7.82428960e-01 -2.30660991e-01 -5.78446566e-01 1.65322732e+02] [ 1.65776767e-01 9.72505184e-01 -1.63559561e-01 -5.69567689e+01] [ 6.00269095e-01 3.20807353e-02 7.99154453e-01 7.46596311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48999999999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:165.34, Y:-56.97, Z:74.69 [[ 7.79531937e-01 -2.17082734e-01 -5.87541527e-01 1.65340784e+02] [ 1.72020769e-01 9.76150805e-01 -1.32432855e-01 -5.69693454e+01] [ 6.02278021e-01 2.16629475e-03 7.98283466e-01 7.46878280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51999999999998 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:165.36, Y:-56.97, Z:74.71 [[ 7.78899890e-01 -2.17773878e-01 -5.88123711e-01 1.65362814e+02] [ 1.73245903e-01 9.75998846e-01 -1.31954957e-01 -5.69659050e+01] [ 6.02744406e-01 8.89678316e-04 7.97933825e-01 7.47088301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:165.39, Y:-56.96, Z:74.72 [[ 7.78896788e-01 -2.23334725e-01 -5.86038731e-01 1.65386964e+02] [ 1.76115753e-01 9.74734397e-01 -1.37390312e-01 -5.69574620e+01] [ 6.01916137e-01 3.80222085e-03 7.98550254e-01 7.47226445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57999999999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:165.41, Y:-56.96, Z:74.74 [[ 7.77612403e-01 -2.22222019e-01 -5.88163519e-01 1.65409202e+02] [ 1.77921457e-01 9.74995456e-01 -1.33145841e-01 -5.69551105e+01] [ 6.03044696e-01 -1.11105272e-03 7.97706625e-01 7.47419511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:165.43, Y:-56.95, Z:74.76 [[ 7.77015268e-01 -2.23945169e-01 -5.88299104e-01 1.65431195e+02] [ 1.79384481e-01 9.74600799e-01 -1.34068979e-01 -5.69499220e+01] [ 6.03380876e-01 -1.35808538e-03 7.97451988e-01 7.47591278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:165.45, Y:-56.95, Z:74.78 [[ 7.75748565e-01 -2.23513590e-01 -5.90132052e-01 1.65451600e+02] [ 1.80680812e-01 9.74690450e-01 -1.31654737e-01 -5.69474944e+01] [ 6.04622699e-01 -4.49456500e-03 7.96499335e-01 7.47799330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:165.47, Y:-56.94, Z:74.80 [[ 7.74751093e-01 -2.24725780e-01 -5.90981445e-01 1.65473826e+02] [ 1.81405219e-01 9.74412172e-01 -1.32714223e-01 -5.69423889e+01] [ 6.05683821e-01 -4.38662914e-03 7.95693325e-01 7.47960951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.7 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:165.49, Y:-56.96, Z:74.84 [[ 7.68724529e-01 -1.97617630e-01 -6.08284367e-01 1.65486235e+02] [ 1.74685508e-01 9.79780278e-01 -9.75478320e-02 -5.69626948e+01] [ 6.15262198e-01 -3.12710525e-02 7.87702069e-01 7.48419659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:165.52, Y:-56.92, Z:74.83 [[ 7.72504627e-01 -2.34594815e-01 -5.90086328e-01 1.65520634e+02] [ 1.81303646e-01 9.72058692e-01 -1.49100258e-01 -5.69237533e+01] [ 6.08576691e-01 8.19583631e-03 7.93452733e-01 7.48254790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:165.53, Y:-56.95, Z:74.88 [[ 7.68850141e-01 -1.98850033e-01 -6.07723725e-01 1.65529474e+02] [ 1.73181688e-01 9.79651076e-01 -1.01448866e-01 -5.69483431e+01] [ 6.15530311e-01 -2.72476455e-02 7.87642052e-01 7.48756893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:165.55, Y:-56.93, Z:74.89 [[ 7.68805851e-01 -2.09053100e-01 -6.04346230e-01 1.65554337e+02] [ 1.72104916e-01 9.77827093e-01 -1.19306641e-01 -5.69344212e+01] [ 6.15887540e-01 -1.22873138e-02 7.87738256e-01 7.48853770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:-56.91, Z:74.88 [[ 7.74755217e-01 -2.32759300e-01 -5.87858369e-01 1.65583104e+02] [ 1.76910910e-01 9.72438325e-01 -1.51875721e-01 -5.69057137e+01] [ 6.07006494e-01 1.36679480e-02 7.94579324e-01 7.48784819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:165.59, Y:-56.93, Z:74.93 [[ 7.70648481e-01 -1.92447965e-01 -6.07506954e-01 1.65592704e+02] [ 1.67101975e-01 9.80978664e-01 -9.87815270e-02 -5.69320488e+01] [ 6.14961665e-01 -2.53897780e-02 7.88148153e-01 7.49289876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:165.62, Y:-56.92, Z:74.94 [[ 7.70945847e-01 -2.03886710e-01 -6.03384381e-01 1.65618372e+02] [ 1.65497147e-01 9.78962990e-01 -1.19340519e-01 -5.69171191e+01] [ 6.15022923e-01 -7.85331618e-03 7.88470120e-01 7.49377971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:165.65, Y:-56.88, Z:74.92 [[ 7.77239380e-01 -2.33648923e-01 -5.84214967e-01 1.65651378e+02] [ 1.71800248e-01 9.72021491e-01 -1.60183942e-01 -5.68823295e+01] [ 6.05296308e-01 2.41329914e-02 7.95634324e-01 7.49228632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:165.66, Y:-56.92, Z:74.98 [[ 7.72464276e-01 -1.84543914e-01 -6.07653261e-01 1.65655984e+02] [ 1.61093853e-01 9.82491062e-01 -9.35953169e-02 -5.69179492e+01] [ 6.14286344e-01 -2.55901667e-02 7.88668137e-01 7.49830169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:165.68, Y:-56.90, Z:74.99 [[ 7.72839294e-01 -1.98289123e-01 -6.02827380e-01 1.65683147e+02] [ 1.58318405e-01 9.80138550e-01 -1.19430756e-01 -5.68998586e+01] [ 6.14536174e-01 -3.13788790e-03 7.88882403e-01 7.49885592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:-56.90, Z:75.01 [[ 7.74003469e-01 -1.96185850e-01 -6.02021380e-01 1.65702862e+02] [ 1.55654946e-01 9.80565904e-01 -1.19423809e-01 -5.68951906e+01] [ 6.13750900e-01 -1.27316303e-03 7.89498709e-01 7.50088759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:165.73, Y:-56.89, Z:75.02 [[ 7.73959681e-01 -1.96252135e-01 -6.02056070e-01 1.65725587e+02] [ 1.55558011e-01 9.80552909e-01 -1.19656585e-01 -5.68896207e+01] [ 6.13830691e-01 -1.04527208e-03 7.89437008e-01 7.50222184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.74, Y:-56.88, Z:75.04 [[ 7.74714469e-01 -1.94170856e-01 -6.01760060e-01 1.65744878e+02] [ 1.52848489e-01 9.80967404e-01 -1.19750959e-01 -5.68849762e+01] [ 6.13559150e-01 7.94684960e-04 7.89648364e-01 7.50416003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:165.78, Y:-56.85, Z:75.02 [[ 7.80466730e-01 -2.26759199e-01 -5.82625050e-01 1.65780816e+02] [ 1.61039552e-01 9.73375193e-01 -1.63116513e-01 -5.68490618e+01] [ 6.04100941e-01 3.34813340e-02 7.96204153e-01 7.50220655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:165.80, Y:-56.86, Z:75.06 [[ 7.79810595e-01 -2.02320183e-01 -5.92420441e-01 1.65797135e+02] [ 1.55555313e-01 9.79278344e-01 -1.29678329e-01 -5.68621201e+01] [ 6.06381052e-01 8.97038765e-03 7.95123608e-01 7.50554444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:165.82, Y:-56.86, Z:75.07 [[ 7.79475786e-01 -2.03305361e-01 -5.92523780e-01 1.65819546e+02] [ 1.55383889e-01 9.79059616e-01 -1.31522298e-01 -5.68569499e+01] [ 6.06855293e-01 1.04497972e-02 7.94743641e-01 7.50726211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17999999999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:165.83, Y:-56.88, Z:75.12 [[ 7.73213167e-01 -1.74672594e-01 -6.09615357e-01 1.65830272e+02] [ 1.48049633e-01 9.84473885e-01 -9.42999228e-02 -5.68775329e+01] [ 6.16622012e-01 -1.73393881e-02 7.87068384e-01 7.51183169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:-56.83, Z:75.10 [[ 7.80326281e-01 -2.18660144e-01 -5.85899853e-01 1.65866571e+02] [ 1.54321856e-01 9.75235802e-01 -1.58429465e-01 -5.68349659e+01] [ 6.06032722e-01 3.32095227e-02 7.94746165e-01 7.50990224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23999999999998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:165.89, Y:-56.84, Z:75.12 [[ 7.79720288e-01 -2.04445883e-01 -5.91809220e-01 1.65886056e+02] [ 1.55206179e-01 9.78799886e-01 -1.33648138e-01 -5.68427216e+01] [ 6.06586609e-01 1.23557167e-02 7.94921394e-01 7.51225109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:165.91, Y:-56.84, Z:75.14 [[ 7.79733126e-01 -2.05332990e-01 -5.91485094e-01 1.65907912e+02] [ 1.56706625e-01 9.78628872e-01 -1.33148656e-01 -5.68390461e+01] [ 6.06184202e-01 1.11307851e-02 7.95246389e-01 7.51408710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:165.92, Y:-56.86, Z:75.19 [[ 7.73676403e-01 -1.75005571e-01 -6.08931748e-01 1.65916921e+02] [ 1.50828938e-01 9.84338359e-01 -9.12613049e-02 -5.68628042e+01] [ 6.15366114e-01 -2.12378108e-02 7.87955266e-01 7.51892348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32999999999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:165.96, Y:-56.82, Z:75.17 [[ 7.78774278e-01 -2.22673776e-01 -5.86452908e-01 1.65955223e+02] [ 1.59874483e-01 9.74460106e-01 -1.57694804e-01 -5.68197530e+01] [ 6.06589461e-01 2.90498017e-02 7.94484320e-01 7.51666993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35999999999999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:165.97, Y:-56.83, Z:75.20 [[ 7.77247418e-01 -2.04230129e-01 -5.95127302e-01 1.65971252e+02] [ 1.61119831e-01 9.78921487e-01 -1.25511446e-01 -5.68336579e+01] [ 6.08216122e-01 1.66663644e-03 7.93769722e-01 7.51986743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:166.00, Y:-56.83, Z:75.21 [[ 7.76846900e-01 -2.10214083e-01 -5.93564599e-01 1.65995984e+02] [ 1.62065456e-01 9.77622681e-01 -1.34121893e-01 -5.68258400e+01] [ 6.08476525e-01 7.99585969e-03 7.93531590e-01 7.52128668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:166.01, Y:-56.85, Z:75.26 [[ 7.71529796e-01 -1.82313828e-01 -6.09510822e-01 1.66006966e+02] [ 1.55998472e-01 9.83025102e-01 -9.65718702e-02 -5.68469900e+01] [ 6.16770825e-01 -2.05746815e-02 7.86873835e-01 7.52580720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:166.04, Y:-56.81, Z:75.24 [[ 7.76078746e-01 -2.24405066e-01 -5.89359098e-01 1.66043418e+02] [ 1.62994182e-01 9.74169219e-01 -1.56292128e-01 -5.68071236e+01] [ 6.09208238e-01 2.52328950e-02 7.92608746e-01 7.52385943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:-56.84, Z:75.29 [[ 7.70650528e-01 -1.80971746e-01 -6.11021269e-01 1.66048511e+02] [ 1.54412846e-01 9.83284900e-01 -9.64752719e-02 -5.68400985e+01] [ 6.18267286e-01 -2.00008143e-02 7.85713389e-01 7.52945438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:166.09, Y:-56.80, Z:75.27 [[ 7.75115902e-01 -2.26937153e-01 -5.89656567e-01 1.66088754e+02] [ 1.62475162e-01 9.73476062e-01 -1.61078176e-01 -5.67968730e+01] [ 6.10571175e-01 2.90497095e-02 7.91428426e-01 7.52702524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:166.11, Y:-56.81, Z:75.30 [[ 7.74517198e-01 -2.08858658e-01 -5.97077190e-01 1.66106072e+02] [ 1.61269910e-01 9.77923366e-01 -1.32883058e-01 -5.68080640e+01] [ 6.11649512e-01 6.62962904e-03 7.91101082e-01 7.52984622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:166.12, Y:-56.83, Z:75.35 [[ 7.67667832e-01 -1.79221749e-01 -6.15276900e-01 1.66116596e+02] [ 1.54451556e-01 9.83539010e-01 -9.37855644e-02 -5.68307421e+01] [ 6.21957246e-01 -2.30343134e-02 7.82712338e-01 7.53453503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.6 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:166.15, Y:-56.79, Z:75.33 [[ 7.71625429e-01 -2.20798853e-01 -5.96524990e-01 1.66154057e+02] [ 1.59316499e-01 9.75013590e-01 -1.54811988e-01 -5.67921470e+01] [ 6.15802282e-01 2.44205936e-02 7.87522180e-01 7.53268902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:-56.79, Z:75.35 [[ 7.73235888e-01 -2.14870014e-01 -5.96604675e-01 1.66174270e+02] [ 1.60322028e-01 9.76517613e-01 -1.43910384e-01 -5.67918284e+01] [ 6.13516999e-01 1.56278022e-02 7.89526860e-01 7.53456202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:166.19, Y:-56.80, Z:75.37 [[ 7.70841948e-01 -2.03304515e-01 -6.03713479e-01 1.66193341e+02] [ 1.58686689e-01 9.79113136e-01 -1.27106263e-01 -5.67988323e+01] [ 6.16945075e-01 2.17754651e-03 7.87003198e-01 7.53717550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:166.22, Y:-56.79, Z:75.38 [[ 7.72527932e-01 -2.11174236e-01 -5.98837237e-01 1.66217373e+02] [ 1.60843246e-01 9.77400766e-01 -1.37175772e-01 -5.67906731e+01] [ 6.14271963e-01 9.65319030e-03 7.89035342e-01 7.53822546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:166.23, Y:-56.82, Z:75.43 [[ 7.67083040e-01 -1.78524134e-01 -6.16208361e-01 1.66225484e+02] [ 1.53088531e-01 9.83691603e-01 -9.44178612e-02 -5.68169196e+01] [ 6.23014857e-01 -2.19080929e-02 7.81903142e-01 7.54340229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:-56.80, Z:75.44 [[ 7.68534421e-01 -1.94421164e-01 -6.09553324e-01 1.66250377e+02] [ 1.52032162e-01 9.80918037e-01 -1.21185914e-01 -5.68022302e+01] [ 6.21482956e-01 4.63836757e-04 7.83427546e-01 7.54441177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:166.27, Y:-56.80, Z:75.46 [[ 7.68504715e-01 -1.94976859e-01 -6.09413264e-01 1.66274200e+02] [ 1.52584557e-01 9.80807798e-01 -1.21383759e-01 -5.67982393e+01] [ 6.21384306e-01 2.96938629e-04 7.83505875e-01 7.54586120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:166.30, Y:-56.80, Z:75.48 [[ 7.69693279e-01 -1.93275825e-01 -6.08454362e-01 1.66295222e+02] [ 1.50390101e-01 9.81142527e-01 -1.21417293e-01 -5.67956327e+01] [ 6.20447478e-01 1.94856162e-03 7.84245580e-01 7.54777486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:-56.76, Z:75.47 [[ 7.76136417e-01 -2.22316958e-01 -5.90074091e-01 1.66328251e+02] [ 1.56879612e-01 9.74441900e-01 -1.60784857e-01 -5.67645014e+01] [ 6.10738118e-01 3.22203884e-02 7.91176843e-01 7.54656644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:166.33, Y:-56.80, Z:75.52 [[ 7.69761199e-01 -1.75421226e-01 -6.13754910e-01 1.66333261e+02] [ 1.48350667e-01 9.84334199e-01 -9.52799292e-02 -5.68002243e+01] [ 6.20854070e-01 -1.77081578e-02 7.83726129e-01 7.55236827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.9 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:166.36, Y:-56.78, Z:75.53 [[ 7.69011041e-01 -1.92314338e-01 -6.09620549e-01 1.66362064e+02] [ 1.48628467e-01 9.81327898e-01 -1.22086589e-01 -5.67832541e+01] [ 6.21716654e-01 3.27896684e-03 7.83235374e-01 7.55285137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:-56.75, Z:75.52 [[ 7.74526878e-01 -2.18877691e-01 -5.93464970e-01 1.66392565e+02] [ 1.55480335e-01 9.75316236e-01 -1.56793193e-01 -5.67536128e+01] [ 6.13134553e-01 2.91684096e-02 7.89439817e-01 7.55203458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:-56.76, Z:75.54 [[ 7.73851156e-01 -2.08175112e-01 -5.98178494e-01 1.66412505e+02] [ 1.55239351e-01 9.77974900e-01 -1.39520032e-01 -5.67562604e+01] [ 6.14048151e-01 1.51068971e-02 7.89123976e-01 7.55428808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:-56.78, Z:75.59 [[ 7.65876404e-01 -1.76461161e-01 -6.18299921e-01 1.66421481e+02] [ 1.46930655e-01 9.84191572e-01 -9.88854489e-02 -5.67764099e+01] [ 6.25975012e-01 -1.51131804e-02 7.79696657e-01 7.55914742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01999999999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:166.45, Y:-56.76, Z:75.60 [[ 7.65152932e-01 -1.92110355e-01 -6.14519814e-01 1.66449257e+02] [ 1.47318379e-01 9.81365730e-01 -1.23363686e-01 -5.67585474e+01] [ 6.26768127e-01 3.86202308e-03 7.79196252e-01 7.55967288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:166.47, Y:-56.75, Z:75.61 [[ 7.64849121e-01 -1.92096650e-01 -6.14902187e-01 1.66471120e+02] [ 1.47154094e-01 9.81367835e-01 -1.23542891e-01 -5.67524514e+01] [ 6.27177403e-01 4.00629674e-03 7.78866134e-01 7.56139346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07999999999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:166.50, Y:-56.72, Z:75.60 [[ 7.70505360e-01 -2.19804718e-01 -5.98337175e-01 1.66503883e+02] [ 1.52664670e-01 9.74980511e-01 -1.61575067e-01 -5.67223046e+01] [ 6.18882047e-01 3.31495081e-02 7.84784125e-01 7.56038685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10999999999999 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:166.51, Y:-56.76, Z:75.66 [[ 7.64970118e-01 -1.75416930e-01 -6.19717370e-01 1.66508022e+02] [ 1.46790296e-01 9.84357079e-01 -9.74358798e-02 -5.67552902e+01] [ 6.27115083e-01 -1.64329595e-02 7.78753254e-01 7.56587380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:-56.74, Z:75.67 [[ 7.65302005e-01 -1.92092684e-01 -6.14339679e-01 1.66533791e+02] [ 1.46688013e-01 9.81364687e-01 -1.24120822e-01 -5.67391694e+01] [ 6.26733969e-01 4.87364645e-03 7.79218057e-01 7.56687175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:166.56, Y:-56.73, Z:75.68 [[ 7.64257087e-01 -1.95265740e-01 -6.14640054e-01 1.66557032e+02] [ 1.50522633e-01 9.80747017e-01 -1.24411518e-01 -5.67339139e+01] [ 6.27099707e-01 2.56514492e-03 7.78934771e-01 7.56819428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:-56.73, Z:75.70 [[ 7.64149323e-01 -1.96687845e-01 -6.14320522e-01 1.66576837e+02] [ 1.52273880e-01 9.80464863e-01 -1.24504286e-01 -5.67299955e+01] [ 6.26808166e-01 1.59489668e-03 7.79171983e-01 7.57014952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:166.60, Y:-56.72, Z:75.72 [[ 7.63477764e-01 -1.99255615e-01 -6.14328010e-01 1.66599321e+02] [ 1.55386379e-01 9.79947523e-01 -1.24731414e-01 -5.67249932e+01] [ 6.26862646e-01 -2.28543993e-04 7.79129752e-01 7.57157787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:166.62, Y:-56.72, Z:75.73 [[ 7.63318702e-01 -2.01451580e-01 -6.13809270e-01 1.66620761e+02] [ 1.58207876e-01 9.79496624e-01 -1.24726225e-01 -5.67207194e+01] [ 6.26350403e-01 -1.90360087e-03 7.79539318e-01 7.57340259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:-56.72, Z:75.75 [[ 7.63407607e-01 -2.03410111e-01 -6.13052324e-01 1.66640159e+02] [ 1.60655571e-01 9.79088348e-01 -1.24803025e-01 -5.67174530e+01] [ 6.25618584e-01 -3.21469220e-03 7.80122460e-01 7.57525478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:166.67, Y:-56.69, Z:75.74 [[ 7.67961058e-01 -2.37973088e-01 -5.94646637e-01 1.66673689e+02] [ 1.75098335e-01 9.71052136e-01 -1.62475607e-01 -5.66868585e+01] [ 6.16097708e-01 2.06533029e-02 7.87398917e-01 7.57382428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:-56.69, Z:75.77 [[ 7.67934896e-01 -2.25771206e-01 -5.99419184e-01 1.66690271e+02] [ 1.76918477e-01 9.74178925e-01 -1.40268581e-01 -5.66943922e+01] [ 6.15610143e-01 1.66880896e-03 7.88049089e-01 7.57657740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:166.70, Y:-56.72, Z:75.81 [[ 7.61180847e-01 -1.96291261e-01 -6.18120910e-01 1.66701413e+02] [ 1.71546782e-01 9.80088812e-01 -9.99881151e-02 -5.67181181e+01] [ 6.25440181e-01 -2.99276146e-02 7.79697966e-01 7.58133610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:166.74, Y:-56.68, Z:75.79 [[ 7.64883189e-01 -2.42720487e-01 -5.96691270e-01 1.66739046e+02] [ 1.81381644e-01 9.69968846e-01 -1.62052883e-01 -5.66750515e+01] [ 6.18105497e-01 1.57226828e-02 7.85937906e-01 7.57905819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:166.76, Y:-56.68, Z:75.81 [[ 7.65134285e-01 -2.34761202e-01 -5.99547083e-01 1.66759134e+02] [ 1.83386275e-01 9.72050565e-01 -1.46585040e-01 -5.66771577e+01] [ 6.17202560e-01 2.20853367e-03 7.86801196e-01 7.58120416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:-56.68, Z:75.84 [[ 7.62987114e-01 -2.24566362e-01 -6.06152301e-01 1.66776597e+02] [ 1.82199619e-01 9.74407595e-01 -1.31655373e-01 -5.66821382e+01] [ 6.20204774e-01 -9.98936552e-03 7.84376345e-01 7.58408553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.5 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:166.80, Y:-56.68, Z:75.86 [[ 7.61078123e-01 -2.25235487e-01 -6.08300145e-01 1.66798181e+02] [ 1.82014447e-01 9.74258155e-01 -1.33010483e-01 -5.66774548e+01] [ 6.22600058e-01 -9.48804558e-03 7.82482681e-01 7.58577725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:166.81, Y:-56.69, Z:75.90 [[ 7.56386440e-01 -2.04303505e-01 -6.21401345e-01 1.66812597e+02] [ 1.75392601e-01 9.78531651e-01 -1.08227737e-01 -5.66925403e+01] [ 6.30172190e-01 -2.71272060e-02 7.75981395e-01 7.58979577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:166.85, Y:-56.66, Z:75.89 [[ 7.60776900e-01 -2.37246569e-01 -6.04096494e-01 1.66845348e+02] [ 1.80573859e-01 9.71415293e-01 -1.54095455e-01 -5.66591264e+01] [ 6.23387191e-01 8.14822794e-03 7.81870844e-01 7.58873516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:166.85, Y:-56.68, Z:75.94 [[ 7.57024616e-01 -2.01974507e-01 -6.21385572e-01 1.66854191e+02] [ 1.72524638e-01 9.79061130e-01 -1.08048841e-01 -5.66830787e+01] [ 6.30197572e-01 -2.54086883e-02 7.76018955e-01 7.59352116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:166.89, Y:-56.65, Z:75.92 [[ 7.60910672e-01 -2.32255314e-01 -6.05865016e-01 1.66886775e+02] [ 1.76658330e-01 9.72623146e-01 -1.50983607e-01 -5.66507262e+01] [ 6.24345084e-01 7.85393574e-03 7.81109168e-01 7.59249077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:166.90, Y:-56.67, Z:75.97 [[ 7.58187189e-01 -2.01153977e-01 -6.20233233e-01 1.66897883e+02] [ 1.69097853e-01 9.79338998e-01 -1.10910066e-01 -5.66711738e+01] [ 6.29728594e-01 -2.07895169e-02 7.76536988e-01 7.59699470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:-56.64, Z:75.96 [[ 7.64134591e-01 -2.31951397e-01 -6.01911021e-01 1.66929203e+02] [ 1.72803392e-01 9.72615441e-01 -1.55429056e-01 -5.66377146e+01] [ 6.21479939e-01 1.47564519e-02 7.83291090e-01 7.59606808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:166.95, Y:-56.64, Z:75.98 [[ 7.65454207e-01 -2.20449520e-01 -6.04550963e-01 1.66950200e+02] [ 1.69046745e-01 9.75378578e-01 -1.41632721e-01 -5.66377462e+01] [ 6.20888924e-01 6.21598995e-03 7.83873910e-01 7.59801938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:166.96, Y:-56.66, Z:76.03 [[ 7.60999928e-01 -1.89885084e-01 -6.20340845e-01 1.66960614e+02] [ 1.59949765e-01 9.81604844e-01 -1.04249718e-01 -5.66587113e+01] [ 6.28725045e-01 -1.98893445e-02 7.77373290e-01 7.60271458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76999999999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:166.99, Y:-56.64, Z:76.04 [[ 7.60938829e-01 -2.02170992e-01 -6.16521686e-01 1.66987155e+02] [ 1.58383176e-01 9.79348150e-01 -1.25666105e-01 -5.66436419e+01] [ 6.29195414e-01 -2.02244388e-03 7.77244518e-01 7.60358570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79999999999998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:167.01, Y:-56.64, Z:76.05 [[ 7.61739218e-01 -1.99939469e-01 -6.16260961e-01 1.67007925e+02] [ 1.55368332e-01 9.79808244e-01 -1.25843098e-01 -5.66380429e+01] [ 6.28978573e-01 1.12185824e-04 7.77422628e-01 7.60532143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82999999999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:167.04, Y:-56.60, Z:76.04 [[ 7.67152366e-01 -2.30495593e-01 -5.98622610e-01 1.67040938e+02] [ 1.62133626e-01 9.72584733e-01 -1.66708204e-01 -5.66043823e+01] [ 6.20636717e-01 3.08337389e-02 7.83491765e-01 7.60392434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85999999999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:167.06, Y:-56.61, Z:76.07 [[ 7.67254232e-01 -2.14512243e-01 -6.04405030e-01 1.67058576e+02] [ 1.60474851e-01 9.76639285e-01 -1.42910914e-01 -5.66116526e+01] [ 6.20941837e-01 1.26571967e-02 7.83754445e-01 7.60659040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:-56.61, Z:76.09 [[ 7.68087005e-01 -2.12974249e-01 -6.03890985e-01 1.67077965e+02] [ 1.59299379e-01 9.76973697e-01 -1.41936970e-01 -5.66077975e+01] [ 6.20214527e-01 1.28204836e-02 7.84327467e-01 7.60851799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:167.10, Y:-56.60, Z:76.10 [[ 7.66657976e-01 -2.10983859e-01 -6.06400328e-01 1.67101414e+02] [ 1.58567612e-01 9.77429088e-01 -1.39601898e-01 -5.66044269e+01] [ 6.22167067e-01 1.08714569e-02 7.82809014e-01 7.61021348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:167.12, Y:-56.60, Z:76.12 [[ 7.67604660e-01 -2.14907416e-01 -6.03819417e-01 1.67123548e+02] [ 1.60121932e-01 9.76536129e-01 -1.44007483e-01 -5.65969892e+01] [ 6.20599753e-01 1.38560835e-02 7.84005074e-01 7.61166447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:167.13, Y:-56.63, Z:76.17 [[ 7.60247633e-01 -1.76792800e-01 -6.25114264e-01 1.67129674e+02] [ 1.52331463e-01 9.83942845e-01 -9.30139972e-02 -5.66276167e+01] [ 6.31520912e-01 -2.45108990e-02 7.74971324e-01 7.61726223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:-56.58, Z:76.15 [[ 7.67460554e-01 -2.33405192e-01 -5.97098246e-01 1.67169096e+02] [ 1.63636416e-01 9.71838678e-01 -1.69566231e-01 -5.65790813e+01] [ 6.19860808e-01 3.24283764e-02 7.84041439e-01 7.61476653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:167.17, Y:-56.62, Z:76.21 [[ 7.59894633e-01 -1.82767147e-01 -6.23823946e-01 1.67173955e+02] [ 1.57080857e-01 9.82848982e-01 -9.66099554e-02 -5.66200977e+01] [ 6.30781856e-01 -2.45774136e-02 7.75570887e-01 7.62078970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:167.20, Y:-56.60, Z:76.22 [[ 7.59848568e-01 -2.01386840e-01 -6.18120938e-01 1.67201638e+02] [ 1.57113662e-01 9.79510814e-01 -1.25991520e-01 -5.66021414e+01] [ 6.30829177e-01 -1.38076759e-03 7.75920513e-01 7.62153009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:-56.56, Z:76.20 [[ 7.67120512e-01 -2.39714511e-01 -5.95031994e-01 1.67234877e+02] [ 1.67904942e-01 9.70251890e-01 -1.74411011e-01 -5.65645399e+01] [ 6.19139767e-01 3.38854514e-02 7.84549377e-01 7.61981449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:167.24, Y:-56.61, Z:76.26 [[ 7.58542803e-01 -1.83988228e-01 -6.25108909e-01 1.67238724e+02] [ 1.60076785e-01 9.82528173e-01 -9.49410948e-02 -5.66095409e+01] [ 6.31655158e-01 -2.80485402e-02 7.74741919e-01 7.62619657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:167.27, Y:-56.59, Z:76.27 [[ 7.57128710e-01 -2.04841315e-01 -6.20319396e-01 1.67266447e+02] [ 1.61003087e-01 9.78787253e-01 -1.26702483e-01 -5.65915106e+01] [ 6.33114621e-01 -3.94325042e-03 7.74048014e-01 7.62662510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:167.30, Y:-56.55, Z:76.25 [[ 7.62949753e-01 -2.40580391e-01 -6.00023957e-01 1.67301056e+02] [ 1.70479460e-01 9.70192572e-01 -1.72229868e-01 -5.65544266e+01] [ 6.23573915e-01 2.91109755e-02 7.81222198e-01 7.62480969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:167.30, Y:-56.60, Z:76.31 [[ 7.56435275e-01 -1.86894394e-01 -6.26798341e-01 1.67303815e+02] [ 1.60197800e-01 9.82057975e-01 -9.94927067e-02 -5.65970306e+01] [ 6.34146939e-01 -2.51519225e-02 7.72803365e-01 7.63123138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:-56.55, Z:76.29 [[ 7.63285551e-01 -2.35663573e-01 -6.01546214e-01 1.67341089e+02] [ 1.67122946e-01 9.71428636e-01 -1.68512096e-01 -5.65508568e+01] [ 6.24071381e-01 2.80906728e-02 7.80862232e-01 7.62895872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:167.36, Y:-56.56, Z:76.32 [[ 7.62217203e-01 -2.17955901e-01 -6.09524536e-01 1.67359809e+02] [ 1.64075259e-01 9.75911474e-01 -1.43791881e-01 -5.65595561e+01] [ 6.26182277e-01 9.59274942e-03 7.79617685e-01 7.63158823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:-56.56, Z:76.34 [[ 7.62093737e-01 -2.13831289e-01 -6.11137722e-01 1.67379817e+02] [ 1.61949652e-01 9.76841090e-01 -1.39834885e-01 -5.65575466e+01] [ 6.26885512e-01 7.59374873e-03 7.79074380e-01 7.63375321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:167.40, Y:-56.56, Z:76.36 [[ 7.59886505e-01 -2.10164827e-01 -6.15144897e-01 1.67401907e+02] [ 1.59912416e-01 9.77651400e-01 -1.36476220e-01 -5.65556875e+01] [ 6.30079771e-01 5.33713170e-03 7.76512071e-01 7.63562000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:167.41, Y:-56.57, Z:76.40 [[ 7.54040710e-01 -1.83734068e-01 -6.30606374e-01 1.67413190e+02] [ 1.51142651e-01 9.82851291e-01 -1.05637298e-01 -5.65745326e+01] [ 6.39201460e-01 -1.56566959e-02 7.68879940e-01 7.64004648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.4 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:167.44, Y:-56.56, Z:76.41 [[ 7.54432327e-01 -1.95203996e-01 -6.26679554e-01 1.67438355e+02] [ 1.47602240e-01 9.80754832e-01 -1.27802734e-01 -5.65614328e+01] [ 6.39566605e-01 3.91920800e-03 7.68725697e-01 7.64089895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42999999999998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:167.46, Y:-56.56, Z:76.43 [[ 7.54445987e-01 -1.94319976e-01 -6.26937796e-01 1.67459486e+02] [ 1.46320173e-01 9.80926428e-01 -1.27959955e-01 -5.65576683e+01] [ 6.39845028e-01 4.80522732e-03 7.68488939e-01 7.64256888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:-56.55, Z:76.45 [[ 7.55549825e-01 -1.92982907e-01 -6.26020814e-01 1.67477845e+02] [ 1.44658905e-01 9.81183410e-01 -1.27878522e-01 -5.65544564e+01] [ 6.38919606e-01 6.05910921e-03 7.69249650e-01 7.64468098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:-56.55, Z:76.46 [[ 7.56736928e-01 -1.91940937e-01 -6.24906311e-01 1.67499203e+02] [ 1.43311101e-01 9.81379908e-01 -1.27888254e-01 -5.65510982e+01] [ 6.37817489e-01 7.22175287e-03 7.70153684e-01 7.64648069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.52, Y:-56.55, Z:76.48 [[ 7.56705137e-01 -1.92217320e-01 -6.24859854e-01 1.67521001e+02] [ 1.43482372e-01 9.81325315e-01 -1.28114927e-01 -5.65464494e+01] [ 6.37816701e-01 7.28884933e-03 7.70153704e-01 7.64826829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:-56.52, Z:76.47 [[ 7.63732566e-01 -2.17312980e-01 -6.07854947e-01 1.67552048e+02] [ 1.50603446e-01 9.75630800e-01 -1.59571754e-01 -5.65192448e+01] [ 6.27719021e-01 3.03250958e-02 7.77849098e-01 7.64749610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:167.57, Y:-56.53, Z:76.50 [[ 7.62566198e-01 -2.04162732e-01 -6.13848819e-01 1.67570118e+02] [ 1.51532764e-01 9.78867065e-01 -1.37321125e-01 -5.65257898e+01] [ 6.28912248e-01 1.16982403e-02 7.77388279e-01 7.65003518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60999999999999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:167.58, Y:-56.54, Z:76.54 [[ 7.57680752e-01 -1.83455545e-01 -6.26309781e-01 1.67583392e+02] [ 1.47253878e-01 9.82986437e-01 -1.09790531e-01 -5.65414211e+01] [ 6.35795701e-01 -9.04037182e-03 7.71804443e-01 7.65403395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:167.61, Y:-56.53, Z:76.55 [[ 7.57574162e-01 -1.97166887e-01 -6.22259277e-01 1.67607940e+02] [ 1.50227202e-01 9.80364413e-01 -1.27739602e-01 -5.65286578e+01] [ 6.35226871e-01 3.29195182e-03 7.72318578e-01 7.65521295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.64, Y:-56.50, Z:76.55 [[ 7.62863302e-01 -2.22497128e-01 -6.07070515e-01 1.67637402e+02] [ 1.57511760e-01 9.74589928e-01 -1.59262418e-01 -5.65014951e+01] [ 6.27080240e-01 2.58747090e-02 7.78524805e-01 7.65471321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.66, Y:-56.51, Z:76.57 [[ 7.61700725e-01 -2.08718210e-01 -6.13391159e-01 1.67655044e+02] [ 1.56942876e-01 9.77936677e-01 -1.37872365e-01 -5.65079437e+01] [ 6.28634185e-01 8.75010747e-03 7.77651912e-01 7.65740851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:-56.52, Z:76.62 [[ 7.56804149e-01 -1.84847763e-01 -6.26959955e-01 1.67666672e+02] [ 1.50627789e-01 9.82684123e-01 -1.07903584e-01 -5.65242821e+01] [ 6.36049329e-01 -1.27757119e-02 7.71542631e-01 7.66156366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.70, Y:-56.49, Z:76.60 [[ 7.61866162e-01 -2.20790918e-01 -6.08942790e-01 1.67703256e+02] [ 1.54658342e-01 9.74927316e-01 -1.59992271e-01 -5.64869015e+01] [ 6.28999800e-01 2.77146147e-02 7.76911290e-01 7.66015841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:-56.49, Z:76.63 [[ 7.60754749e-01 -2.05079701e-01 -6.15787729e-01 1.67720554e+02] [ 1.52821289e-01 9.78691855e-01 -1.37141920e-01 -5.64932975e+01] [ 6.30791459e-01 1.02258919e-02 7.75885021e-01 7.66288966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:167.74, Y:-56.51, Z:76.67 [[ 7.54924747e-01 -1.82116132e-01 -6.30017730e-01 1.67735030e+02] [ 1.46679273e-01 9.83220587e-01 -1.08454912e-01 -5.65084040e+01] [ 6.39197792e-01 -1.05352450e-02 7.68970215e-01 7.66664037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:167.76, Y:-56.49, Z:76.68 [[ 7.55066562e-01 -1.94821443e-01 -6.26034418e-01 1.67760969e+02] [ 1.46426742e-01 9.80823572e-01 -1.28624761e-01 -5.64935804e+01] [ 6.39088176e-01 5.45207586e-03 7.69114152e-01 7.66767704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:-56.49, Z:76.70 [[ 7.55098259e-01 -1.94429394e-01 -6.26118064e-01 1.67780170e+02] [ 1.45706111e-01 9.80897633e-01 -1.28878092e-01 -5.64885579e+01] [ 6.39215416e-01 6.08639449e-03 7.69003646e-01 7.66971850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:-56.48, Z:76.71 [[ 7.54685249e-01 -1.95138748e-01 -6.26395278e-01 1.67800958e+02] [ 1.46382313e-01 9.80758559e-01 -1.29169916e-01 -5.64833476e+01] [ 6.39548586e-01 5.78944037e-03 7.68728879e-01 7.67137253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:-56.46, Z:76.71 [[ 7.60039794e-01 -2.21811264e-01 -6.10851271e-01 1.67832500e+02] [ 1.53546939e-01 9.74628507e-01 -1.62857642e-01 -5.64551767e+01] [ 6.31476721e-01 2.99839454e-02 7.74814890e-01 7.67056067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:-56.49, Z:76.76 [[ 7.54262737e-01 -1.81700101e-01 -6.30930105e-01 1.67838241e+02] [ 1.47572352e-01 9.83273401e-01 -1.06751207e-01 -5.64856851e+01] [ 6.39773495e-01 -1.25893823e-02 7.68460397e-01 7.67576561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.0 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:167.87, Y:-56.47, Z:76.76 [[ 7.54288757e-01 -1.96951423e-01 -6.26305524e-01 1.67866011e+02] [ 1.48517869e-01 9.80402389e-01 -1.29435689e-01 -5.64706896e+01] [ 6.39523975e-01 4.61432335e-03 7.68757305e-01 7.67646238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:167.89, Y:-56.47, Z:76.78 [[ 7.54280347e-01 -1.97587358e-01 -6.26115320e-01 1.67887260e+02] [ 1.49177595e-01 9.80275493e-01 -1.29637966e-01 -5.64662334e+01] [ 6.39380327e-01 4.38099265e-03 7.68878146e-01 7.67823399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:-56.46, Z:76.80 [[ 7.55532415e-01 -1.97689228e-01 -6.24571644e-01 1.67905680e+02] [ 1.49388973e-01 9.80254044e-01 -1.29556720e-01 -5.64620000e+01] [ 6.37850848e-01 4.58018473e-03 7.70146296e-01 7.68026921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:-56.44, Z:76.80 [[ 7.59888688e-01 -2.19398454e-01 -6.11909716e-01 1.67936412e+02] [ 1.54986033e-01 9.75324090e-01 -1.57233105e-01 -5.64377715e+01] [ 6.31306987e-01 2.46421982e-02 7.75141439e-01 7.67992618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:167.96, Y:-56.44, Z:76.82 [[ 7.59123676e-01 -2.09564257e-01 -6.16290570e-01 1.67957184e+02] [ 1.55945322e-01 9.77738915e-01 -1.40384012e-01 -5.64402117e+01] [ 6.31990744e-01 1.04611956e-02 7.74905325e-01 7.68198029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:167.97, Y:-56.46, Z:76.86 [[ 7.54599656e-01 -1.86484573e-01 -6.29128654e-01 1.67969296e+02] [ 1.51380895e-01 9.82378146e-01 -1.09622089e-01 -5.64564157e+01] [ 6.38485069e-01 -1.25172677e-02 7.69532413e-01 7.68593537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17999999999998 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:167.99, Y:-56.44, Z:76.87 [[ 7.54518216e-01 -1.99827016e-01 -6.25117129e-01 1.67994169e+02] [ 1.51628745e-01 9.79825115e-01 -1.30197806e-01 -5.64430678e+01] [ 6.38522502e-01 3.45089093e-03 7.69595417e-01 7.68711087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:168.02, Y:-56.44, Z:76.89 [[ 7.54376219e-01 -2.00959005e-01 -6.24925594e-01 1.68015738e+02] [ 1.52934059e-01 9.79595661e-01 -1.30397527e-01 -5.64391057e+01] [ 6.38378957e-01 2.79638540e-03 7.69717148e-01 7.68883057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:-56.41, Z:76.88 [[ 7.60404672e-01 -2.32392934e-01 -6.06447243e-01 1.68048140e+02] [ 1.62237449e-01 9.72152940e-01 -1.69108460e-01 -5.64087334e+01] [ 6.28859082e-01 3.02024092e-02 7.76932474e-01 7.68798226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:168.05, Y:-56.44, Z:76.93 [[ 7.53367037e-01 -1.86783695e-01 -6.30515630e-01 1.68053855e+02] [ 1.56594913e-01 9.82187288e-01 -1.03856466e-01 -5.64437592e+01] [ 6.38683131e-01 -2.04935022e-02 7.69196903e-01 7.69343153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:168.08, Y:-56.43, Z:76.94 [[ 7.53437258e-01 -2.04755032e-01 -6.24826116e-01 1.68080600e+02] [ 1.57543746e-01 9.78813244e-01 -1.30784560e-01 -5.64269109e+01] [ 6.38366874e-01 1.00513326e-04 7.69732242e-01 7.69425277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:-56.40, Z:76.93 [[ 7.57504403e-01 -2.34521857e-01 -6.09250834e-01 1.68111943e+02] [ 1.64893614e-01 9.71719540e-01 -1.69030269e-01 -5.63964007e+01] [ 6.31662233e-01 2.75796007e-02 7.74752986e-01 7.69348447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35999999999999 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:168.13, Y:-56.40, Z:76.96 [[ 7.57024286e-01 -2.17461316e-01 -6.16137002e-01 1.68131197e+02] [ 1.64224917e-01 9.76044897e-01 -1.42711373e-01 -5.64041702e+01] [ 6.32411580e-01 6.85092769e-03 7.74602258e-01 7.69584238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:168.15, Y:-56.40, Z:76.98 [[ 7.55097962e-01 -2.15329415e-01 -6.19241723e-01 1.68150379e+02] [ 1.64716899e-01 9.76537609e-01 -1.38717845e-01 -5.64016401e+01] [ 6.34582864e-01 2.74598603e-03 7.72849952e-01 7.69804885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:168.16, Y:-56.42, Z:77.03 [[ 7.48985442e-01 -1.88967503e-01 -6.35068571e-01 1.68161048e+02] [ 1.58979961e-01 9.81723121e-01 -1.04618766e-01 -5.64203391e+01] [ 6.43231047e-01 -2.26052441e-02 7.65338372e-01 7.70251952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:-56.37, Z:77.01 [[ 7.56000469e-01 -2.37994177e-01 -6.09772140e-01 1.68199724e+02] [ 1.66767838e-01 9.70849390e-01 -1.72162568e-01 -5.63742316e+01] [ 6.32970599e-01 2.84646006e-02 7.73652369e-01 7.70053642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:-56.41, Z:77.07 [[ 7.49540175e-01 -1.89115320e-01 -6.34369704e-01 1.68200904e+02] [ 1.61409793e-01 9.81610589e-01 -1.01919238e-01 -5.64123964e+01] [ 6.41978508e-01 -2.60009193e-02 7.66281637e-01 7.70653464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:168.23, Y:-56.39, Z:77.07 [[ 7.48689926e-01 -2.09484421e-01 -6.28951247e-01 1.68230318e+02] [ 1.63533759e-01 9.77800349e-01 -1.31008345e-01 -5.63939467e+01] [ 6.42432957e-01 -4.77013360e-03 7.66327047e-01 7.70702513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:168.25, Y:-56.39, Z:77.09 [[ 7.48498084e-01 -2.11035495e-01 -6.28660988e-01 1.68250487e+02] [ 1.65405808e-01 9.77461251e-01 -1.31188495e-01 -5.63895086e+01] [ 6.42177185e-01 -5.78984131e-03 7.66534370e-01 7.70882181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:-56.39, Z:77.11 [[ 7.48425804e-01 -2.14170183e-01 -6.27686187e-01 1.68269745e+02] [ 1.69544949e-01 9.76761196e-01 -1.31118561e-01 -5.63853586e+01] [ 6.41181196e-01 -8.28850830e-03 7.67344756e-01 7.71084373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:-56.38, Z:77.13 [[ 7.48367854e-01 -2.14512429e-01 -6.27638409e-01 1.68291376e+02] [ 1.69800098e-01 9.76686186e-01 -1.31346951e-01 -5.63806584e+01] [ 6.41181317e-01 -8.27722698e-03 7.67344777e-01 7.71265510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:168.31, Y:-56.38, Z:77.14 [[ 7.46982640e-01 -2.18984651e-01 -6.27744103e-01 1.68314652e+02] [ 1.75435447e-01 9.75656573e-01 -1.31592763e-01 -5.63751005e+01] [ 6.41279455e-01 -1.18310573e-02 7.67216193e-01 7.71415771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:168.35, Y:-56.34, Z:77.13 [[ 7.52313333e-01 -2.53917887e-01 -6.07906536e-01 1.68348363e+02] [ 1.86104069e-01 9.67067708e-01 -1.73624086e-01 -5.63400423e+01] [ 6.31973041e-01 1.74858350e-02 7.74793082e-01 7.71272358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:168.36, Y:-56.35, Z:77.16 [[ 7.51245486e-01 -2.34935090e-01 -6.16794718e-01 1.68362819e+02] [ 1.86958896e-01 9.71976003e-01 -1.42509722e-01 -5.63519403e+01] [ 6.32990199e-01 -8.25547357e-03 7.74115789e-01 7.71579782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:168.37, Y:-56.37, Z:77.21 [[ 7.45572648e-01 -2.09092440e-01 -6.32773086e-01 1.68371205e+02] [ 1.82776717e-01 9.77252740e-01 -1.07562791e-01 -5.63711501e+01] [ 6.40869798e-01 -3.54603123e-02 7.66830143e-01 7.72055830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:-56.33, Z:77.19 [[ 7.49533152e-01 -2.51836354e-01 -6.12191559e-01 1.68407839e+02] [ 1.89412224e-01 9.67731557e-01 -1.66188579e-01 -5.63300294e+01] [ 6.34289416e-01 8.60728510e-03 7.73047768e-01 7.71898227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.43, Y:-56.34, Z:77.22 [[ 7.49276669e-01 -2.37269462e-01 -6.18294166e-01 1.68425926e+02] [ 1.89384642e-01 9.71394954e-01 -1.43266538e-01 -5.63356393e+01] [ 6.34600607e-01 -9.74914502e-03 7.72778768e-01 7.72164059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:-56.33, Z:77.23 [[ 7.49392996e-01 -2.37625142e-01 -6.18016529e-01 1.68447578e+02] [ 1.88565088e-01 9.71323918e-01 -1.44820767e-01 -5.63273216e+01] [ 6.34707291e-01 -8.00867312e-03 7.72711146e-01 7.72330285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:168.47, Y:-56.32, Z:77.24 [[ 7.49348366e-01 -2.42194107e-01 -6.16294606e-01 1.68472858e+02] [ 1.88376202e-01 9.70225722e-01 -1.52238154e-01 -5.63165083e+01] [ 6.34816063e-01 -2.01582542e-03 7.72660665e-01 7.72441114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:-56.32, Z:77.27 [[ 7.49916431e-01 -2.32983625e-01 -6.19147782e-01 1.68489969e+02] [ 1.85476023e-01 9.72440010e-01 -1.41276580e-01 -5.63170835e+01] [ 6.34999205e-01 -8.89144002e-03 7.72461618e-01 7.72711153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:-56.34, Z:77.32 [[ 7.44227373e-01 -2.00066848e-01 -6.37258875e-01 1.68496313e+02] [ 1.75870351e-01 9.79114639e-01 -1.02000698e-01 -5.63381992e+01] [ 6.44356452e-01 -3.61632307e-02 7.63869742e-01 7.73201386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:-56.32, Z:77.33 [[ 7.44798818e-01 -2.17759731e-01 -6.30757815e-01 1.68521990e+02] [ 1.73269127e-01 9.75943437e-01 -1.32333738e-01 -5.63181237e+01] [ 6.44400909e-01 -1.07288445e-02 7.64612556e-01 7.73267400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:-56.31, Z:77.34 [[ 7.44740449e-01 -2.18038474e-01 -6.30730439e-01 1.68543512e+02] [ 1.73523994e-01 9.75880465e-01 -1.32464115e-01 -5.63134719e+01] [ 6.44399788e-01 -1.07954807e-02 7.64612563e-01 7.73449882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98999999999998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:168.57, Y:-56.30, Z:77.36 [[ 7.45255166e-01 -2.14609211e-01 -6.31298364e-01 1.68566250e+02] [ 1.68748444e-01 9.76670784e-01 -1.32808671e-01 -5.63047565e+01] [ 6.45072632e-01 -7.55426838e-03 7.64083917e-01 7.73597346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.58, Y:-56.30, Z:77.38 [[ 7.46650063e-01 -2.11737328e-01 -6.30619527e-01 1.68584279e+02] [ 1.64898994e-01 9.77315042e-01 -1.32904592e-01 -5.62994296e+01] [ 6.44454812e-01 -4.75530382e-03 7.64627610e-01 7.73796380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:168.61, Y:-56.29, Z:77.40 [[ 7.46503190e-01 -2.09904035e-01 -6.31405800e-01 1.68606449e+02] [ 1.62251068e-01 9.77717363e-01 -1.33204160e-01 -5.62931327e+01] [ 6.45296504e-01 -3.00893507e-03 7.63926284e-01 7.73952156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.63, Y:-56.29, Z:77.41 [[ 7.48255781e-01 -2.04317947e-01 -6.31163578e-01 1.68625958e+02] [ 1.54780846e-01 9.78902287e-01 -1.33391161e-01 -5.62860999e+01] [ 6.45101678e-01 2.11867455e-03 7.64093801e-01 7.74145411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:-56.28, Z:77.43 [[ 7.49021299e-01 -2.01889069e-01 -6.31037160e-01 1.68645965e+02] [ 1.51423020e-01 9.79397962e-01 -1.33606514e-01 -5.62801627e+01] [ 6.45010203e-01 4.52057159e-03 7.64160587e-01 7.74311590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:-56.27, Z:77.45 [[ 7.49843898e-01 -1.99706790e-01 -6.30754570e-01 1.68666823e+02] [ 1.48509701e-01 9.79833695e-01 -1.33681709e-01 -5.62741606e+01] [ 6.44731726e-01 6.56724115e-03 7.64380712e-01 7.74489715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:-56.27, Z:77.47 [[ 7.50355196e-01 -1.97684240e-01 -6.30783656e-01 1.68688004e+02] [ 1.45654261e-01 9.80227836e-01 -1.33933659e-01 -5.62682404e+01] [ 6.44788272e-01 8.62148940e-03 7.64312603e-01 7.74668714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.2 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:168.71, Y:-56.26, Z:77.48 [[ 7.49903928e-01 -1.96856386e-01 -6.31578706e-01 1.68710313e+02] [ 1.44210507e-01 9.80384672e-01 -1.34347401e-01 -5.62618482e+01] [ 6.45637226e-01 9.66735884e-03 7.63583076e-01 7.74810335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:-56.26, Z:77.50 [[ 7.50691809e-01 -1.95056689e-01 -6.31200994e-01 1.68729267e+02] [ 1.41842260e-01 9.80726376e-01 -1.34374658e-01 -5.62569365e+01] [ 6.45246140e-01 1.13429793e-02 7.63890539e-01 7.75009910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:168.75, Y:-56.25, Z:77.52 [[ 7.49563616e-01 -1.94837371e-01 -6.32607923e-01 1.68752845e+02] [ 1.41064963e-01 9.80763453e-01 -1.34921181e-01 -5.62519372e+01] [ 6.46726419e-01 1.18931948e-02 7.62629327e-01 7.75164788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:168.77, Y:-56.25, Z:77.53 [[ 7.49892381e-01 -1.95004069e-01 -6.32166774e-01 1.68773366e+02] [ 1.41164089e-01 9.80728404e-01 -1.35072196e-01 -5.62480426e+01] [ 6.46323539e-01 1.20503632e-02 7.62968329e-01 7.75341466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:-56.24, Z:77.55 [[ 7.50503142e-01 -1.95188588e-01 -6.31384549e-01 1.68792299e+02] [ 1.41447804e-01 9.80691814e-01 -1.35041045e-01 -5.62443479e+01] [ 6.45552130e-01 1.20407708e-02 7.63621285e-01 7.75544923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:168.81, Y:-56.24, Z:77.57 [[ 7.49749277e-01 -1.97559804e-01 -6.31542672e-01 1.68814707e+02] [ 1.44305928e-01 9.80236484e-01 -1.35322704e-01 -5.62403225e+01] [ 6.45795495e-01 1.03227478e-02 7.63440646e-01 7.75694743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:-56.24, Z:77.59 [[ 7.49667581e-01 -1.98461504e-01 -6.31356911e-01 1.68834984e+02] [ 1.45429190e-01 9.80060866e-01 -1.35392205e-01 -5.62370508e+01] [ 6.45638342e-01 9.68142277e-03 7.63581955e-01 7.75891924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:168.86, Y:-56.23, Z:77.60 [[ 7.48332807e-01 -2.00791250e-01 -6.32203198e-01 1.68858149e+02] [ 1.48096069e-01 9.79601247e-01 -1.35826918e-01 -5.62329276e+01] [ 6.46579898e-01 8.01693015e-03 7.62804146e-01 7.76045983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:-56.20, Z:77.59 [[ 7.55803518e-01 -2.36201023e-01 -6.10712795e-01 1.68890147e+02] [ 1.58322120e-01 9.70919730e-01 -1.79580024e-01 -5.61986839e+01] [ 6.35370088e-01 3.90378694e-02 7.71220394e-01 7.75918901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.91, Y:-56.21, Z:77.62 [[ 7.55660314e-01 -2.23854201e-01 -6.15521556e-01 1.68909192e+02] [ 1.60755634e-01 9.74423347e-01 -1.57024732e-01 -5.62060481e+01] [ 6.34929221e-01 1.97088005e-02 7.72318877e-01 7.76163346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:-56.24, Z:77.67 [[ 7.46740496e-01 -1.84670306e-01 -6.38964404e-01 1.68915009e+02] [ 1.53102257e-01 9.82609578e-01 -1.05062434e-01 -5.62396499e+01] [ 6.47254456e-01 -1.93725184e-02 7.62027804e-01 7.76721433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:-56.23, Z:77.68 [[ 7.46162740e-01 -2.08346786e-01 -6.32323321e-01 1.68941588e+02] [ 1.57927019e-01 9.78053796e-01 -1.35903746e-01 -5.62254243e+01] [ 6.46761333e-01 1.54537414e-03 7.62690888e-01 7.76790530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:168.96, Y:-56.22, Z:77.69 [[ 7.45205962e-01 -2.11009528e-01 -6.32568616e-01 1.68964610e+02] [ 1.61281875e-01 9.77483804e-01 -1.36064577e-01 -5.62225877e+01] [ 6.47036499e-01 -6.25718605e-04 7.62458771e-01 7.76945978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:-56.19, Z:77.69 [[ 7.51166003e-01 -2.40955821e-01 -6.14564829e-01 1.68993884e+02] [ 1.71714538e-01 9.70273546e-01 -1.70538454e-01 -5.61940395e+01] [ 6.37388229e-01 2.25729729e-02 7.70212118e-01 7.76866572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:169.01, Y:-56.20, Z:77.71 [[ 7.49520663e-01 -2.29876594e-01 -6.20786216e-01 1.69012642e+02] [ 1.73518458e-01 9.73204990e-01 -1.50875417e-01 -5.62018850e+01] [ 6.38834971e-01 5.36637557e-03 7.69325082e-01 7.77115659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:169.02, Y:-56.22, Z:77.76 [[ 7.43319590e-01 -2.05111136e-01 -6.36714543e-01 1.69024976e+02] [ 1.68363689e-01 9.78554572e-01 -1.18678633e-01 -5.62234333e+01] [ 6.47402236e-01 -1.89834565e-02 7.61912051e-01 7.77559677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:-56.19, Z:77.74 [[ 7.48193040e-01 -2.49447509e-01 -6.14803315e-01 1.69059345e+02] [ 1.80193831e-01 9.68200717e-01 -1.73544098e-01 -5.61854887e+01] [ 6.38543153e-01 1.90607215e-02 7.69349940e-01 7.77390337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.07, Y:-56.22, Z:77.79 [[ 7.41865954e-01 -2.06752574e-01 -6.37877951e-01 1.69065967e+02] [ 1.72190589e-01 9.78117978e-01 -1.16771670e-01 -5.62190843e+01] [ 6.48062734e-01 -2.32076535e-02 7.61233274e-01 7.77949223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:169.09, Y:-56.20, Z:77.80 [[ 7.40884300e-01 -2.20532802e-01 -6.34393993e-01 1.69092964e+02] [ 1.73188829e-01 9.75342342e-01 -1.36795266e-01 -5.62044262e+01] [ 6.48919166e-01 -8.52048739e-03 7.60809646e-01 7.78040632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76999999999998 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:169.11, Y:-56.20, Z:77.82 [[ 7.40652541e-01 -2.20873473e-01 -6.34546076e-01 1.69113381e+02] [ 1.73401976e-01 9.75265365e-01 -1.37073787e-01 -5.61995479e+01] [ 6.49126774e-01 -8.50749513e-03 7.60632667e-01 7.78214371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:-56.17, Z:77.81 [[ 7.46477711e-01 -2.49221071e-01 -6.16976405e-01 1.69142969e+02] [ 1.80946193e-01 9.68298981e-01 -1.72207896e-01 -5.61693221e+01] [ 6.40335460e-01 1.69098239e-02 7.67909211e-01 7.78145512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:169.15, Y:-56.20, Z:77.87 [[ 7.39799448e-01 -2.08757637e-01 -6.39622565e-01 1.69151575e+02] [ 1.75086762e-01 9.77628244e-01 -1.16566045e-01 -5.62002393e+01] [ 6.49647137e-01 -2.57539477e-02 7.59799534e-01 7.78657698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85999999999999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:169.18, Y:-56.19, Z:77.88 [[ 7.39744885e-01 -2.22580497e-01 -6.35008210e-01 1.69175517e+02] [ 1.75359023e-01 9.74866100e-01 -1.37423799e-01 -5.61856888e+01] [ 6.49635835e-01 -9.69586656e-03 7.60183709e-01 7.78758418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:-56.15, Z:77.87 [[ 7.46389157e-01 -2.52954470e-01 -6.15562557e-01 1.69206971e+02] [ 1.83019853e-01 9.67303390e-01 -1.75578714e-01 -5.61532694e+01] [ 6.39849169e-01 1.83898794e-02 7.68280452e-01 7.78671021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:169.21, Y:-56.19, Z:77.92 [[ 7.40313070e-01 -2.06977649e-01 -6.39606763e-01 1.69211822e+02] [ 1.75900422e-01 9.77917078e-01 -1.12859339e-01 -5.61865873e+01] [ 6.48841737e-01 -2.89558556e-02 7.60372250e-01 7.79218720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:169.25, Y:-56.14, Z:77.90 [[ 7.46071081e-01 -2.55278579e-01 -6.14988447e-01 1.69250967e+02] [ 1.83462128e-01 9.66650515e-01 -1.78685278e-01 -5.61396077e+01] [ 6.40093423e-01 2.04848290e-02 7.68023946e-01 7.79003506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:169.27, Y:-56.15, Z:77.93 [[ 7.47007485e-01 -2.37212107e-01 -6.21055742e-01 1.69266065e+02] [ 1.82664330e-01 9.71457802e-01 -1.51338960e-01 -5.61477985e+01] [ 6.39228879e-01 -3.93394919e-04 7.69016440e-01 7.79277422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:169.29, Y:-56.14, Z:77.95 [[ 7.46995540e-01 -2.37525611e-01 -6.20950278e-01 1.69287965e+02] [ 1.80863323e-01 9.71377451e-01 -1.53994499e-01 -5.61411285e+01] [ 6.39754735e-01 2.72607311e-03 7.68574295e-01 7.79450094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:-56.17, Z:78.00 [[ 7.42041327e-01 -2.01091381e-01 -6.39481763e-01 1.69292953e+02] [ 1.70655426e-01 9.79183903e-01 -1.09889082e-01 -5.61664478e+01] [ 6.48267995e-01 -2.75887921e-02 7.60912258e-01 7.79974276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:-56.15, Z:78.01 [[ 7.42622908e-01 -2.17297647e-01 -6.33476874e-01 1.69318965e+02] [ 1.68415335e-01 9.76094278e-01 -1.37390815e-01 -5.61479372e+01] [ 6.48187852e-01 -4.65765275e-03 7.61466227e-01 7.80062337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.1 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:169.34, Y:-56.14, Z:78.02 [[ 7.43155954e-01 -2.13945798e-01 -6.33992448e-01 1.69340348e+02] [ 1.63706706e-01 9.76844502e-01 -1.37749531e-01 -5.61410940e+01] [ 6.48782970e-01 -1.41943115e-03 7.60972170e-01 7.80211006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:-56.14, Z:78.04 [[ 7.44679807e-01 -2.11311871e-01 -6.33087101e-01 1.69358558e+02] [ 1.60271821e-01 9.77418079e-01 -1.37720156e-01 -5.61357568e+01] [ 6.47892682e-01 1.09139644e-03 7.61730845e-01 7.80406109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:169.40, Y:-56.09, Z:78.02 [[ 7.52406122e-01 -2.51470762e-01 -6.08808248e-01 1.69396597e+02] [ 1.69275903e-01 9.67034770e-01 -1.90235176e-01 -5.60916439e+01] [ 6.36577329e-01 4.00775451e-02 7.70170822e-01 7.80180506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:-56.10, Z:78.05 [[ 7.53253789e-01 -2.27812978e-01 -6.17016998e-01 1.69412090e+02] [ 1.65625387e-01 9.73569051e-01 -1.57262628e-01 -5.61032582e+01] [ 6.36535121e-01 1.62649910e-02 7.71076189e-01 7.80502873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:-56.13, Z:78.11 [[ 7.44897852e-01 -1.82481700e-01 -6.41737967e-01 1.69415558e+02] [ 1.52107431e-01 9.82986679e-01 -1.02958816e-01 -5.61347893e+01] [ 6.49607973e-01 -2.09193130e-02 7.59981489e-01 7.81080732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:-56.11, Z:78.11 [[ 7.45379362e-01 -2.04521448e-01 -6.34492383e-01 1.69443630e+02] [ 1.51155417e-01 9.78837661e-01 -1.37945182e-01 -5.61133460e+01] [ 6.49277788e-01 6.91453141e-03 7.60519916e-01 7.81143205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:-56.11, Z:78.13 [[ 7.45296189e-01 -2.04289256e-01 -6.34664865e-01 1.69463425e+02] [ 1.50606608e-01 9.78882323e-01 -1.38228245e-01 -5.61083884e+01] [ 6.49500763e-01 7.43626115e-03 7.60324576e-01 7.81316578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:169.48, Y:-56.10, Z:78.15 [[ 7.44503664e-01 -2.05173171e-01 -6.35309582e-01 1.69484947e+02] [ 1.51496425e-01 9.78701407e-01 -1.38536597e-01 -5.61031445e+01] [ 6.50202375e-01 6.89387336e-03 7.59729785e-01 7.81474156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:-56.07, Z:78.14 [[ 7.52061498e-01 -2.38139904e-01 -6.14567238e-01 1.69517235e+02] [ 1.59878679e-01 9.70509398e-01 -1.80417064e-01 -5.60680646e+01] [ 6.39407782e-01 3.74285295e-02 7.67956245e-01 7.81364054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:-56.11, Z:78.20 [[ 7.44759947e-01 -1.88183717e-01 -6.40249568e-01 1.69520465e+02] [ 1.52435099e-01 9.82023994e-01 -1.11321230e-01 -5.61066100e+01] [ 6.49689281e-01 -1.46889132e-02 7.60057941e-01 7.81954936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.4 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:169.55, Y:-56.09, Z:78.20 [[ 7.44336427e-01 -2.07594253e-01 -6.34718764e-01 1.69548311e+02] [ 1.54538003e-01 9.78201425e-01 -1.38708249e-01 -5.60888750e+01] [ 6.49677835e-01 5.15743220e-03 7.60192155e-01 7.82013987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:-56.08, Z:78.22 [[ 7.45024175e-01 -2.08027087e-01 -6.33769446e-01 1.69567670e+02] [ 1.55149512e-01 9.78110379e-01 -1.38667643e-01 -5.60843503e+01] [ 6.48743099e-01 4.98172566e-03 7.60991179e-01 7.82215104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45999999999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:169.59, Y:-56.08, Z:78.24 [[ 7.43735247e-01 -2.10480661e-01 -6.34472832e-01 1.69590917e+02] [ 1.58025067e-01 9.77592888e-01 -1.39069130e-01 -5.60791265e+01] [ 6.49527490e-01 3.16800180e-03 7.60331509e-01 7.82374346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:-56.07, Z:78.26 [[ 7.43271519e-01 -2.10919902e-01 -6.34870257e-01 1.69610742e+02] [ 1.58315943e-01 9.77498421e-01 -1.39401931e-01 -5.60747230e+01] [ 6.49987316e-01 3.10340137e-03 7.59938720e-01 7.82563809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:-56.04, Z:78.24 [[ 7.49613644e-01 -2.46305388e-01 -6.14339516e-01 1.69644713e+02] [ 1.68347103e-01 9.68606187e-01 -1.82924320e-01 -5.60385409e+01] [ 6.40108302e-01 3.37002880e-02 7.67545212e-01 7.82412545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54999999999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:169.65, Y:-56.08, Z:78.30 [[ 7.41487071e-01 -1.94597469e-01 -6.42128297e-01 1.69648791e+02] [ 1.60038333e-01 9.80690848e-01 -1.12397480e-01 -5.60796164e+01] [ 6.51601608e-01 -1.94238644e-02 7.58312638e-01 7.82999321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:-56.06, Z:78.31 [[ 7.41682842e-01 -2.12097046e-01 -6.36334349e-01 1.69673397e+02] [ 1.59267413e-01 9.77245266e-01 -1.40091333e-01 -5.60629097e+01] [ 6.51567688e-01 2.55601274e-03 7.58586194e-01 7.83104644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60999999999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:169.71, Y:-56.02, Z:78.29 [[ 7.48499795e-01 -2.53432798e-01 -6.12796764e-01 1.69710892e+02] [ 1.68709829e-01 9.66460493e-01 -1.93626209e-01 -5.60205557e+01] [ 6.41315094e-01 4.15443401e-02 7.66152085e-01 7.82886741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:169.71, Y:-56.07, Z:78.36 [[ 7.39432070e-01 -1.89181125e-01 -6.46104261e-01 1.69710926e+02] [ 1.57639647e-01 9.81679525e-01 -1.07028278e-01 -5.60711013e+01] [ 6.54515054e-01 -2.27115063e-02 7.55707769e-01 7.83564693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:169.74, Y:-56.05, Z:78.36 [[ 7.39171925e-01 -2.10583242e-01 -6.39749610e-01 1.69738415e+02] [ 1.56351800e-01 9.77566500e-01 -1.41130625e-01 -5.60506699e+01] [ 6.55117532e-01 4.29379230e-03 7.55514780e-01 7.83632144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:-56.05, Z:78.38 [[ 7.39654909e-01 -2.09130160e-01 -6.39668032e-01 1.69758243e+02] [ 1.54228936e-01 9.77869984e-01 -1.41363821e-01 -5.60467815e+01] [ 6.55075607e-01 5.90512410e-03 7.55540256e-01 7.83836180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:169.80, Y:-56.00, Z:78.36 [[ 7.46840113e-01 -2.50319809e-01 -6.16092395e-01 1.69796919e+02] [ 1.63480930e-01 9.67128725e-01 -1.94771698e-01 -5.60042579e+01] [ 6.44595866e-01 4.47439595e-02 7.63213042e-01 7.83623286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:169.79, Y:-56.06, Z:78.43 [[ 7.38250497e-01 -1.85611542e-01 -6.48486359e-01 1.69794861e+02] [ 1.53404761e-01 9.82402550e-01 -1.06546746e-01 -5.60553599e+01] [ 6.56850959e-01 -2.08227073e-02 7.53732866e-01 7.84318228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:169.82, Y:-56.04, Z:78.44 [[ 7.38586900e-01 -2.08663660e-01 -6.41052937e-01 1.69823698e+02] [ 1.53012539e-01 9.77963706e-01 -1.42035742e-01 -5.60359494e+01] [ 6.56564204e-01 6.81660137e-03 7.54239338e-01 7.84378778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:-56.00, Z:78.42 [[ 7.47208770e-01 -2.46084850e-01 -6.17350225e-01 1.69857545e+02] [ 1.61866471e-01 9.68333579e-01 -1.90077159e-01 -5.59984572e+01] [ 6.44576062e-01 4.20990175e-02 7.63380228e-01 7.84237570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:169.86, Y:-56.04, Z:78.49 [[ 7.38868321e-01 -1.88174767e-01 -6.47042396e-01 1.69858164e+02] [ 1.53784313e-01 9.81965946e-01 -1.09969387e-01 -5.60449616e+01] [ 6.56067062e-01 -1.82520740e-02 7.54481857e-01 7.84885064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:169.89, Y:-56.02, Z:78.50 [[ 7.39108451e-01 -2.09351975e-01 -6.40226872e-01 1.69885735e+02] [ 1.53731845e-01 9.77817205e-01 -1.42267470e-01 -5.60249245e+01] [ 6.55808827e-01 6.72783097e-03 7.54897026e-01 7.84958855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:-56.02, Z:78.52 [[ 7.39582238e-01 -2.10479220e-01 -6.39309481e-01 1.69906267e+02] [ 1.55209028e-01 9.77579845e-01 -1.42294781e-01 -5.60229804e+01] [ 6.54926157e-01 6.01208953e-03 7.55668964e-01 7.85157475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:169.93, Y:-56.02, Z:78.53 [[ 7.39233503e-01 -2.12224536e-01 -6.39135803e-01 1.69929319e+02] [ 1.57337635e-01 9.77209227e-01 -1.42502615e-01 -5.60190414e+01] [ 6.54811955e-01 4.78259172e-03 7.55776707e-01 7.85317827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:-56.02, Z:78.55 [[ 7.40231358e-01 -2.12525133e-01 -6.37879773e-01 1.69947393e+02] [ 1.57773513e-01 9.77143712e-01 -1.42469944e-01 -5.60162787e+01] [ 6.53578653e-01 4.82018775e-03 7.56843253e-01 7.85513346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.98, Y:-55.98, Z:78.54 [[ 7.46719302e-01 -2.45533981e-01 -6.18161264e-01 1.69980872e+02] [ 1.67534767e-01 9.68837230e-01 -1.82445948e-01 -5.59826247e+01] [ 6.43694327e-01 3.26724071e-02 7.64584938e-01 7.85382503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:169.98, Y:-56.02, Z:78.60 [[ 7.39925424e-01 -1.97869280e-01 -6.42929323e-01 1.69984760e+02] [ 1.59935113e-01 9.80100570e-01 -1.17573947e-01 -5.60208957e+01] [ 6.53399668e-01 -1.58310216e-02 7.56847575e-01 7.85967063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:-56.01, Z:78.61 [[ 7.40056248e-01 -2.14382750e-01 -6.37461204e-01 1.70010016e+02] [ 1.60148494e-01 9.76743758e-01 -1.42562589e-01 -5.60054634e+01] [ 6.53199212e-01 3.41588263e-03 7.57178395e-01 7.86066486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:170.03, Y:-56.00, Z:78.62 [[ 7.39424560e-01 -2.15197807e-01 -6.37919449e-01 1.70033111e+02] [ 1.60917594e-01 9.76565803e-01 -1.42915220e-01 -5.60015151e+01] [ 6.53725361e-01 3.02256083e-03 7.56725853e-01 7.86231414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:-56.00, Z:78.64 [[ 7.39411106e-01 -2.14394788e-01 -6.38205367e-01 1.70051567e+02] [ 1.59584247e-01 9.76738661e-01 -1.43228681e-01 -5.59977245e+01] [ 6.54067339e-01 4.05735446e-03 7.56425445e-01 7.86422313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:-55.99, Z:78.66 [[ 7.39414199e-01 -2.13930779e-01 -6.38357474e-01 1.70072670e+02] [ 1.58819904e-01 9.76837756e-01 -1.43402362e-01 -5.59923776e+01] [ 6.54249861e-01 4.64987038e-03 7.56264172e-01 7.86602335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:170.10, Y:-55.98, Z:78.68 [[ 7.38762463e-01 -2.13108712e-01 -6.39386190e-01 1.70096170e+02] [ 1.57310596e-01 9.77011805e-01 -1.43879498e-01 -5.59846911e+01] [ 6.55349830e-01 5.71054970e-03 7.55303906e-01 7.86754085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:-55.94, Z:78.66 [[ 7.46814079e-01 -2.49114311e-01 -6.16612351e-01 1.70130060e+02] [ 1.64710692e-01 9.67589123e-01 -1.91420157e-01 -5.59449675e+01] [ 6.44312905e-01 4.13926212e-02 7.63640970e-01 7.86602183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:-55.99, Z:78.72 [[ 7.38123823e-01 -1.91365375e-01 -6.46956347e-01 1.70130162e+02] [ 1.54361326e-01 9.81395073e-01 -1.14176581e-01 -5.59887609e+01] [ 6.56769216e-01 -1.55885854e-02 7.53930496e-01 7.87249370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26999999999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:170.16, Y:-55.97, Z:78.73 [[ 7.38304204e-01 -2.10935148e-01 -6.40635049e-01 1.70157463e+02] [ 1.53859799e-01 9.77466214e-01 -1.44523226e-01 -5.59688621e+01] [ 6.56684144e-01 8.13412600e-03 7.54121855e-01 7.87314983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:-55.96, Z:78.75 [[ 7.38429134e-01 -2.10498850e-01 -6.40634566e-01 1.70177440e+02] [ 1.53065960e-01 9.77554098e-01 -1.44771535e-01 -5.59636604e+01] [ 6.56729187e-01 8.84417475e-03 7.54074635e-01 7.87506011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32999999999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:170.20, Y:-55.96, Z:78.77 [[ 7.37895515e-01 -2.11028559e-01 -6.41075001e-01 1.70200354e+02] [ 1.53455747e-01 9.77441109e-01 -1.45121368e-01 -5.59579640e+01] [ 6.57237813e-01 8.70776369e-03 7.53632956e-01 7.87668195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:-55.92, Z:78.75 [[ 7.46499543e-01 -2.48810363e-01 -6.17115740e-01 1.70233230e+02] [ 1.62764712e-01 9.67561812e-01 -1.93214361e-01 -5.59175771e+01] [ 6.45171358e-01 4.37897665e-02 7.62781997e-01 7.87508543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:170.24, Y:-55.96, Z:78.81 [[ 7.37474382e-01 -1.92175717e-01 -6.47456585e-01 1.70236563e+02] [ 1.53710258e-01 9.81262858e-01 -1.16173837e-01 -5.59622492e+01] [ 6.57650890e-01 -1.38454904e-02 7.53195599e-01 7.88148600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:170.26, Y:-55.94, Z:78.82 [[ 7.38029097e-01 -2.11173268e-01 -6.40873547e-01 1.70262304e+02] [ 1.53525099e-01 9.77408851e-01 -1.45265210e-01 -5.59436373e+01] [ 6.57071607e-01 8.81977703e-03 7.53776569e-01 7.88238411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:-55.94, Z:78.84 [[ 7.38277255e-01 -2.11804006e-01 -6.40379385e-01 1.70281937e+02] [ 1.54245935e-01 9.77274558e-01 -1.45405057e-01 -5.59391624e+01] [ 6.56623854e-01 8.57332903e-03 7.54169485e-01 7.88433205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:170.30, Y:-55.93, Z:78.86 [[ 7.37402335e-01 -2.13389180e-01 -6.40861025e-01 1.70304951e+02] [ 1.56023096e-01 9.76938489e-01 -1.45766873e-01 -5.59335899e+01] [ 6.57186876e-01 7.49971125e-03 7.53690364e-01 7.88593548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:170.33, Y:-55.93, Z:78.88 [[ 7.37271407e-01 -2.14437894e-01 -6.40661581e-01 1.70325674e+02] [ 1.57235877e-01 9.76713351e-01 -1.45972289e-01 -5.59288052e+01] [ 6.57044710e-01 6.88620900e-03 7.53820157e-01 7.88772493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:-55.92, Z:78.90 [[ 7.36999847e-01 -2.15034685e-01 -6.40773993e-01 1.70344884e+02] [ 1.57785854e-01 9.76583574e-01 -1.46246871e-01 -5.59246888e+01] [ 6.57217506e-01 6.67885036e-03 7.53671376e-01 7.88977690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:170.37, Y:-55.92, Z:78.91 [[ 7.36125856e-01 -2.17126179e-01 -6.41073278e-01 1.70367724e+02] [ 1.60279655e-01 9.76130026e-01 -1.46562628e-01 -5.59196988e+01] [ 6.57593459e-01 5.13753663e-03 7.53355460e-01 7.89140312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.6 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:170.39, Y:-55.92, Z:78.93 [[ 7.35832276e-01 -2.18672597e-01 -6.40884667e-01 1.70388035e+02] [ 1.62151352e-01 9.75789767e-01 -1.46769441e-01 -5.59150635e+01] [ 6.57463155e-01 4.07737606e-03 7.53475663e-01 7.89324896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:-55.91, Z:78.95 [[ 7.35603119e-01 -2.21400494e-01 -6.40210803e-01 1.70407249e+02] [ 1.65687973e-01 9.75180999e-01 -1.46865633e-01 -5.59110745e+01] [ 6.56837535e-01 1.95958707e-03 7.54029584e-01 7.89521707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:170.43, Y:-55.91, Z:78.97 [[ 7.34989760e-01 -2.24040078e-01 -6.39996950e-01 1.70429160e+02] [ 1.69012953e-01 9.74579929e-01 -1.47066597e-01 -5.59062206e+01] [ 6.56676994e-01 -7.53316836e-05 7.54171943e-01 7.89687850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:-55.90, Z:78.99 [[ 7.34879632e-01 -2.25557340e-01 -6.39590348e-01 1.70448141e+02] [ 1.70886382e-01 9.74229268e-01 -1.47224924e-01 -5.59026439e+01] [ 6.56315298e-01 -1.10468310e-03 7.54485924e-01 7.89877661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.47, Y:-55.90, Z:79.01 [[ 7.34307169e-01 -2.27734430e-01 -6.39476357e-01 1.70469150e+02] [ 1.73672538e-01 9.73719062e-01 -1.47339873e-01 -5.58982929e+01] [ 6.56224681e-01 -2.86675654e-03 7.54560104e-01 7.90062888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.49, Y:-55.89, Z:79.02 [[ 7.32739205e-01 -2.31752470e-01 -6.39831267e-01 1.70490357e+02] [ 1.78714186e-01 9.72755418e-01 -1.47675779e-01 -5.58948663e+01] [ 6.56623559e-01 -6.13909170e-03 7.54193486e-01 7.90246675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:170.52, Y:-55.86, Z:79.01 [[ 7.37726331e-01 -2.69987474e-01 -6.18762171e-01 1.70524627e+02] [ 1.91448280e-01 9.62589057e-01 -1.91754694e-01 -5.58561988e+01] [ 6.47385060e-01 2.30015335e-02 7.61815931e-01 7.90067285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:170.53, Y:-55.90, Z:79.07 [[ 7.31411953e-01 -2.19108606e-01 -6.45777031e-01 1.70527294e+02] [ 1.82344322e-01 9.75333286e-01 -1.24400678e-01 -5.58970258e+01] [ 6.57105093e-01 -2.67656316e-02 7.53323634e-01 7.90712508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:170.55, Y:-55.88, Z:79.08 [[ 7.29947587e-01 -2.36239067e-01 -6.41379469e-01 1.70553316e+02] [ 1.84164879e-01 9.71644773e-01 -1.48289353e-01 -5.58796356e+01] [ 6.58224747e-01 -9.87611676e-03 7.52756697e-01 7.90789388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:-55.84, Z:79.06 [[ 7.36464053e-01 -2.72854068e-01 -6.19008366e-01 1.70584989e+02] [ 1.94805853e-01 9.61827104e-01 -1.92195997e-01 -5.58406948e+01] [ 6.47820483e-01 2.09589900e-02 7.61504657e-01 7.90634980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:-55.88, Z:79.13 [[ 7.28737106e-01 -2.22076621e-01 -6.47784073e-01 1.70588375e+02] [ 1.85670132e-01 9.74597714e-01 -1.25243357e-01 -5.58811278e+01] [ 6.59142498e-01 -2.90046728e-02 7.51458513e-01 7.91260493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92999999999998 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:170.61, Y:-55.86, Z:79.13 [[ 7.26444335e-01 -2.40159168e-01 -6.43896111e-01 1.70613961e+02] [ 1.88837098e-01 9.70641522e-01 -1.48981830e-01 -5.58642011e+01] [ 6.60771654e-01 -1.33644666e-02 7.50467995e-01 7.91349969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95999999999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:170.65, Y:-55.82, Z:79.12 [[ 7.32835757e-01 -2.77528674e-01 -6.21232314e-01 1.70646175e+02] [ 2.00323084e-01 9.60569523e-01 -1.92813002e-01 -5.58247404e+01] [ 6.50247964e-01 1.68530888e-02 7.59535094e-01 7.91184167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98999999999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:170.66, Y:-55.83, Z:79.15 [[ 7.31598726e-01 -2.59665399e-01 -6.30346877e-01 1.70662998e+02] [ 2.00599952e-01 9.65681545e-01 -1.64981248e-01 -5.58349876e+01] [ 6.51554268e-01 -5.74748304e-03 7.58580255e-01 7.91492808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:-55.83, Z:79.17 [[ 7.31747646e-01 -2.60889699e-01 -6.29668125e-01 1.70683455e+02] [ 2.02162512e-01 9.65346520e-01 -1.65034589e-01 -5.58289473e+01] [ 6.50903757e-01 -6.53161760e-03 7.59132161e-01 7.91682659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04999999999998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:170.70, Y:-55.83, Z:79.19 [[ 7.29731656e-01 -2.58048791e-01 -6.33168644e-01 1.70703278e+02] [ 2.03640248e-01 9.66045770e-01 -1.59016415e-01 -5.58268078e+01] [ 6.52703884e-01 -1.28993074e-02 7.57503299e-01 7.91922562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:-55.83, Z:79.22 [[ 7.29340589e-01 -2.49946209e-01 -6.36858852e-01 1.70718135e+02] [ 2.02495138e-01 9.68031889e-01 -1.48020204e-01 -5.58282187e+01] [ 6.53496767e-01 -2.10036785e-02 7.56637840e-01 7.92204593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10999999999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:170.74, Y:-55.82, Z:79.24 [[ 7.27779178e-01 -2.53134174e-01 -6.37385722e-01 1.70739806e+02] [ 2.01574596e-01 9.67292029e-01 -1.53992898e-01 -5.58204031e+01] [ 6.55518993e-01 -1.64079448e-02 7.55000417e-01 7.92389398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:-55.81, Z:79.25 [[ 7.29840064e-01 -2.60285786e-01 -6.32127195e-01 1.70762471e+02] [ 2.01829782e-01 9.65502472e-01 -1.64528769e-01 -5.58073713e+01] [ 6.53144869e-01 -7.50240684e-03 7.57195810e-01 7.92529037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:170.78, Y:-55.80, Z:79.27 [[ 7.29024945e-01 -2.54974677e-01 -6.35224798e-01 1.70782427e+02] [ 2.00281163e-01 9.66874972e-01 -1.58241098e-01 -5.58049096e+01] [ 6.54530431e-01 -1.18618538e-02 7.55942598e-01 7.92742253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:-55.81, Z:79.31 [[ 7.28418670e-01 -2.38099379e-01 -6.42428928e-01 1.70797231e+02] [ 1.91968575e-01 9.71040468e-01 -1.42226843e-01 -5.58084511e+01] [ 6.57688610e-01 -1.97254776e-02 7.53031605e-01 7.93071504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:170.82, Y:-55.80, Z:79.32 [[ 7.27741075e-01 -2.41371884e-01 -6.41975499e-01 1.70818875e+02] [ 1.91147737e-01 9.70318216e-01 -1.48138795e-01 -5.57977450e+01] [ 6.58677061e-01 -1.49054781e-02 7.52278111e-01 7.93215669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:170.84, Y:-55.79, Z:79.34 [[ 7.28495262e-01 -2.40163113e-01 -6.41573325e-01 1.70838828e+02] [ 1.89484077e-01 9.70637075e-01 -1.48187223e-01 -5.57904286e+01] [ 6.58323961e-01 -1.36142396e-02 7.52611596e-01 7.93397855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:170.86, Y:-55.78, Z:79.36 [[ 7.27326554e-01 -2.39236406e-01 -6.43243364e-01 1.70858889e+02] [ 1.87727857e-01 9.70880750e-01 -1.48824802e-01 -5.57807288e+01] [ 6.60116911e-01 -1.25104675e-02 7.51058688e-01 7.93561191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:170.88, Y:-55.76, Z:79.36 [[ 7.30937221e-01 -2.55573896e-01 -6.32781765e-01 1.70884926e+02] [ 1.91835081e-01 9.66787344e-01 -1.68883197e-01 -5.57591530e+01] [ 6.54927539e-01 2.05327354e-03 7.55688893e-01 7.93578272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:170.90, Y:-55.77, Z:79.40 [[ 7.27666613e-01 -2.31558173e-01 -6.45664087e-01 1.70897358e+02] [ 1.87085341e-01 9.72607113e-01 -1.37965502e-01 -5.57731510e+01] [ 6.59924523e-01 -2.04013963e-02 7.51054863e-01 7.93959841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:-55.76, Z:79.41 [[ 7.28695915e-01 -2.38233300e-01 -6.42064762e-01 1.70919179e+02] [ 1.86043683e-01 9.71148607e-01 -1.49191594e-01 -5.57617202e+01] [ 6.59082705e-01 -1.07367881e-02 7.51993823e-01 7.94117649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:-55.74, Z:79.41 [[ 7.32250992e-01 -2.55176128e-01 -6.31421910e-01 1.70947018e+02] [ 1.88566033e-01 9.66869762e-01 -1.72063111e-01 -5.57383773e+01] [ 6.54409151e-01 6.92865897e-03 7.56108893e-01 7.94144314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:170.96, Y:-55.75, Z:79.45 [[ 7.27998588e-01 -2.27106199e-01 -6.46870026e-01 1.70957188e+02] [ 1.85168122e-01 9.73606686e-01 -1.33427086e-01 -5.57547908e+01] [ 6.60099101e-01 -2.26449777e-02 7.50837121e-01 7.94533362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:170.98, Y:-55.74, Z:79.47 [[ 7.27974050e-01 -2.37655211e-01 -6.43097025e-01 1.70979639e+02] [ 1.84577241e-01 9.71303107e-01 -1.50005053e-01 -5.57403908e+01] [ 6.60291621e-01 -9.50128886e-03 7.50949200e-01 7.94650528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:-55.73, Z:79.48 [[ 7.29458900e-01 -2.36473451e-01 -6.41848908e-01 1.70998882e+02] [ 1.83115141e-01 9.71603178e-01 -1.49853628e-01 -5.57344654e+01] [ 6.59058843e-01 -8.22019102e-03 7.52046454e-01 7.94840775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:171.02, Y:-55.73, Z:79.50 [[ 7.29425857e-01 -2.35412752e-01 -6.42276230e-01 1.71018819e+02] [ 1.81398863e-01 9.71870679e-01 -1.50205979e-01 -5.57263991e+01] [ 6.59569839e-01 -6.94405306e-03 7.51611208e-01 7.95009414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:-55.72, Z:79.52 [[ 7.30600689e-01 -2.34248067e-01 -6.41366101e-01 1.71038168e+02] [ 1.79901240e-01 9.72160179e-01 -1.50133711e-01 -5.57210151e+01] [ 6.58679115e-01 -5.69476358e-03 7.52402414e-01 7.95200957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:171.06, Y:-55.71, Z:79.54 [[ 7.29994972e-01 -2.34242398e-01 -6.42057505e-01 1.71058523e+02] [ 1.79535981e-01 9.72163382e-01 -1.50549628e-01 -5.57145854e+01] [ 6.59449901e-01 -5.37195237e-03 7.51729320e-01 7.95365889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:171.08, Y:-55.71, Z:79.55 [[ 7.30912052e-01 -2.33290417e-01 -6.41360393e-01 1.71077868e+02] [ 1.78283176e-01 9.72397501e-01 -1.50526440e-01 -5.57087676e+01] [ 6.58773619e-01 -4.32217847e-03 7.52328810e-01 7.95541190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:171.10, Y:-55.70, Z:79.57 [[ 7.31489033e-01 -2.32447918e-01 -6.41008394e-01 1.71097935e+02] [ 1.77110225e-01 9.72602976e-01 -1.50583597e-01 -5.57025089e+01] [ 6.58449515e-01 -3.37889097e-03 7.52617313e-01 7.95727778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67999999999998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.12, Y:-55.69, Z:79.59 [[ 7.32243655e-01 -2.30658585e-01 -6.40793139e-01 1.71117437e+02] [ 1.74555398e-01 9.73033676e-01 -1.50784211e-01 -5.56947480e+01] [ 6.58292976e-01 -1.44311905e-03 7.52760437e-01 7.95903579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:-55.69, Z:79.61 [[ 7.32658124e-01 -2.29614863e-01 -6.40694224e-01 1.71137668e+02] [ 1.73038667e-01 9.73281529e-01 -1.50932716e-01 -5.56887308e+01] [ 6.58232249e-01 -2.82793897e-04 7.52814869e-01 7.96092896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73999999999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:171.16, Y:-55.68, Z:79.63 [[ 7.32447042e-01 -2.29627338e-01 -6.40931054e-01 1.71159591e+02] [ 1.72783641e-01 9.73278626e-01 -1.51243277e-01 -5.56820222e+01] [ 6.58534087e-01 3.52899751e-05 7.52550899e-01 7.96265347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76999999999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:171.18, Y:-55.68, Z:79.65 [[ 7.32385750e-01 -2.29982417e-01 -6.40873779e-01 1.71180696e+02] [ 1.73043362e-01 9.73194783e-01 -1.51485673e-01 -5.56768566e+01] [ 6.58534060e-01 4.69947842e-05 7.52550922e-01 7.96451173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79999999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.20, Y:-55.67, Z:79.66 [[ 7.32584261e-01 -2.29158683e-01 -6.40941962e-01 1.71199974e+02] [ 1.71725270e-01 9.73388460e-01 -1.51741020e-01 -5.56712294e+01] [ 6.58658281e-01 1.09715140e-03 7.52441403e-01 7.96633014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82999999999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:171.22, Y:-55.66, Z:79.68 [[ 7.31611346e-01 -2.29147957e-01 -6.42056113e-01 1.71222003e+02] [ 1.71351998e-01 9.73390741e-01 -1.52147814e-01 -5.56640213e+01] [ 6.59835837e-01 1.29546909e-03 7.51408671e-01 7.96801678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85999999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:171.24, Y:-55.66, Z:79.70 [[ 7.31555477e-01 -2.28764174e-01 -6.42256597e-01 1.71241822e+02] [ 1.70572757e-01 9.73479865e-01 -1.52452902e-01 -5.56587748e+01] [ 6.60099627e-01 1.97627749e-03 7.51175463e-01 7.96979484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:-55.65, Z:79.72 [[ 7.31802254e-01 -2.28123969e-01 -6.42203174e-01 1.71261444e+02] [ 1.69577169e-01 9.73628119e-01 -1.52616742e-01 -5.56537341e+01] [ 6.60082605e-01 2.78227982e-03 7.51187869e-01 7.97168553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:171.28, Y:-55.65, Z:79.73 [[ 7.30898393e-01 -2.28899028e-01 -6.42956277e-01 1.71283468e+02] [ 1.70227759e-01 9.73447182e-01 -1.53046050e-01 -5.56473989e+01] [ 6.60916068e-01 2.41210554e-03 7.50455950e-01 7.97333096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.32, Y:-55.61, Z:79.72 [[ 7.36955420e-01 -2.63186455e-01 -6.22599068e-01 1.71316946e+02] [ 1.75575973e-01 9.64002527e-01 -1.99680258e-01 -5.56113681e+01] [ 6.52740214e-01 3.78420108e-02 7.56636105e-01 7.97232401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:171.32, Y:-55.65, Z:79.78 [[ 7.30400948e-01 -2.05572601e-01 -6.51348110e-01 1.71319182e+02] [ 1.69940803e-01 9.78338860e-01 -1.18208280e-01 -5.56534301e+01] [ 6.61539551e-01 -2.43511811e-02 7.49514804e-01 7.97802469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:-55.63, Z:79.79 [[ 7.31820287e-01 -2.27702863e-01 -6.42332059e-01 1.71344383e+02] [ 1.68167627e-01 9.73720836e-01 -1.53581841e-01 -5.56335298e+01] [ 6.60423134e-01 4.37484878e-03 7.50880912e-01 7.97889451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:171.37, Y:-55.63, Z:79.81 [[ 7.31660129e-01 -2.28601053e-01 -6.42195465e-01 1.71365888e+02] [ 1.69172295e-01 9.73512428e-01 -1.53799503e-01 -5.56288040e+01] [ 6.60343994e-01 3.88728336e-03 7.50953193e-01 7.98060107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:171.39, Y:-55.62, Z:79.83 [[ 7.32194166e-01 -2.28909394e-01 -6.41476572e-01 1.71386811e+02] [ 1.69513631e-01 9.73439786e-01 -1.53883437e-01 -5.56248120e+01] [ 6.59664181e-01 3.93353185e-03 7.51550195e-01 7.98250568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.1 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:171.41, Y:-55.62, Z:79.84 [[ 7.33057861e-01 -2.29095571e-01 -6.40422822e-01 1.71406711e+02] [ 1.69765665e-01 9.73395358e-01 -1.53886631e-01 -5.56209423e+01] [ 6.58639349e-01 4.08599878e-03 7.52447681e-01 7.98427237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:-55.62, Z:79.86 [[ 7.34392846e-01 -2.28287740e-01 -6.39180612e-01 1.71425928e+02] [ 1.68839603e-01 9.73580971e-01 -1.53731200e-01 -5.56176971e+01] [ 6.57389029e-01 4.98009278e-03 7.53534911e-01 7.98625985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.45, Y:-55.61, Z:79.88 [[ 7.35240922e-01 -2.28198069e-01 -6.38236969e-01 1.71447757e+02] [ 1.68705929e-01 9.73599893e-01 -1.53758114e-01 -5.56130319e+01] [ 6.56474749e-01 5.37489649e-03 7.54328850e-01 7.98795012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:171.47, Y:-55.61, Z:79.90 [[ 7.35814929e-01 -2.27850142e-01 -6.37699540e-01 1.71468046e+02] [ 1.68138727e-01 9.73677662e-01 -1.53886905e-01 -5.56083435e+01] [ 6.55976950e-01 6.01029340e-03 7.54756992e-01 7.98962236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:-55.60, Z:79.92 [[ 7.36526000e-01 -2.26480717e-01 -6.37366407e-01 1.71488136e+02] [ 1.66248009e-01 9.73987147e-01 -1.53982584e-01 -5.56046733e+01] [ 6.55660774e-01 7.45128049e-03 7.55018826e-01 7.99155203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:171.51, Y:-55.60, Z:79.93 [[ 7.36266779e-01 -2.26505336e-01 -6.37657089e-01 1.71509576e+02] [ 1.65991559e-01 9.73978946e-01 -1.54310771e-01 -5.55992941e+01] [ 6.56016793e-01 7.76820004e-03 7.54706315e-01 7.99308514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:171.53, Y:-55.60, Z:79.95 [[ 7.36000730e-01 -2.24656834e-01 -6.38617438e-01 1.71530826e+02] [ 1.63202621e-01 9.74390396e-01 -1.54687623e-01 -5.55952695e+01] [ 6.57014330e-01 9.62616373e-03 7.53816627e-01 7.99482682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:-55.59, Z:79.97 [[ 7.36565727e-01 -2.23095513e-01 -6.38513369e-01 1.71549580e+02] [ 1.60936870e-01 9.74730544e-01 -1.54918334e-01 -5.55915350e+01] [ 6.56940069e-01 1.13471919e-02 7.53857405e-01 7.99672836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:-55.59, Z:79.99 [[ 7.36614462e-01 -2.22369783e-01 -6.38710274e-01 1.71570896e+02] [ 1.59806334e-01 9.74886247e-01 -1.55108804e-01 -5.55866604e+01] [ 6.57161373e-01 1.21854406e-02 7.53651409e-01 7.99852216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:-55.58, Z:80.00 [[ 7.36649926e-01 -2.21924561e-01 -6.38824213e-01 1.71592461e+02] [ 1.58965894e-01 9.74978242e-01 -1.55393929e-01 -5.55820440e+01] [ 6.57325437e-01 1.29196641e-02 7.53496086e-01 8.00032873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:-55.58, Z:80.02 [[ 7.36421010e-01 -2.21756540e-01 -6.39146410e-01 1.71612574e+02] [ 1.58442393e-01 9.75009779e-01 -1.55730339e-01 -5.55777201e+01] [ 6.57708221e-01 1.34152068e-02 7.53153323e-01 8.00207668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:-55.57, Z:80.04 [[ 7.36161077e-01 -2.21647920e-01 -6.39483439e-01 1.71633506e+02] [ 1.58092433e-01 9.75030348e-01 -1.55957053e-01 -5.55736129e+01] [ 6.58083317e-01 1.37120193e-02 7.52820250e-01 8.00386629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:-55.57, Z:80.06 [[ 7.36073548e-01 -2.22190547e-01 -6.39395881e-01 1.71654372e+02] [ 1.58606954e-01 9.74909006e-01 -1.56193033e-01 -5.55709505e+01] [ 6.58057419e-01 1.35569268e-02 7.52845697e-01 8.00560698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:-55.57, Z:80.07 [[ 7.36285129e-01 -2.23012670e-01 -6.38865837e-01 1.71675354e+02] [ 1.59695793e-01 9.74729010e-01 -1.56206947e-01 -5.55671510e+01] [ 6.57557193e-01 1.29886650e-02 7.53292660e-01 8.00741735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:-55.56, Z:80.09 [[ 7.36409756e-01 -2.24162832e-01 -6.38319431e-01 1.71695958e+02] [ 1.61126856e-01 9.74474470e-01 -1.56325443e-01 -5.55635234e+01] [ 6.57068343e-01 1.22691782e-02 7.53731159e-01 8.00924373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:-55.56, Z:80.11 [[ 7.36693453e-01 -2.25427171e-01 -6.37546349e-01 1.71716917e+02] [ 1.62760878e-01 9.74192825e-01 -1.56388096e-01 -5.55598504e+01] [ 6.56347205e-01 1.14424828e-02 7.54372200e-01 8.01111485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:-55.56, Z:80.13 [[ 7.36863629e-01 -2.27937037e-01 -6.36456361e-01 1.71738660e+02] [ 1.66109325e-01 9.73629467e-01 -1.56375680e-01 -5.55576003e+01] [ 6.55316476e-01 9.50621420e-03 7.55294610e-01 8.01296670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:-55.55, Z:80.15 [[ 7.36727869e-01 -2.29480620e-01 -6.36058717e-01 1.71760122e+02] [ 1.68019035e-01 9.73276534e-01 -1.56532399e-01 -5.55540932e+01] [ 6.54982176e-01 8.45180903e-03 7.55597060e-01 8.01482132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:-55.55, Z:80.17 [[ 7.36270014e-01 -2.30973494e-01 -6.36048514e-01 1.71780127e+02] [ 1.69774918e-01 9.72931527e-01 -1.56782402e-01 -5.55511793e+01] [ 6.55044231e-01 7.44909697e-03 7.55553815e-01 8.01657686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:-55.55, Z:80.18 [[ 7.36142944e-01 -2.32571919e-01 -6.35612986e-01 1.71801302e+02] [ 1.71864211e-01 9.72559447e-01 -1.56814591e-01 -5.55480767e+01] [ 6.54642084e-01 6.19883004e-03 7.55913564e-01 8.01838126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:-55.55, Z:80.20 [[ 7.35268694e-01 -2.34984170e-01 -6.35737673e-01 1.71822596e+02] [ 1.74802844e-01 9.71989317e-01 -1.57101032e-01 -5.55466867e+01] [ 6.54846481e-01 4.38271751e-03 7.55749216e-01 8.02011114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:-55.54, Z:80.22 [[ 7.34864053e-01 -2.36308317e-01 -6.35714718e-01 1.71843888e+02] [ 1.76435668e-01 9.71672229e-01 -1.57237195e-01 -5.55433437e+01] [ 6.54862794e-01 3.38521147e-03 7.55740208e-01 8.02191917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:-55.54, Z:80.24 [[ 7.34130479e-01 -2.37688605e-01 -6.36047614e-01 1.71864714e+02] [ 1.77969995e-01 9.71338239e-01 -1.57571274e-01 -5.55401234e+01] [ 6.55270265e-01 2.48048406e-03 7.55390447e-01 8.02363903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.89, Y:-55.54, Z:80.25 [[ 7.33398259e-01 -2.38700233e-01 -6.36513309e-01 1.71886291e+02] [ 1.79085407e-01 9.71091706e-01 -1.57826851e-01 -5.55370822e+01] [ 6.55786101e-01 1.75969267e-03 7.54944695e-01 8.02548733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:-55.53, Z:80.27 [[ 7.32583409e-01 -2.39767834e-01 -6.37050182e-01 1.71907453e+02] [ 1.80166165e-01 9.70829603e-01 -1.58208837e-01 -5.55341409e+01] [ 6.56400565e-01 1.12628087e-03 7.54411711e-01 8.02731526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:-55.53, Z:80.29 [[ 7.31322274e-01 -2.41364419e-01 -6.37895719e-01 1.71929368e+02] [ 1.81880714e-01 9.70434551e-01 -1.58670063e-01 -5.55335865e+01] [ 6.57333353e-01 1.80230143e-05 7.53599935e-01 8.02912055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:-55.53, Z:80.31 [[ 7.30852769e-01 -2.42359057e-01 -6.38056672e-01 1.71950582e+02] [ 1.82945903e-01 9.70186468e-01 -1.58962301e-01 -5.55298915e+01] [ 6.57559903e-01 -5.51816265e-04 7.53402064e-01 8.03091437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.97, Y:-55.53, Z:80.33 [[ 7.30468452e-01 -2.43265115e-01 -6.38151960e-01 1.71972050e+02] [ 1.83909058e-01 9.69959274e-01 -1.59237135e-01 -5.55261078e+01] [ 6.57718252e-01 -1.04422166e-03 7.53263308e-01 8.03277139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:-55.52, Z:80.35 [[ 7.30676988e-01 -2.44959899e-01 -6.37264299e-01 1.71992208e+02] [ 1.86128852e-01 9.69530625e-01 -1.59268384e-01 -5.55239791e+01] [ 6.56861621e-01 -2.23952956e-03 7.54007822e-01 8.03451337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:-55.52, Z:80.36 [[ 7.31021683e-01 -2.45978244e-01 -6.36476239e-01 1.72013282e+02] [ 1.87525461e-01 9.69270804e-01 -1.59211525e-01 -5.55202108e+01] [ 6.56080407e-01 -2.96842336e-03 7.54685158e-01 8.03640387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:-55.52, Z:80.38 [[ 7.31444240e-01 -2.47147952e-01 -6.35536949e-01 1.72032981e+02] [ 1.89055556e-01 9.68970748e-01 -1.59228412e-01 -5.55162964e+01] [ 6.55169688e-01 -3.68508646e-03 7.55472766e-01 8.03816363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:-55.51, Z:80.40 [[ 7.32013193e-01 -2.47380528e-01 -6.34790958e-01 1.72052647e+02] [ 1.89400249e-01 9.68911312e-01 -1.59180451e-01 -5.55118108e+01] [ 6.54434283e-01 -3.70737498e-03 7.56109796e-01 8.03994574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:-55.51, Z:80.42 [[ 7.32927127e-01 -2.46364429e-01 -6.34131213e-01 1.72073457e+02] [ 1.88076879e-01 9.69173726e-01 -1.59152054e-01 -5.55058726e+01] [ 6.53792715e-01 -2.61856192e-03 7.56669167e-01 8.04181130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:-55.50, Z:80.44 [[ 7.33076952e-01 -2.45518948e-01 -6.34285921e-01 1.72094180e+02] [ 1.86715612e-01 9.69390547e-01 -1.59434149e-01 -5.54996641e+01] [ 6.54014880e-01 -1.55358384e-03 7.56480088e-01 8.04367536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:-55.48, Z:80.44 [[ 7.34258827e-01 -2.54014897e-01 -6.29555722e-01 1.72118977e+02] [ 1.87460937e-01 9.67167388e-01 -1.71597322e-01 -5.54835518e+01] [ 6.52474039e-01 7.97974273e-03 7.57769062e-01 8.04447436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:-55.49, Z:80.48 [[ 7.32974596e-01 -2.38245238e-01 -6.37171443e-01 1.72133719e+02] [ 1.83325143e-01 9.71191029e-01 -1.52249392e-01 -5.54907233e+01] [ 6.55087882e-01 -5.21460871e-03 7.55534695e-01 8.04753112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:-55.47, Z:80.48 [[ 7.33540935e-01 -2.52199952e-01 -6.31120338e-01 1.72160163e+02] [ 1.83751583e-01 9.67612604e-01 -1.73093051e-01 -5.54702603e+01] [ 6.54334053e-01 1.10014775e-02 7.56125595e-01 8.04802216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:-55.48, Z:80.51 [[ 7.31603064e-01 -2.36428278e-01 -6.39420539e-01 1.72174968e+02] [ 1.80333671e-01 9.71642926e-01 -1.52937217e-01 -5.54787472e+01] [ 6.57447126e-01 -3.41971653e-03 7.53492921e-01 8.05113272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:-55.45, Z:80.51 [[ 7.33508796e-01 -2.56736454e-01 -6.29326020e-01 1.72203197e+02] [ 1.84534443e-01 9.66360747e-01 -1.79147835e-01 -5.54537396e+01] [ 6.54149742e-01 1.52741859e-02 7.56210826e-01 8.05112759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:-55.47, Z:80.55 [[ 7.30693128e-01 -2.35077519e-01 -6.40957185e-01 1.72216806e+02] [ 1.80252011e-01 9.71962678e-01 -1.50989288e-01 -5.54678040e+01] [ 6.58480649e-01 -5.20698655e-03 7.52579645e-01 8.05495644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:-55.46, Z:80.56 [[ 7.30461628e-01 -2.42285677e-01 -6.38532271e-01 1.72238247e+02] [ 1.80705795e-01 9.70201682e-01 -1.61412863e-01 -5.54570577e+01] [ 6.58613107e-01 2.51942121e-03 7.52477526e-01 8.05633159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:-55.45, Z:80.58 [[ 7.30286703e-01 -2.43334926e-01 -6.38333334e-01 1.72258453e+02] [ 1.82022530e-01 9.69940744e-01 -1.61501554e-01 -5.54512820e+01] [ 6.58444478e-01 1.75138907e-03 7.52627267e-01 8.05814533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:-55.45, Z:80.60 [[ 7.29446549e-01 -2.45646288e-01 -6.38408673e-01 1.72278142e+02] [ 1.84858268e-01 9.69359531e-01 -1.61769960e-01 -5.54462822e+01] [ 6.58585722e-01 -1.25822648e-05 7.52505712e-01 8.06000859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:-55.44, Z:80.62 [[ 7.29079149e-01 -2.47454135e-01 -6.38130117e-01 1.72297839e+02] [ 1.87201419e-01 9.68898498e-01 -1.61837351e-01 -5.54412295e+01] [ 6.58330633e-01 -1.46662505e-03 7.52727458e-01 8.06178233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:-55.44, Z:80.64 [[ 7.28173256e-01 -2.51368509e-01 -6.37634364e-01 1.72318259e+02] [ 1.92394473e-01 9.67879425e-01 -1.61844944e-01 -5.54361093e+01] [ 6.57835904e-01 -4.82616824e-03 7.53145824e-01 8.06367773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:-55.43, Z:80.66 [[ 7.27939059e-01 -2.53509767e-01 -6.37053785e-01 1.72339363e+02] [ 1.95155352e-01 9.67311355e-01 -1.61935578e-01 -5.54303528e+01] [ 6.57281610e-01 -6.44522368e-03 7.53617505e-01 8.06551562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:-55.43, Z:80.67 [[ 7.27668851e-01 -2.55208556e-01 -6.36684094e-01 1.72360125e+02] [ 1.97284041e-01 9.66855618e-01 -1.62077827e-01 -5.54250773e+01] [ 6.56945241e-01 -7.66862481e-03 7.53899292e-01 8.06741166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:-55.42, Z:80.69 [[ 7.27846830e-01 -2.56742546e-01 -6.35863395e-01 1.72380564e+02] [ 1.99275061e-01 9.66440539e-01 -1.62117656e-01 -5.54195886e+01] [ 6.56146662e-01 -8.71489463e-03 7.54583069e-01 8.06915218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:-55.41, Z:80.70 [[ 7.29152420e-01 -2.66662996e-01 -6.30259943e-01 1.72403632e+02] [ 2.04851467e-01 9.63778932e-01 -1.70780700e-01 -5.54055013e+01] [ 6.52972147e-01 -4.58451291e-03 7.57368046e-01 8.07003487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:-55.41, Z:80.73 [[ 7.27623464e-01 -2.57065936e-01 -6.35988364e-01 1.72422069e+02] [ 2.01038196e-01 9.66331124e-01 -1.60585809e-01 -5.54092580e+01] [ 6.55856492e-01 -1.10119504e-02 7.54805272e-01 8.07283428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:-55.40, Z:80.75 [[ 7.27004970e-01 -2.57957290e-01 -6.36334668e-01 1.72443160e+02] [ 2.00402100e-01 9.66112043e-01 -1.62685339e-01 -5.54026648e+01] [ 6.56736455e-01 -9.24975412e-03 7.54063440e-01 8.07461801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:-55.40, Z:80.76 [[ 7.26585867e-01 -2.57308604e-01 -6.37075553e-01 1.72462876e+02] [ 1.99163106e-01 9.66293174e-01 -1.63130494e-01 -5.53970304e+01] [ 6.57576638e-01 -8.35363465e-03 7.53341345e-01 8.07631672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:-55.39, Z:80.78 [[ 7.25984033e-01 -2.56369577e-01 -6.38139345e-01 1.72482637e+02] [ 1.97565967e-01 9.66550936e-01 -1.63545028e-01 -5.53911848e+01] [ 6.58722151e-01 -7.34353788e-03 7.52350450e-01 8.07806484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:-55.39, Z:80.80 [[ 7.25917630e-01 -2.56641953e-01 -6.38105401e-01 1.72503618e+02] [ 1.97812273e-01 9.66478152e-01 -1.63677387e-01 -5.53856580e+01] [ 6.58721413e-01 -7.40877902e-03 7.52350457e-01 8.07992760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:-55.38, Z:80.82 [[ 7.25501157e-01 -2.55505884e-01 -6.39034283e-01 1.72524855e+02] [ 1.95898790e-01 9.66788272e-01 -1.64146582e-01 -5.53795602e+01] [ 6.59751268e-01 -6.09750792e-03 7.51459304e-01 8.08171730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:-55.37, Z:80.83 [[ 7.24414389e-01 -2.52769794e-01 -6.41351093e-01 1.72545629e+02] [ 1.91519910e-01 9.67520801e-01 -1.64995829e-01 -5.53727851e+01] [ 6.62226485e-01 -3.30615127e-03 7.49296438e-01 8.08348911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:-55.35, Z:80.83 [[ 7.27621205e-01 -2.69727876e-01 -6.30725182e-01 1.72571882e+02] [ 1.94988048e-01 9.62849535e-01 -1.86816581e-01 -5.53494256e+01] [ 6.57683088e-01 1.29478336e-02 7.53183450e-01 8.08344189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:-55.37, Z:80.87 [[ 7.23717252e-01 -2.43135283e-01 -6.45847175e-01 1.72585073e+02] [ 1.87208680e-01 9.69955448e-01 -1.55368397e-01 -5.53662847e+01] [ 6.64218525e-01 -8.46540767e-03 7.47490527e-01 8.08749679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:-55.36, Z:80.89 [[ 7.23708105e-01 -2.49105230e-01 -6.43578405e-01 1.72607343e+02] [ 1.85822160e-01 9.68476308e-01 -1.65902879e-01 -5.53556408e+01] [ 6.64617712e-01 4.74128640e-04 7.47183426e-01 8.08897160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:-55.35, Z:80.91 [[ 7.23961548e-01 -2.48198926e-01 -6.43643512e-01 1.72627854e+02] [ 1.84366540e-01 9.68707700e-01 -1.66175721e-01 -5.53501430e+01] [ 6.64747062e-01 1.63850495e-03 7.47066704e-01 8.09083208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:-55.34, Z:80.93 [[ 7.24560548e-01 -2.48291019e-01 -6.42933576e-01 1.72647718e+02] [ 1.84427315e-01 9.68683656e-01 -1.66248428e-01 -5.53449541e+01] [ 6.64077238e-01 1.88253930e-03 7.47661606e-01 8.09265141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:-55.34, Z:80.95 [[ 7.25461650e-01 -2.48701923e-01 -6.41757546e-01 1.72667864e+02] [ 1.85122299e-01 9.68578602e-01 -1.66088008e-01 -5.53399152e+01] [ 6.62899034e-01 1.68684786e-03 7.48706902e-01 8.09451591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:-55.34, Z:80.96 [[ 7.27573707e-01 -2.49065841e-01 -6.39220391e-01 1.72686566e+02] [ 1.85967779e-01 9.68485105e-01 -1.65688223e-01 -5.53363332e+01] [ 6.60342704e-01 1.67599824e-03 7.50962519e-01 8.09642757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:-55.33, Z:80.98 [[ 7.28755065e-01 -2.49063548e-01 -6.37874129e-01 1.72706516e+02] [ 1.86148995e-01 9.68485364e-01 -1.65483085e-01 -5.53315968e+01] [ 6.58987562e-01 1.85700795e-03 7.52151544e-01 8.09832371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:-55.33, Z:81.00 [[ 7.29694935e-01 -2.48705507e-01 -6.36938672e-01 1.72725744e+02] [ 1.85664928e-01 9.68575911e-01 -1.65496946e-01 -5.53266751e+01] [ 6.58083457e-01 2.50511048e-03 7.52940827e-01 8.10011226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:-55.32, Z:81.02 [[ 7.30523060e-01 -2.47852540e-01 -6.36321599e-01 1.72746182e+02] [ 1.84552110e-01 9.68791620e-01 -1.65479048e-01 -5.53214080e+01] [ 6.57477435e-01 3.45176645e-03 7.53466328e-01 8.10195618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:-55.32, Z:81.04 [[ 7.31180144e-01 -2.45548103e-01 -6.36460309e-01 1.72767024e+02] [ 1.81242715e-01 9.69366738e-01 -1.65768529e-01 -5.53151157e+01] [ 6.57667602e-01 5.85286272e-03 7.53285516e-01 8.10369536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:-55.31, Z:81.05 [[ 7.31030837e-01 -2.44470781e-01 -6.37046272e-01 1.72787951e+02] [ 1.79451756e-01 9.69630221e-01 -1.66175513e-01 -5.53092525e+01] [ 6.58324375e-01 7.16035238e-03 7.52700303e-01 8.10546028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:-55.30, Z:81.07 [[ 7.30737794e-01 -2.43383839e-01 -6.37798231e-01 1.72809215e+02] [ 1.77603950e-01 9.69892938e-01 -1.66626909e-01 -5.53033117e+01] [ 6.59150297e-01 8.48509514e-03 7.51963356e-01 8.10728044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:-55.30, Z:81.09 [[ 7.30155804e-01 -2.42501125e-01 -6.38800209e-01 1.72830486e+02] [ 1.75961863e-01 9.70103263e-01 -1.67143897e-01 -5.52972532e+01] [ 6.60234750e-01 9.63661173e-03 7.50997477e-01 8.10907667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:-55.29, Z:81.11 [[ 7.29487093e-01 -2.41832469e-01 -6.39816879e-01 1.72851713e+02] [ 1.74596910e-01 9.70260133e-01 -1.67663928e-01 -5.52915986e+01] [ 6.61335392e-01 1.05986216e-02 7.50015446e-01 8.11084287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:-55.29, Z:81.13 [[ 7.27890165e-01 -2.41177802e-01 -6.41879409e-01 1.72872540e+02] [ 1.72978385e-01 9.70411728e-01 -1.68462332e-01 -5.52862644e+01] [ 6.63516682e-01 1.15908111e-02 7.48071699e-01 8.11260917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:-55.26, Z:81.12 [[ 7.32960575e-01 -2.68947339e-01 -6.24848881e-01 1.72902726e+02] [ 1.80000444e-01 9.62466579e-01 -2.03120467e-01 -5.52552909e+01] [ 6.56024874e-01 3.64062181e-02 7.53860698e-01 8.11177024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:-55.29, Z:81.17 [[ 7.26036013e-01 -2.27622882e-01 -6.48891001e-01 1.72909682e+02] [ 1.73151253e-01 9.73736420e-01 -1.47837840e-01 -5.52879762e+01] [ 6.65500076e-01 -5.02069417e-03 7.46380896e-01 8.11706746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:-55.27, Z:81.18 [[ 7.25895528e-01 -2.42460725e-01 -6.43652452e-01 1.72933891e+02] [ 1.73939084e-01 9.70099828e-01 -1.69267598e-01 -5.52728590e+01] [ 6.65447877e-01 1.09142745e-02 7.46364523e-01 8.11819715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:-55.27, Z:81.20 [[ 7.25823614e-01 -2.43701637e-01 -6.43264793e-01 1.72953796e+02] [ 1.75468868e-01 9.69797702e-01 -1.69419872e-01 -5.52684285e+01] [ 6.65124618e-01 1.00959987e-02 7.46664124e-01 8.11995525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:-55.27, Z:81.22 [[ 7.26112971e-01 -2.46648545e-01 -6.41813407e-01 1.72974246e+02] [ 1.79640142e-01 9.69075599e-01 -1.69180089e-01 -5.52654187e+01] [ 6.63693735e-01 7.54840514e-03 7.47966342e-01 8.12192476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:-55.26, Z:81.24 [[ 7.26563499e-01 -2.48514109e-01 -6.40582718e-01 1.72994927e+02] [ 1.82204087e-01 9.68608729e-01 -1.69111799e-01 -5.52608435e+01] [ 6.62500681e-01 6.15367153e-03 7.49036034e-01 8.12379652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:-55.23, Z:81.23 [[ 7.31657558e-01 -2.74284939e-01 -6.24055278e-01 1.73024057e+02] [ 1.91769897e-01 9.61324401e-01 -1.97685869e-01 -5.52333902e+01] [ 6.54141823e-01 2.49633438e-02 7.55959858e-01 8.12333620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:-55.24, Z:81.26 [[ 7.31446035e-01 -2.63081030e-01 -6.29106564e-01 1.73040352e+02] [ 1.95894704e-01 9.64759379e-01 -1.75683251e-01 -5.52411199e+01] [ 6.53155389e-01 5.26417353e-03 7.57205603e-01 8.12620195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:-55.23, Z:81.28 [[ 7.32267800e-01 -2.71689449e-01 -6.24474750e-01 1.73063730e+02] [ 1.98467701e-01 9.62307358e-01 -1.85943866e-01 -5.52294638e+01] [ 6.51455633e-01 1.22226382e-02 7.58588272e-01 8.12750982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:-55.25, Z:81.32 [[ 7.26896786e-01 -2.43729129e-01 -6.42041412e-01 1.73073162e+02] [ 1.92841311e-01 9.69728485e-01 -1.49796178e-01 -5.52507337e+01] [ 6.59115537e-01 -1.49257474e-02 7.51893563e-01 8.13214780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:-55.24, Z:81.33 [[ 7.26847207e-01 -2.57231198e-01 -6.36808643e-01 1.73097338e+02] [ 1.94311532e-01 9.66349118e-01 -1.68559814e-01 -5.52354784e+01] [ 6.58738314e-01 -1.22203251e-03 7.52371146e-01 8.13333210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:-55.21, Z:81.33 [[ 7.30220139e-01 -2.81501284e-01 -6.22523555e-01 1.73125192e+02] [ 2.02562367e-01 9.59406814e-01 -1.96232141e-01 -5.52068951e+01] [ 6.52492940e-01 1.71928169e-02 7.57599743e-01 8.13283528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:-55.20, Z:81.35 [[ 7.29082508e-01 -2.75933596e-01 -6.26338045e-01 1.73145065e+02] [ 2.04343822e-01 9.61148920e-01 -1.85570352e-01 -5.52049731e+01] [ 6.53209230e-01 7.30778722e-03 7.57142191e-01 8.13492627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:-55.20, Z:81.37 [[ 7.28408610e-01 -2.78224429e-01 -6.26108668e-01 1.73166590e+02] [ 2.05317697e-01 9.60479805e-01 -1.87944639e-01 -5.51968716e+01] [ 6.53655521e-01 8.34930321e-03 7.56746159e-01 8.13655202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:-55.22, Z:81.41 [[ 7.22037908e-01 -2.46837607e-01 -6.46322254e-01 1.73176431e+02] [ 1.97057815e-01 9.68867724e-01 -1.49878452e-01 -5.52206641e+01] [ 6.63196409e-01 -1.91449274e-02 7.48200504e-01 8.14148797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:-55.21, Z:81.43 [[ 7.21426003e-01 -2.60133122e-01 -6.41775102e-01 1.73200687e+02] [ 1.97508975e-01 9.65561897e-01 -1.69352971e-01 -5.52052658e+01] [ 6.63727901e-01 -4.58070584e-03 7.47960086e-01 8.14267049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:-55.20, Z:81.44 [[ 7.20114725e-01 -2.61620126e-01 -6.42642741e-01 1.73219728e+02] [ 1.99080583e-01 9.65154459e-01 -1.69834599e-01 -5.51992018e+01] [ 6.64681657e-01 -5.63729592e-03 7.47105425e-01 8.14448141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:-55.19, Z:81.46 [[ 7.19620037e-01 -2.62626076e-01 -6.42786548e-01 1.73240129e+02] [ 2.00271225e-01 9.64876551e-01 -1.70013757e-01 -5.51929403e+01] [ 6.64859714e-01 -6.38634295e-03 7.46940945e-01 8.14634773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:-55.19, Z:81.48 [[ 7.19194661e-01 -2.63607309e-01 -6.42860969e-01 1.73260374e+02] [ 2.01344351e-01 9.64604921e-01 -1.70287403e-01 -5.51865304e+01] [ 6.64995858e-01 -6.96663352e-03 7.46814552e-01 8.14816242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:-55.18, Z:81.50 [[ 7.18843320e-01 -2.64521307e-01 -6.42878495e-01 1.73279935e+02] [ 2.02338633e-01 9.64350817e-01 -1.70547879e-01 -5.51800066e+01] [ 6.65073950e-01 -7.48195211e-03 7.46740023e-01 8.14992305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:-55.17, Z:81.52 [[ 7.18698936e-01 -2.65838757e-01 -6.42496377e-01 1.73300441e+02] [ 2.04063027e-01 9.63979972e-01 -1.70589845e-01 -5.51723921e+01] [ 6.64703031e-01 -8.50701571e-03 7.47059242e-01 8.15177208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:-55.17, Z:81.54 [[ 7.18634614e-01 -2.66688577e-01 -6.42216081e-01 1.73320113e+02] [ 2.05037818e-01 9.63741134e-01 -1.70770371e-01 -5.51662589e+01] [ 6.64472562e-01 -8.95708466e-03 7.47258982e-01 8.15356044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:-55.16, Z:81.55 [[ 7.18590602e-01 -2.67391979e-01 -6.41972800e-01 1.73340442e+02] [ 2.05879051e-01 9.63542230e-01 -1.70880624e-01 -5.51601757e+01] [ 6.64260011e-01 -9.37554024e-03 7.47442798e-01 8.15543195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:-55.15, Z:81.57 [[ 7.18676186e-01 -2.68128591e-01 -6.41569636e-01 1.73360645e+02] [ 2.06729326e-01 9.63334117e-01 -1.71027383e-01 -5.51543313e+01] [ 6.63903250e-01 -9.71795091e-03 7.47755332e-01 8.15727929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:-55.15, Z:81.59 [[ 7.18491692e-01 -2.68721335e-01 -6.41528280e-01 1.73380268e+02] [ 2.07301501e-01 9.63166790e-01 -1.71277032e-01 -5.51485496e+01] [ 6.63924526e-01 -9.92865102e-03 7.47733673e-01 8.15905989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:-55.14, Z:81.61 [[ 7.18018578e-01 -2.69016080e-01 -6.41934319e-01 1.73400141e+02] [ 2.07476987e-01 9.63083531e-01 -1.71532541e-01 -5.51422085e+01] [ 6.64381382e-01 -1.00230470e-02 7.47326513e-01 8.16089258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:-55.14, Z:81.63 [[ 7.17905823e-01 -2.69153802e-01 -6.42002695e-01 1.73420222e+02] [ 2.07415089e-01 9.63047176e-01 -1.71811286e-01 -5.51360262e+01] [ 6.64522543e-01 -9.81672371e-03 7.47203735e-01 8.16269350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:-55.13, Z:81.65 [[ 7.17801485e-01 -2.69269703e-01 -6.42070755e-01 1.73440745e+02] [ 2.07325674e-01 9.63017033e-01 -1.72087940e-01 -5.51296622e+01] [ 6.64663142e-01 -9.59277311e-03 7.47081579e-01 8.16450202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:-55.12, Z:81.66 [[ 7.17708346e-01 -2.69090602e-01 -6.42249934e-01 1.73461174e+02] [ 2.06817094e-01 9.63071871e-01 -1.72392754e-01 -5.51235430e+01] [ 6.64922116e-01 -9.10054666e-03 7.46857256e-01 8.16640518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:-55.12, Z:81.68 [[ 7.17566299e-01 -2.68941883e-01 -6.42470910e-01 1.73481409e+02] [ 2.06337918e-01 9.63117700e-01 -1.72710624e-01 -5.51173084e+01] [ 6.65224225e-01 -8.63478711e-03 7.46593712e-01 8.16825918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:-55.10, Z:81.69 [[ 7.20876432e-01 -2.83298033e-01 -6.32518296e-01 1.73507713e+02] [ 2.09334960e-01 9.59017564e-01 -1.90955979e-01 -5.50958966e+01] [ 6.60693609e-01 5.24747239e-03 7.50637342e-01 8.16850519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:-55.11, Z:81.72 [[ 7.17838906e-01 -2.60683681e-01 -6.45562796e-01 1.73520654e+02] [ 2.03848991e-01 9.65315438e-01 -1.63130909e-01 -5.51097346e+01] [ 6.65697300e-01 -1.44956118e-02 7.46081083e-01 8.17227709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:-55.10, Z:81.74 [[ 7.18668508e-01 -2.65926045e-01 -6.42494291e-01 1.73541770e+02] [ 2.01813265e-01 9.63979642e-01 -1.73247384e-01 -5.50989023e+01] [ 6.65422408e-01 -5.15643194e-03 7.46449215e-01 8.17372246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:-55.09, Z:81.76 [[ 7.19565140e-01 -2.65160664e-01 -6.41806693e-01 1.73562323e+02] [ 2.00792984e-01 9.64195022e-01 -1.73234342e-01 -5.50930243e+01] [ 6.64761752e-01 -4.21688710e-03 7.47043527e-01 8.17559961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:-55.08, Z:81.77 [[ 7.21693506e-01 -2.71865072e-01 -6.36590815e-01 1.73585076e+02] [ 2.02581510e-01 9.62333520e-01 -1.81314447e-01 -5.50800824e+01] [ 6.61905745e-01 1.89193037e-03 7.49584689e-01 8.17665934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:-55.08, Z:81.79 [[ 7.20817208e-01 -2.60827884e-01 -6.42177054e-01 1.73602305e+02] [ 1.98366299e-01 9.65371035e-01 -1.69439007e-01 -5.50832428e+01] [ 6.64133544e-01 -5.25173367e-03 7.47595516e-01 8.17941505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:-55.06, Z:81.80 [[ 7.24703278e-01 -2.75845605e-01 -6.31438327e-01 1.73628463e+02] [ 1.99464797e-01 9.61121623e-01 -1.90942453e-01 -5.50618289e+01] [ 6.59559666e-01 1.24269036e-02 7.51549479e-01 8.17970633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:-55.06, Z:81.82 [[ 7.25638028e-01 -2.71212434e-01 -6.32371148e-01 1.73648706e+02] [ 1.98136727e-01 9.62474989e-01 -1.85428512e-01 -5.50583689e+01] [ 6.58931931e-01 9.25803007e-03 7.52145597e-01 8.18162305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:-55.07, Z:81.85 [[ 7.22552275e-01 -2.49326278e-01 -6.44790366e-01 1.73661513e+02] [ 1.91626554e-01 9.68385200e-01 -1.59716522e-01 -5.50713525e+01] [ 6.64226974e-01 -8.15542020e-03 7.47486466e-01 8.18538689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:-55.06, Z:81.87 [[ 7.23044250e-01 -2.57154690e-01 -6.41154020e-01 1.73683423e+02] [ 1.89355895e-01 9.66360063e-01 -1.74047620e-01 -5.50589097e+01] [ 6.64342801e-01 4.43783772e-03 7.47414844e-01 8.18665463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:-55.05, Z:81.88 [[ 7.23458437e-01 -2.55628400e-01 -6.41297132e-01 1.73703384e+02] [ 1.87125882e-01 9.66756079e-01 -1.74260115e-01 -5.50533683e+01] [ 6.64523735e-01 6.06665916e-03 7.47242532e-01 8.18844896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:-55.05, Z:81.90 [[ 7.23983734e-01 -2.54206036e-01 -6.41269712e-01 1.73723566e+02] [ 1.85107062e-01 9.67120581e-01 -1.74393684e-01 -5.50476119e+01] [ 6.64517064e-01 7.55463837e-03 7.47234902e-01 8.19025641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:-55.04, Z:81.92 [[ 7.24369297e-01 -2.51390467e-01 -6.41943888e-01 1.73743378e+02] [ 1.80945229e-01 9.67828954e-01 -1.74831176e-01 -5.50420824e+01] [ 6.65242772e-01 1.04856522e-02 7.46553484e-01 8.19196120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:-55.04, Z:81.94 [[ 7.24226582e-01 -2.50407294e-01 -6.42488946e-01 1.73764056e+02] [ 1.79360430e-01 9.68071187e-01 -1.75122849e-01 -5.50366153e+01] [ 6.65827076e-01 1.15915289e-02 7.46016047e-01 8.19381643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:-55.03, Z:81.96 [[ 7.24165492e-01 -2.50747625e-01 -6.42425068e-01 1.73784873e+02] [ 1.79607746e-01 9.67982955e-01 -1.75356942e-01 -5.50307390e+01] [ 6.65826852e-01 1.16029283e-02 7.46016069e-01 8.19568671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:-55.00, Z:81.95 [[ 7.29892844e-01 -2.79376753e-01 -6.23863019e-01 1.73816604e+02] [ 1.85612999e-01 9.59377733e-01 -2.12466891e-01 -5.49965702e+01] [ 6.57878598e-01 3.92809774e-02 7.52098899e-01 8.19460781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:-55.03, Z:82.00 [[ 7.24342505e-01 -2.32907556e-01 -6.48908319e-01 1.73822148e+02] [ 1.76740903e-01 9.72487220e-01 -1.51760535e-01 -5.50324767e+01] [ 6.66401222e-01 -4.76203566e-03 7.45578121e-01 8.20023984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.85, Y:-55.02, Z:82.01 [[ 7.25105712e-01 -2.48418483e-01 -6.42269385e-01 1.73846806e+02] [ 1.76200462e-01 9.68548323e-01 -1.75691612e-01 -5.50157598e+01] [ 6.65713980e-01 1.42268291e-02 7.46071374e-01 8.20131767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:-55.01, Z:82.03 [[ 7.26044388e-01 -2.47970995e-01 -6.41381270e-01 1.73866038e+02] [ 1.75625182e-01 9.68652588e-01 -1.75692796e-01 -5.50115329e+01] [ 6.64842344e-01 1.49180660e-02 7.46834727e-01 8.20313280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:-55.01, Z:82.05 [[ 7.26114144e-01 -2.47898335e-01 -6.41330387e-01 1.73886521e+02] [ 1.75420410e-01 9.68667435e-01 -1.75815471e-01 -5.50063090e+01] [ 6.64820224e-01 1.51596607e-02 7.46849553e-01 8.20498399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:-55.00, Z:82.07 [[ 7.26317153e-01 -2.47769836e-01 -6.41150139e-01 1.73907104e+02] [ 1.75082159e-01 9.68693577e-01 -1.76008499e-01 -5.50011782e+01] [ 6.64687619e-01 1.55840416e-02 7.46958839e-01 8.20681815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:-55.00, Z:82.09 [[ 7.26159265e-01 -2.48072009e-01 -6.41212134e-01 1.73928089e+02] [ 1.75253746e-01 9.68615613e-01 -1.76266611e-01 -5.49957197e+01] [ 6.64814896e-01 1.56228041e-02 7.46844751e-01 8.20865334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:-54.96, Z:82.08 [[ 7.30926012e-01 -2.73838597e-01 -6.25107661e-01 1.73958023e+02] [ 1.81529169e-01 9.60981361e-01 -2.08715080e-01 -5.49649855e+01] [ 6.57871055e-01 3.90800069e-02 7.52115967e-01 8.20778715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:-55.00, Z:82.13 [[ 7.25371479e-01 -2.35090687e-01 -6.46968768e-01 1.73965383e+02] [ 1.75507307e-01 9.71973436e-01 -1.56412354e-01 -5.49957428e+01] [ 6.65607544e-01 -9.06853205e-05 7.46301942e-01 8.21296992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:-54.98, Z:82.14 [[ 7.25014267e-01 -2.49589150e-01 -6.41918662e-01 1.73988993e+02] [ 1.76679644e-01 9.68237900e-01 -1.76917137e-01 -5.49815130e+01] [ 6.65686575e-01 1.48534883e-02 7.46083613e-01 8.21397379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:-54.95, Z:82.13 [[ 7.30891225e-01 -2.80583946e-01 -6.22150035e-01 1.74020294e+02] [ 1.85910310e-01 9.58961768e-01 -2.14078688e-01 -5.49479748e+01] [ 6.56685141e-01 4.08041286e-02 7.53060189e-01 8.21295645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:-54.98, Z:82.19 [[ 7.23212470e-01 -2.35972910e-01 -6.49061252e-01 1.74026174e+02] [ 1.78545771e-01 9.71750288e-01 -1.54346319e-01 -5.49833159e+01] [ 6.67147009e-01 -4.26195961e-03 7.44913891e-01 8.21850316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:-54.97, Z:82.19 [[ 7.22552448e-01 -2.52516312e-01 -6.43547567e-01 1.74050634e+02] [ 1.79901384e-01 9.67510804e-01 -1.77646659e-01 -5.49672025e+01] [ 6.67497904e-01 1.25839305e-02 7.44505335e-01 8.21942768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:-54.96, Z:82.21 [[ 7.21865895e-01 -2.53367250e-01 -6.43983436e-01 1.74071323e+02] [ 1.80733854e-01 9.67294651e-01 -1.77978461e-01 -5.49614992e+01] [ 6.68015647e-01 1.20869731e-02 7.44049058e-01 8.22130800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:-54.96, Z:82.23 [[ 7.21403381e-01 -2.53979623e-01 -6.44260439e-01 1.74092176e+02] [ 1.81271473e-01 9.67137210e-01 -1.78287046e-01 -5.49560218e+01] [ 6.68369520e-01 1.18308388e-02 7.43735313e-01 8.22317627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:174.12, Y:-54.93, Z:82.23 [[ 7.25661742e-01 -2.75161744e-01 -6.30635434e-01 1.74120058e+02] [ 1.88213855e-01 9.60977954e-01 -2.02723743e-01 -5.49313431e+01] [ 6.61808568e-01 2.84145384e-02 7.49134189e-01 8.22299469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:-54.95, Z:82.27 [[ 7.20598391e-01 -2.46475161e-01 -6.48064777e-01 1.74131140e+02] [ 1.82739903e-01 9.69148812e-01 -1.65398634e-01 -5.49526290e+01] [ 6.68837863e-01 7.58694759e-04 7.43407921e-01 8.22742636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:-54.94, Z:82.29 [[ 7.21153364e-01 -2.56565384e-01 -6.43515368e-01 1.74154293e+02] [ 1.84505967e-01 9.66474754e-01 -1.78561187e-01 -5.49413478e+01] [ 6.67753977e-01 1.00375761e-02 7.44314365e-01 8.22884758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:-54.94, Z:82.31 [[ 7.21585039e-01 -2.57523390e-01 -6.42648221e-01 1.74174008e+02] [ 1.85784666e-01 9.66225669e-01 -1.78583353e-01 -5.49364614e+01] [ 6.66932597e-01 9.46889058e-03 7.45057884e-01 8.23067252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:-54.93, Z:82.33 [[ 7.21735871e-01 -2.58454690e-01 -6.42104747e-01 1.74194274e+02] [ 1.87013761e-01 9.65983034e-01 -1.78613079e-01 -5.49314178e+01] [ 6.66425679e-01 8.82904228e-03 7.45519190e-01 8.23255234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:-54.93, Z:82.34 [[ 7.22269922e-01 -2.60274936e-01 -6.40767601e-01 1.74213383e+02] [ 1.89565693e-01 9.65505724e-01 -1.78503630e-01 -5.49266753e+01] [ 6.65124807e-01 7.46024833e-03 7.46694942e-01 8.23434522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:-54.92, Z:82.36 [[ 7.22387226e-01 -2.61030941e-01 -6.40327685e-01 1.74233931e+02] [ 1.90559411e-01 9.65305441e-01 -1.78528753e-01 -5.49209049e+01] [ 6.64713327e-01 6.94642407e-03 7.47066222e-01 8.23623606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:-54.91, Z:82.38 [[ 7.22715754e-01 -2.62003349e-01 -6.39559367e-01 1.74254250e+02] [ 1.91827486e-01 9.65045921e-01 -1.78573755e-01 -5.49147468e+01] [ 6.63991080e-01 6.37300103e-03 7.47713334e-01 8.23802499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:-54.91, Z:82.40 [[ 7.22948356e-01 -2.62885277e-01 -6.38934274e-01 1.74274809e+02] [ 1.92937354e-01 9.64809146e-01 -1.78657463e-01 -5.49086167e+01] [ 6.63416048e-01 5.88583051e-03 7.48227576e-01 8.23986921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:-54.90, Z:82.42 [[ 7.22734498e-01 -2.63544513e-01 -6.38904637e-01 1.74295127e+02] [ 1.93596883e-01 9.64630913e-01 -1.78906259e-01 -5.49025332e+01] [ 6.63456926e-01 5.61177895e-03 7.48193435e-01 8.24175472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:-54.90, Z:82.44 [[ 7.22069132e-01 -2.63835668e-01 -6.39536479e-01 1.74314870e+02] [ 1.93588092e-01 9.64550836e-01 -1.79346969e-01 -5.48958364e+01] [ 6.64183573e-01 5.69426342e-03 7.47547829e-01 8.24350377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:-54.89, Z:82.45 [[ 7.21627948e-01 -2.63853151e-01 -6.40027046e-01 1.74334919e+02] [ 1.93353155e-01 9.64544964e-01 -1.79631764e-01 -5.48897188e+01] [ 6.64731270e-01 5.87605301e-03 7.47059442e-01 8.24531443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:-54.88, Z:82.47 [[ 7.21457791e-01 -2.63912981e-01 -6.40194184e-01 1.74355279e+02] [ 1.93159424e-01 9.64526839e-01 -1.79937251e-01 -5.48836838e+01] [ 6.64972249e-01 6.15759234e-03 7.46842682e-01 8.24712656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:-54.88, Z:82.49 [[ 7.21062876e-01 -2.63827290e-01 -6.40674247e-01 1.74374838e+02] [ 1.92689870e-01 9.64547510e-01 -1.80329464e-01 -5.48782129e+01] [ 6.65536583e-01 6.57744444e-03 7.46336247e-01 8.24891276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:-54.87, Z:82.51 [[ 7.20941223e-01 -2.63698016e-01 -6.40864345e-01 1.74395431e+02] [ 1.92338241e-01 9.64580701e-01 -1.80527208e-01 -5.48714080e+01] [ 6.65770046e-01 6.88678535e-03 7.46125203e-01 8.25070473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:-54.87, Z:82.52 [[ 7.20587907e-01 -2.63948468e-01 -6.41158541e-01 1.74414623e+02] [ 1.92366178e-01 9.64511429e-01 -1.80867235e-01 -5.48651358e+01] [ 6.66144370e-01 6.99352433e-03 7.45790030e-01 8.25243543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:-54.86, Z:82.54 [[ 7.20280267e-01 -2.64513371e-01 -6.41271403e-01 1.74435300e+02] [ 1.92964163e-01 9.64359026e-01 -1.81042812e-01 -5.48584324e+01] [ 6.66304111e-01 6.65916533e-03 7.45650379e-01 8.25426845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:-54.85, Z:82.56 [[ 7.20349179e-01 -2.64896695e-01 -6.41035726e-01 1.74455908e+02] [ 1.93308710e-01 9.64253973e-01 -1.81234704e-01 -5.48521093e+01] [ 6.66129720e-01 6.63448064e-03 7.45806396e-01 8.25607999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:-54.85, Z:82.58 [[ 7.20446489e-01 -2.65450329e-01 -6.40697260e-01 1.74476635e+02] [ 1.93907558e-01 9.64102950e-01 -1.81398351e-01 -5.48455681e+01] [ 6.65850370e-01 6.45176405e-03 7.46057410e-01 8.25791280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:-54.84, Z:82.60 [[ 7.20410263e-01 -2.65632318e-01 -6.40662568e-01 1.74496872e+02] [ 1.93928453e-01 9.64051693e-01 -1.81648256e-01 -5.48399473e+01] [ 6.65883480e-01 6.61856725e-03 7.46026397e-01 8.25981390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:-54.83, Z:82.62 [[ 7.20265769e-01 -2.66037024e-01 -6.40657103e-01 1.74517027e+02] [ 1.94239161e-01 9.63940349e-01 -1.81906987e-01 -5.48341589e+01] [ 6.65949225e-01 6.58067805e-03 7.45968045e-01 8.26167163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.55, Y:-54.80, Z:82.61 [[ 7.26149401e-01 -2.93665423e-01 -6.21665237e-01 1.74547438e+02] [ 2.00586321e-01 9.55342962e-01 -2.16990673e-01 -5.48016943e+01] [ 6.57626167e-01 3.28701045e-02 7.52626986e-01 8.26096495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.55, Y:-54.83, Z:82.66 [[ 7.19864159e-01 -2.50072511e-01 -6.47502379e-01 1.74553558e+02] [ 1.93255794e-01 9.68168769e-01 -1.59064243e-01 -5.48335113e+01] [ 6.66669176e-01 -1.06289389e-02 7.45277959e-01 8.26629238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:-54.82, Z:82.67 [[ 7.20342628e-01 -2.65391093e-01 -6.40838565e-01 1.74578109e+02] [ 1.92960368e-01 9.64110007e-01 -1.82368284e-01 -5.48155811e+01] [ 6.66237791e-01 7.71120327e-03 7.45699499e-01 8.26732207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:-54.78, Z:82.67 [[ 7.26270995e-01 -2.93189704e-01 -6.21747730e-01 1.74608009e+02] [ 1.99580937e-01 9.55456042e-01 -2.17419416e-01 -5.47831411e+01] [ 6.57797759e-01 3.38164210e-02 7.52435085e-01 8.26656825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:-54.81, Z:82.72 [[ 7.19716209e-01 -2.49127131e-01 -6.48031057e-01 1.74614071e+02] [ 1.91878248e-01 9.68421519e-01 -1.59193280e-01 -5.48139832e+01] [ 6.67226585e-01 -9.76908002e-03 7.44790742e-01 8.27184027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:-54.77, Z:82.70 [[ 7.25824864e-01 -2.95066637e-01 -6.21380677e-01 1.74649996e+02] [ 1.98785662e-01 9.54759507e-01 -2.21175369e-01 -5.47673495e+01] [ 6.58530582e-01 3.70130130e-02 7.51643207e-01 8.27009838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:-54.80, Z:82.76 [[ 7.18311395e-01 -2.47250370e-01 -6.50304540e-01 1.74654624e+02] [ 1.90913760e-01 9.68888977e-01 -1.57499484e-01 -5.48035129e+01] [ 6.69014706e-01 -1.10184110e-02 7.43167490e-01 8.27569995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:-54.78, Z:82.77 [[ 7.18205187e-01 -2.64709558e-01 -6.43513916e-01 1.74678974e+02] [ 1.90724128e-01 9.64283625e-01 -1.83797167e-01 -5.47847194e+01] [ 6.69182798e-01 9.27044780e-03 7.43040000e-01 8.27664769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:-54.78, Z:82.78 [[ 7.17848285e-01 -2.64959029e-01 -6.43809407e-01 1.74698512e+02] [ 1.90743795e-01 9.64214017e-01 -1.84141615e-01 -5.47789860e+01] [ 6.69560038e-01 9.38309295e-03 7.42698669e-01 8.27838314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:-54.77, Z:82.80 [[ 7.17552408e-01 -2.65412321e-01 -6.43952516e-01 1.74718452e+02] [ 1.91181599e-01 9.64091547e-01 -1.84328744e-01 -5.47734364e+01] [ 6.69752297e-01 9.15366213e-03 7.42528162e-01 8.28028343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.74, Y:-54.77, Z:82.82 [[ 7.17720387e-01 -2.66011670e-01 -6.43517861e-01 1.74738379e+02] [ 1.91871808e-01 9.63928531e-01 -1.84464080e-01 -5.47675877e+01] [ 6.69374824e-01 8.92069528e-03 7.42871299e-01 8.28207716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:-54.76, Z:82.84 [[ 7.17704776e-01 -2.66498194e-01 -6.43333946e-01 1.74759066e+02] [ 1.92444349e-01 9.63796588e-01 -1.84557060e-01 -5.47616354e+01] [ 6.69227186e-01 8.65150074e-03 7.43007487e-01 8.28395093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:-54.76, Z:82.86 [[ 7.17762369e-01 -2.67056137e-01 -6.43038258e-01 1.74778807e+02] [ 1.93040239e-01 9.63643824e-01 -1.84732364e-01 -5.47561174e+01] [ 6.68993758e-01 8.46168084e-03 7.43219855e-01 8.28578968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:-54.75, Z:82.88 [[ 7.17925582e-01 -2.67464447e-01 -6.42686260e-01 1.74798965e+02] [ 1.93553129e-01 9.63532304e-01 -1.84777394e-01 -5.47516554e+01] [ 6.68670356e-01 8.26248167e-03 7.43513071e-01 8.28770455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.83, Y:-54.72, Z:82.87 [[ 7.22619921e-01 -2.90781695e-01 -6.27109604e-01 1.74827440e+02] [ 2.00176959e-01 9.56372733e-01 -2.12791872e-01 -5.47246989e+01] [ 6.61626507e-01 2.82347521e-02 7.49301784e-01 8.28741419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:-54.75, Z:82.92 [[ 7.17875443e-01 -2.56654750e-01 -6.47134598e-01 1.74836252e+02] [ 1.94806364e-01 9.66484331e-01 -1.67208012e-01 -5.47498667e+01] [ 6.68360180e-01 -6.03141188e-03 7.43813345e-01 8.29209417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.86, Y:-54.74, Z:82.93 [[ 7.18481807e-01 -2.69026202e-01 -6.41411565e-01 1.74859673e+02] [ 1.95658769e-01 9.63105443e-01 -1.84785152e-01 -5.47355598e+01] [ 6.67459017e-01 7.26697240e-03 7.44611074e-01 8.29334853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:-54.71, Z:82.93 [[ 7.23508775e-01 -2.94915631e-01 -6.24147277e-01 1.74888743e+02] [ 2.03237250e-01 9.55076888e-01 -2.15691351e-01 -5.47055209e+01] [ 6.59719389e-01 2.92046086e-02 7.50944351e-01 8.29274816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:-54.73, Z:82.98 [[ 7.17797798e-01 -2.57360341e-01 -6.46940474e-01 1.74897060e+02] [ 1.96286979e-01 9.66287243e-01 -1.66614484e-01 -5.47331410e+01] [ 6.68010287e-01 -7.39048101e-03 7.44115339e-01 8.29769490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:-54.72, Z:82.99 [[ 7.17533330e-01 -2.69833643e-01 -6.42133729e-01 1.74919957e+02] [ 1.96111288e-01 9.62880362e-01 -1.85477144e-01 -5.47179692e+01] [ 6.68345930e-01 7.15636019e-03 7.43816176e-01 8.29884459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.95, Y:-54.69, Z:82.98 [[ 7.22545134e-01 -2.97216125e-01 -6.24172335e-01 1.74951145e+02] [ 2.02892009e-01 9.54274393e-01 -2.19534087e-01 -5.46859870e+01] [ 6.60880747e-01 3.19837070e-02 7.49809096e-01 8.29820829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:-54.72, Z:83.03 [[ 7.16331261e-01 -2.54346905e-01 -6.49751626e-01 1.74956776e+02] [ 1.95815541e-01 9.67053832e-01 -1.62675016e-01 -5.47168237e+01] [ 6.69720687e-01 -1.07022670e-02 7.42535968e-01 8.30344889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:-54.70, Z:83.04 [[ 7.16470069e-01 -2.69917446e-01 -6.43284706e-01 1.74980096e+02] [ 1.95563962e-01 9.62853486e-01 -1.86193185e-01 -5.46989555e+01] [ 6.69645710e-01 7.59853866e-03 7.42641828e-01 8.30440151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:-54.69, Z:83.06 [[ 7.16510387e-01 -2.70082775e-01 -6.43170397e-01 1.75000375e+02] [ 1.95655353e-01 9.62806518e-01 -1.86339988e-01 -5.46922272e+01] [ 6.69575872e-01 7.67480565e-03 7.42704012e-01 8.30625568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:-54.69, Z:83.08 [[ 7.16404225e-01 -2.70397749e-01 -6.43156314e-01 1.75020200e+02] [ 1.95847245e-01 9.62717760e-01 -1.86596817e-01 -5.46855929e+01] [ 6.69633365e-01 7.71835557e-03 7.42651724e-01 8.30808922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:-54.68, Z:83.10 [[ 7.16613572e-01 -2.70738572e-01 -6.42779600e-01 1.75039949e+02] [ 1.96170749e-01 9.62621840e-01 -1.86751790e-01 -5.46792449e+01] [ 6.69314594e-01 7.73431129e-03 7.42938864e-01 8.30983078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.06, Y:-54.67, Z:83.12 [[ 7.16703104e-01 -2.71966468e-01 -6.42161118e-01 1.75060113e+02] [ 1.97856471e-01 9.62282935e-01 -1.86720032e-01 -5.46733957e+01] [ 6.68722273e-01 6.76709395e-03 7.43481492e-01 8.31171231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:-54.67, Z:83.14 [[ 7.16632927e-01 -2.72318302e-01 -6.42090329e-01 1.75080770e+02] [ 1.98110990e-01 9.62183345e-01 -1.86963222e-01 -5.46671941e+01] [ 6.68722127e-01 6.77885035e-03 7.43481515e-01 8.31359086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:-54.66, Z:83.15 [[ 7.16705385e-01 -2.73416875e-01 -6.41542363e-01 1.75100848e+02] [ 1.99513082e-01 9.61876518e-01 -1.87051048e-01 -5.46614519e+01] [ 6.68227447e-01 6.06439966e-03 7.43932323e-01 8.31542210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.13, Y:-54.64, Z:83.15 [[ 7.20425908e-01 -2.96314615e-01 -6.27043986e-01 1.75128217e+02] [ 2.07720414e-01 9.54816354e-01 -2.12551074e-01 -5.46373467e+01] [ 6.61693843e-01 2.28774642e-02 7.49425033e-01 8.31544452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:-54.64, Z:83.18 [[ 7.20678772e-01 -2.90291242e-01 -6.29565805e-01 1.75147027e+02] [ 2.10289819e-01 9.56861936e-01 -2.00482985e-01 -5.46370128e+01] [ 6.60606010e-01 1.20925521e-02 7.50635378e-01 8.31756324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.17, Y:-54.63, Z:83.20 [[ 7.20249256e-01 -2.88086668e-01 -6.31068206e-01 1.75166469e+02] [ 2.11922215e-01 9.57579437e-01 -1.95270575e-01 -5.46343644e+01] [ 6.60552787e-01 6.90611421e-03 7.50747841e-01 8.31964066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.19, Y:-54.63, Z:83.22 [[ 7.18852853e-01 -2.89830318e-01 -6.31861506e-01 1.75187343e+02] [ 2.12389263e-01 9.57047290e-01 -1.97360800e-01 -5.46280245e+01] [ 6.61922486e-01 7.67277498e-03 7.49533022e-01 8.32156900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:-54.62, Z:83.23 [[ 7.18055587e-01 -2.91130482e-01 -6.32170244e-01 1.75208162e+02] [ 2.13990627e-01 9.56661000e-01 -1.97503779e-01 -5.46217388e+01] [ 6.62271988e-01 6.54018504e-03 7.49234970e-01 8.32339833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:-54.62, Z:83.26 [[ 7.15732588e-01 -2.87637074e-01 -6.36389642e-01 1.75227004e+02] [ 2.15161928e-01 9.57739435e-01 -1.90894001e-01 -5.46217443e+01] [ 6.64403648e-01 -2.97764335e-04 7.47373872e-01 8.32578624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:-54.61, Z:83.27 [[ 7.16252827e-01 -2.95863423e-01 -6.32017976e-01 1.75249024e+02] [ 2.17198609e-01 9.55206754e-01 -2.01009507e-01 -5.46094578e+01] [ 6.63179200e-01 6.70020208e-03 7.48430662e-01 8.32702873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:-54.63, Z:83.31 [[ 7.12155553e-01 -2.71734738e-01 -6.47298000e-01 1.75261353e+02] [ 2.11233020e-01 9.62262124e-01 -1.71558198e-01 -5.46261917e+01] [ 6.69488671e-01 -1.45545879e-02 7.42679664e-01 8.33121043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:-54.59, Z:83.30 [[ 7.15781207e-01 -3.06084728e-01 -6.27669820e-01 1.75291487e+02] [ 2.18073452e-01 9.51845960e-01 -2.15483730e-01 -5.45909507e+01] [ 6.63401261e-01 1.73610801e-02 7.48062403e-01 8.33031448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:-54.62, Z:83.35 [[ 7.10989047e-01 -2.71749541e-01 -6.48572865e-01 1.75300631e+02] [ 2.11307446e-01 9.62249728e-01 -1.71536073e-01 -5.46156590e+01] [ 6.70703912e-01 -1.50880065e-02 7.41571719e-01 8.33497830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.33, Y:-54.58, Z:83.34 [[ 7.16158361e-01 -3.10033853e-01 -6.25296900e-01 1.75333001e+02] [ 2.18221181e-01 9.50469686e-01 -2.21329828e-01 -5.45754751e+01] [ 6.62945487e-01 2.20541793e-02 7.48342765e-01 8.33371152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:-54.61, Z:83.39 [[ 7.11180002e-01 -2.68099502e-01 -6.49881268e-01 1.75339948e+02] [ 2.10610005e-01 9.63219592e-01 -1.66887514e-01 -5.46058852e+01] [ 6.70720829e-01 -1.81844344e-02 7.41486949e-01 8.33891209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:-54.56, Z:83.38 [[ 7.16743198e-01 -3.09526743e-01 -6.24877895e-01 1.75373580e+02] [ 2.17206820e-01 9.50607702e-01 -2.21734512e-01 -5.45631125e+01] [ 6.62646502e-01 2.31989629e-02 7.48572924e-01 8.33753365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:-54.57, Z:83.40 [[ 7.16900223e-01 -2.94995672e-01 -6.31689500e-01 1.75389529e+02] [ 2.16589054e-01 9.55474058e-01 -2.00395876e-01 -5.45685844e+01] [ 6.62678845e-01 6.84681691e-03 7.48872398e-01 8.34014057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.41, Y:-54.56, Z:83.42 [[ 7.17486953e-01 -2.92858370e-01 -6.32017758e-01 1.75409167e+02] [ 2.14086321e-01 9.56120744e-01 -2.00000425e-01 -5.45623383e+01] [ 6.62857088e-01 8.19133912e-03 7.48701131e-01 8.34212035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:-54.56, Z:83.44 [[ 7.17622386e-01 -2.92501170e-01 -6.32029412e-01 1.75429226e+02] [ 2.12933546e-01 9.56218047e-01 -2.00764420e-01 -5.45554579e+01] [ 6.63081757e-01 9.49277826e-03 7.48486787e-01 8.34398844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:-54.55, Z:83.46 [[ 7.17054946e-01 -2.87766716e-01 -6.34840548e-01 1.75448633e+02] [ 2.10930878e-01 9.57678248e-01 -1.95858464e-01 -5.45524987e+01] [ 6.64334531e-01 6.53380621e-03 7.47406811e-01 8.34631446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:-54.57, Z:83.50 [[ 7.12713345e-01 -2.64452999e-01 -6.49695544e-01 1.75459610e+02] [ 2.02837435e-01 9.64340199e-01 -1.70014573e-01 -5.45659173e+01] [ 6.71488394e-01 -1.06109227e-02 7.40939097e-01 8.35037635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.49, Y:-54.54, Z:83.50 [[ 7.15581318e-01 -2.90641678e-01 -6.35193508e-01 1.75487748e+02] [ 2.05511526e-01 9.56680418e-01 -2.06222185e-01 -5.45368764e+01] [ 6.67613953e-01 1.70291562e-02 7.44312850e-01 8.35025956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.51, Y:-54.54, Z:83.53 [[ 7.15266191e-01 -2.82576296e-01 -6.39175182e-01 1.75505433e+02] [ 2.04202866e-01 9.59199302e-01 -1.95545107e-01 -5.45364859e+01] [ 6.68352800e-01 9.34539984e-03 7.43785721e-01 8.35258347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.52, Y:-54.54, Z:83.56 [[ 7.11862927e-01 -2.67911701e-01 -6.49210670e-01 1.75519883e+02] [ 1.99231085e-01 9.63441736e-01 -1.79128434e-01 -5.45436851e+01] [ 6.73467259e-01 -1.82805481e-03 7.39214793e-01 8.35588148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.54, Y:-54.53, Z:83.57 [[ 7.12071223e-01 -2.74207988e-01 -6.46347083e-01 1.75541210e+02] [ 1.98387927e-01 9.61647443e-01 -1.89410735e-01 -5.45324291e+01] [ 6.73495956e-01 6.64647548e-03 7.39161025e-01 8.35744068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:-54.53, Z:83.59 [[ 7.11413399e-01 -2.73549157e-01 -6.47349855e-01 1.75560785e+02] [ 1.96971525e-01 9.61827683e-01 -1.89972963e-01 -5.45250995e+01] [ 6.74605955e-01 7.63982288e-03 7.38138496e-01 8.35938035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:-54.51, Z:83.60 [[ 7.13339209e-01 -2.84621272e-01 -6.40420100e-01 1.75584828e+02] [ 1.99338591e-01 9.58474462e-01 -2.03938302e-01 -5.45078938e+01] [ 6.71871490e-01 1.78167465e-02 7.40453418e-01 8.36019270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.60, Y:-54.52, Z:83.63 [[ 7.10172228e-01 -2.67890294e-01 -6.51068504e-01 1.75599657e+02] [ 1.95804225e-01 9.63446513e-01 -1.82842891e-01 -5.45159397e+01] [ 6.76251516e-01 2.36797903e-03 7.36667008e-01 8.36340351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.62, Y:-54.51, Z:83.65 [[ 7.08938899e-01 -2.73540971e-01 -6.50062285e-01 1.75620875e+02] [ 1.95622387e-01 9.61822661e-01 -1.91387176e-01 -5.45064527e+01] [ 6.77596870e-01 8.51507798e-03 7.35384236e-01 8.36498635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.65, Y:-54.49, Z:83.66 [[ 7.10648524e-01 -2.83549388e-01 -6.43877644e-01 1.75645767e+02] [ 1.97590139e-01 9.58791398e-01 -2.04149926e-01 -5.44922365e+01] [ 6.75230933e-01 1.78549704e-02 7.37390254e-01 8.36603689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:-54.50, Z:83.69 [[ 7.07778240e-01 -2.67579316e-01 -6.53797578e-01 1.75658847e+02] [ 1.96141243e-01 9.63535659e-01 -1.82010018e-01 -5.45008961e+01] [ 6.78659396e-01 5.86060502e-04 7.34452912e-01 8.36920643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:-54.49, Z:83.71 [[ 7.07549419e-01 -2.74846782e-01 -6.51024628e-01 1.75680119e+02] [ 1.96529342e-01 9.61453723e-01 -1.92309530e-01 -5.44903582e+01] [ 6.78785708e-01 8.12305412e-03 7.34291481e-01 8.37073701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.70, Y:-54.49, Z:83.73 [[ 7.07557919e-01 -2.75428086e-01 -6.50769668e-01 1.75699699e+02] [ 1.97145238e-01 9.61289135e-01 -1.92501829e-01 -5.44851778e+01] [ 6.78598222e-01 7.91005226e-03 7.34467075e-01 8.37262586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:-54.48, Z:83.74 [[ 7.08592210e-01 -2.79299499e-01 -6.47988325e-01 1.75723033e+02] [ 1.97353611e-01 9.60123486e-01 -1.98026373e-01 -5.44765967e+01] [ 6.77457476e-01 1.24371093e-02 7.35456788e-01 8.37424625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:-54.47, Z:83.76 [[ 7.08770555e-01 -2.77974775e-01 -6.48362804e-01 1.75743552e+02] [ 1.98004275e-01 9.60535404e-01 -1.95361320e-01 -5.44717306e+01] [ 6.77080946e-01 1.00877439e-02 7.35839405e-01 8.37616491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:-54.47, Z:83.79 [[ 7.06927475e-01 -2.68727840e-01 -6.54246814e-01 1.75757793e+02] [ 1.97216522e-01 9.63216148e-01 -1.82538478e-01 -5.44738414e+01] [ 6.79234267e-01 1.31839951e-05 7.33921529e-01 8.37875877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.78, Y:-54.46, Z:83.80 [[ 7.09076807e-01 -2.82607364e-01 -6.46021021e-01 1.75784847e+02] [ 1.96658292e-01 9.59077921e-01 -2.03703355e-01 -5.44581379e+01] [ 6.77152566e-01 1.73959339e-02 7.35636992e-01 8.37978735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.81, Y:-54.46, Z:83.82 [[ 7.09804988e-01 -2.78193900e-01 -6.47136024e-01 1.75805450e+02] [ 1.96178661e-01 9.60431840e-01 -1.97698292e-01 -5.44555416e+01] [ 6.76528501e-01 1.33729554e-02 7.36295017e-01 8.38182232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.82, Y:-54.46, Z:83.85 [[ 7.07160886e-01 -2.61538198e-01 -6.56902772e-01 1.75817089e+02] [ 1.94872844e-01 9.65182082e-01 -1.74493904e-01 -5.44622893e+01] [ 6.79667607e-01 -4.61724783e-03 7.33505709e-01 8.38481377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:-54.45, Z:83.86 [[ 7.07186261e-01 -2.74157026e-01 -6.51709688e-01 1.75840466e+02] [ 1.93880953e-01 9.61622690e-01 -1.94144222e-01 -5.44470035e+01] [ 6.79924825e-01 1.09420311e-02 7.33200180e-01 8.38600411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-54.44, Z:83.88 [[ 7.06609405e-01 -2.73416813e-01 -6.52645689e-01 1.75859514e+02] [ 1.92339344e-01 9.61820220e-01 -1.94698336e-01 -5.44420075e+01] [ 6.80961618e-01 1.20462313e-02 7.32220024e-01 8.38791999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:-54.44, Z:83.90 [[ 7.06402088e-01 -2.73384374e-01 -6.52883661e-01 1.75879228e+02] [ 1.92078451e-01 9.61826345e-01 -1.94925500e-01 -5.44366007e+01] [ 6.81250291e-01 1.22908976e-02 7.31947385e-01 8.38981708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.90, Y:-54.43, Z:83.92 [[ 7.06391128e-01 -2.73625709e-01 -6.52794413e-01 1.75898043e+02] [ 1.92178491e-01 9.61756114e-01 -1.95173267e-01 -5.44312944e+01] [ 6.81233442e-01 1.24156188e-02 7.31960962e-01 8.39165874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:-54.43, Z:83.94 [[ 7.05984602e-01 -2.74421405e-01 -6.52900172e-01 1.75917745e+02] [ 1.93085854e-01 9.61536450e-01 -1.95359948e-01 -5.44254727e+01] [ 6.81398265e-01 1.18553279e-02 7.31816819e-01 8.39355944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:-54.42, Z:83.95 [[ 7.05896274e-01 -2.75282855e-01 -6.52632975e-01 1.75937303e+02] [ 1.94084912e-01 9.61295990e-01 -1.95553233e-01 -5.44202845e+01] [ 6.81205914e-01 1.13740845e-02 7.32003506e-01 8.39544085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:-54.40, Z:83.96 [[ 7.08346201e-01 -2.92619786e-01 -6.42354513e-01 1.75968135e+02] [ 1.95985370e-01 9.55775827e-01 -2.19276774e-01 -5.44016066e+01] [ 6.78111639e-01 2.94317827e-02 7.34369373e-01 8.39625423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:-54.42, Z:84.00 [[ 7.03919872e-01 -2.58605546e-01 -6.61528522e-01 1.75971650e+02] [ 1.98099568e-01 9.65886694e-01 -1.66791651e-01 -5.44241154e+01] [ 6.82094843e-01 -1.36405566e-02 7.31136485e-01 8.40046295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:-54.39, Z:84.00 [[ 7.07868156e-01 -2.98840140e-01 -6.40013473e-01 1.76009919e+02] [ 1.99841300e-01 9.53802985e-01 -2.24328599e-01 -5.43872596e+01] [ 6.77485151e-01 3.08939474e-02 7.34887362e-01 8.39979547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:176.02, Y:-54.40, Z:84.03 [[ 7.06304394e-01 -2.72105050e-01 -6.53523485e-01 1.76024946e+02] [ 1.99042039e-01 9.62267066e-01 -1.85538032e-01 -5.44030629e+01] [ 6.79349961e-01 9.67680416e-04 7.33813800e-01 8.40338490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:-54.41, Z:84.06 [[ 7.04058290e-01 -2.60201248e-01 -6.60755049e-01 1.76033647e+02] [ 2.00742206e-01 9.65428872e-01 -1.66281866e-01 -5.44061058e+01] [ 6.81178751e-01 -1.55692998e-02 7.31951574e-01 8.40602990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:-54.39, Z:84.07 [[ 7.04653260e-01 -2.81084585e-01 -6.51502294e-01 1.76057766e+02] [ 2.01241498e-01 9.59655483e-01 -1.96375187e-01 -5.43863250e+01] [ 6.80415787e-01 7.26711803e-03 7.32790247e-01 8.40684759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.09, Y:-54.36, Z:84.07 [[ 7.10037777e-01 -3.07649097e-01 -6.33402232e-01 1.76093542e+02] [ 2.04662317e-01 9.50841708e-01 -2.32407795e-01 -5.43573356e+01] [ 6.73765309e-01 3.53847452e-02 7.38097710e-01 8.40654366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.09, Y:-54.39, Z:84.12 [[ 7.03800064e-01 -2.56341791e-01 -6.62536306e-01 1.76090473e+02] [ 2.02683607e-01 9.66320024e-01 -1.58571643e-01 -5.43918489e+01] [ 6.80870638e-01 -2.26825158e-02 7.32052374e-01 8.41200514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.12, Y:-54.37, Z:84.12 [[ 7.04566373e-01 -2.81982250e-01 -6.51208290e-01 1.76116768e+02] [ 2.02143778e-01 9.59394321e-01 -1.96724247e-01 -5.43675637e+01] [ 6.80238281e-01 6.96758537e-03 7.32957934e-01 8.41240298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:-54.34, Z:84.12 [[ 7.10113135e-01 -3.09337965e-01 -6.32494553e-01 1.76152692e+02] [ 2.05746265e-01 9.50275639e-01 -2.33762024e-01 -5.43369544e+01] [ 6.73355634e-01 3.58640926e-02 7.38448344e-01 8.41195359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:-54.35, Z:84.16 [[ 7.08819384e-01 -2.80261130e-01 -6.47324324e-01 1.76166035e+02] [ 2.04316528e-01 9.59916498e-01 -1.91872547e-01 -5.43534810e+01] [ 6.75151715e-01 3.74392184e-03 7.37669401e-01 8.41563285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:-54.34, Z:84.17 [[ 7.09044707e-01 -2.83574389e-01 -6.45632380e-01 1.76187066e+02] [ 2.05351623e-01 9.58930519e-01 -1.95660346e-01 -5.43433693e+01] [ 6.74600856e-01 6.15027582e-03 7.38157070e-01 8.41730997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:-54.36, Z:84.22 [[ 7.03206108e-01 -2.54284433e-01 -6.63958279e-01 1.76188898e+02] [ 2.01850937e-01 9.66832368e-01 -1.56497196e-01 -5.43601079e+01] [ 6.81731156e-01 -2.39708162e-02 7.31209978e-01 8.42156902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:-54.33, Z:84.22 [[ 7.04088094e-01 -2.81747966e-01 -6.51826694e-01 1.76215375e+02] [ 2.00403214e-01 9.59446678e-01 -1.98243850e-01 -5.43337653e+01] [ 6.81247758e-01 8.95296944e-03 7.31998181e-01 8.42187900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:-54.30, Z:84.22 [[ 7.09579392e-01 -3.07021682e-01 -6.34219815e-01 1.76251139e+02] [ 2.02621394e-01 9.50971486e-01 -2.33661731e-01 -5.43041629e+01] [ 6.74864177e-01 3.72950458e-02 7.36998929e-01 8.42161245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:-54.34, Z:84.27 [[ 7.05590743e-01 -2.54009522e-01 -6.61529188e-01 1.76248006e+02] [ 1.99079796e-01 9.67004451e-01 -1.58964229e-01 -5.43372870e+01] [ 6.80080097e-01 -1.95334075e-02 7.32877553e-01 8.42692443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:-54.29, Z:84.26 [[ 7.11145071e-01 -3.03258635e-01 -6.34276666e-01 1.76290133e+02] [ 2.00017860e-01 9.52173956e-01 -2.30992667e-01 -5.42922781e+01] [ 6.73992243e-01 3.74026353e-02 7.37790959e-01 8.42567849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:-54.30, Z:84.29 [[ 7.10999287e-01 -2.78170105e-01 -6.45833885e-01 1.76304562e+02] [ 2.00048550e-01 9.60495482e-01 -1.93465775e-01 -5.43038141e+01] [ 6.74136924e-01 8.35589626e-03 7.38559129e-01 8.42891407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:-54.30, Z:84.31 [[ 7.10523143e-01 -2.76196712e-01 -6.47203399e-01 1.76324568e+02] [ 2.00013913e-01 9.61082708e-01 -1.90563539e-01 -5.42986485e+01] [ 6.74649019e-01 5.95012033e-03 7.38114692e-01 8.43096407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:-54.29, Z:84.33 [[ 7.10042485e-01 -2.76782121e-01 -6.47480754e-01 1.76344251e+02] [ 2.00237127e-01 9.60913354e-01 -1.91182160e-01 -5.42922192e+01] [ 6.75088707e-01 6.09776966e-03 7.37711363e-01 8.43283274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:-54.29, Z:84.35 [[ 7.09894657e-01 -2.76834946e-01 -6.47620250e-01 1.76364216e+02] [ 2.00128509e-01 9.60897156e-01 -1.91377205e-01 -5.42859354e+01] [ 6.75276355e-01 6.25037982e-03 7.37538323e-01 8.43477741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:-54.28, Z:84.37 [[ 7.09991601e-01 -2.75967750e-01 -6.47884039e-01 1.76383968e+02] [ 1.99872521e-01 9.61150184e-01 -1.90371478e-01 -5.42798605e+01] [ 6.75250251e-01 5.66793401e-03 7.37566928e-01 8.43663541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.40, Y:-54.27, Z:84.39 [[ 7.09355281e-01 -2.79440746e-01 -6.47091922e-01 1.76404760e+02] [ 2.01324535e-01 9.60135268e-01 -1.93929626e-01 -5.42699302e+01] [ 6.75487615e-01 7.28952397e-03 7.37335300e-01 8.43850593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:-54.29, Z:84.43 [[ 7.02473854e-01 -2.52422176e-01 -6.65442357e-01 1.76406952e+02] [ 1.97479201e-01 9.67409033e-01 -1.58498353e-01 -5.42859970e+01] [ 6.83763446e-01 -2.00700763e-02 7.29427681e-01 8.44271984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:-54.26, Z:84.43 [[ 7.03346863e-01 -2.81527213e-01 -6.52721700e-01 1.76434328e+02] [ 1.97293596e-01 9.59468395e-01 -2.01235275e-01 -5.42593168e+01] [ 6.82919048e-01 1.27603885e-02 7.30382602e-01 8.44307737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:-54.25, Z:84.45 [[ 7.03260712e-01 -2.82180966e-01 -6.52532201e-01 1.76454735e+02] [ 1.97987869e-01 9.59280026e-01 -2.01451323e-01 -5.42522675e+01] [ 6.82806835e-01 1.24793416e-02 7.30492362e-01 8.44492186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:-54.25, Z:84.47 [[ 7.03589042e-01 -2.82353381e-01 -6.52103541e-01 1.76474142e+02] [ 1.98099928e-01 9.59226957e-01 -2.01593807e-01 -5.42460849e+01] [ 6.82435988e-01 1.26575291e-02 7.30835761e-01 8.44665941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:-54.22, Z:84.46 [[ 7.10342869e-01 -3.10181651e-01 -6.31823039e-01 1.76509799e+02] [ 2.03103693e-01 9.49805826e-01 -2.37944915e-01 -5.42153713e+01] [ 6.73915350e-01 4.06968808e-02 7.37686834e-01 8.44622103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:-54.25, Z:84.52 [[ 7.04020200e-01 -2.57342310e-01 -6.61914264e-01 1.76507457e+02] [ 1.98769282e-01 9.66188668e-01 -1.64226155e-01 -5.42510256e+01] [ 6.81796400e-01 -1.59496927e-02 7.31368086e-01 8.45171490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:-54.20, Z:84.50 [[ 7.11293528e-01 -3.07462436e-01 -6.32082564e-01 1.76548985e+02] [ 2.02091879e-01 9.50742079e-01 -2.35049721e-01 -5.42037526e+01] [ 6.73216451e-01 3.94505920e-02 7.38392349e-01 8.45010257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:-54.24, Z:84.55 [[ 7.04837442e-01 -2.59198690e-01 -6.60318272e-01 1.76549192e+02] [ 1.97097253e-01 9.65758681e-01 -1.68709343e-01 -5.42354316e+01] [ 6.81437344e-01 -1.12342557e-02 7.31790228e-01 8.45540426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:-54.19, Z:84.54 [[ 7.11594989e-01 -3.06432238e-01 -6.32243509e-01 1.76589251e+02] [ 2.01016128e-01 9.51054825e-01 -2.34706703e-01 -5.41903433e+01] [ 6.73219940e-01 3.99249712e-02 7.38363670e-01 8.45390198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:-54.20, Z:84.57 [[ 7.10308026e-01 -2.82673915e-01 -6.44637857e-01 1.76604792e+02] [ 1.99600423e-01 9.59116137e-01 -2.00638745e-01 -5.42013312e+01] [ 6.74997911e-01 1.38453223e-02 7.37689723e-01 8.45719380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.61, Y:-54.21, Z:84.61 [[ 7.04570140e-01 -2.58194191e-01 -6.60996730e-01 1.76610129e+02] [ 1.95430583e-01 9.66040430e-01 -1.69034836e-01 -5.42148882e+01] [ 6.82193378e-01 -1.00820784e-02 7.31102282e-01 8.46109155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.64, Y:-54.19, Z:84.62 [[ 7.05185455e-01 -2.80643126e-01 -6.51116664e-01 1.76636442e+02] [ 1.94869886e-01 9.59679176e-01 -2.02587282e-01 -5.41920589e+01] [ 6.81717832e-01 1.59785740e-02 7.31440690e-01 8.46178823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.66, Y:-54.19, Z:84.64 [[ 7.05057277e-01 -2.81029646e-01 -6.51088760e-01 1.76656485e+02] [ 1.95151358e-01 9.59566362e-01 -2.02850546e-01 -5.41857221e+01] [ 6.81769890e-01 1.59603979e-02 7.31392564e-01 8.46365526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.69, Y:-54.17, Z:84.64 [[ 7.09140122e-01 -2.97692233e-01 -6.39139752e-01 1.76686518e+02] [ 1.98138075e-01 9.54105015e-01 -2.24554947e-01 -5.41654605e+01] [ 6.76654706e-01 3.26030024e-02 7.35578312e-01 8.46414541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:-54.17, Z:84.67 [[ 7.08674585e-01 -2.82839223e-01 -6.46360818e-01 1.76702957e+02] [ 1.98699947e-01 9.59056375e-01 -2.01814767e-01 -5.41708324e+01] [ 6.76977595e-01 1.45891357e-02 7.35859017e-01 8.46677925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.71, Y:-54.18, Z:84.70 [[ 7.04277927e-01 -2.64782665e-01 -6.58697762e-01 1.76711621e+02] [ 1.96339458e-01 9.64299070e-01 -1.77702336e-01 -5.41800149e+01] [ 6.82234138e-01 -4.17652934e-03 7.31121835e-01 8.47015617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.74, Y:-54.16, Z:84.71 [[ 7.04697621e-01 -2.82682281e-01 -6.50762623e-01 1.76736203e+02] [ 1.96796847e-01 9.59090868e-01 -2.03508498e-01 -5.41613412e+01] [ 6.81668735e-01 1.53439218e-02 7.31500035e-01 8.47109624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:-54.14, Z:84.72 [[ 7.08267206e-01 -2.99336231e-01 -6.39339805e-01 1.76765616e+02] [ 2.00483475e-01 9.53651844e-01 -2.24398164e-01 -5.41413385e+01] [ 6.76878085e-01 3.07567947e-02 7.35452295e-01 8.47156735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:-54.16, Z:84.76 [[ 7.04220615e-01 -2.69774148e-01 -6.56730717e-01 1.76772470e+02] [ 1.98657723e-01 9.62921704e-01 -1.82529179e-01 -5.41601045e+01] [ 6.81621915e-01 -1.92381805e-03 7.31702032e-01 8.47554064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:-54.13, Z:84.75 [[ 7.08727683e-01 -3.02634292e-01 -6.37273534e-01 1.76806017e+02] [ 2.03154214e-01 9.52601675e-01 -2.26447375e-01 -5.41285971e+01] [ 6.75598577e-01 3.10247197e-02 7.36616610e-01 8.47523963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:-54.15, Z:84.79 [[ 7.05018403e-01 -2.71070728e-01 -6.55339387e-01 1.76811753e+02] [ 2.02437683e-01 9.62543660e-01 -1.80357111e-01 -5.41506832e+01] [ 6.79682305e-01 -5.51030474e-03 7.33485924e-01 8.47946262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:176.84, Y:-54.12, Z:84.80 [[ 7.05047931e-01 -3.06140416e-01 -6.39676059e-01 1.76844444e+02] [ 2.04429524e-01 9.51467740e-01 -2.30038494e-01 -5.41193804e+01] [ 6.79055214e-01 3.14194917e-02 7.33414502e-01 8.47960503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:-54.13, Z:84.83 [[ 7.05416558e-01 -2.81809431e-01 -6.50362149e-01 1.76857728e+02] [ 2.07480815e-01 9.59470310e-01 -1.90705102e-01 -5.41312001e+01] [ 6.77745668e-01 -4.11131717e-04 7.35296294e-01 8.48277589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:-54.13, Z:84.85 [[ 7.02281924e-01 -2.76664961e-01 -6.55939478e-01 1.76870975e+02] [ 2.05697477e-01 9.60953726e-01 -1.85085072e-01 -5.41317526e+01] [ 6.81534040e-01 -4.94319472e-03 7.31769716e-01 8.48547614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:-54.12, Z:84.87 [[ 7.03061128e-01 -2.91363336e-01 -6.48700591e-01 1.76894880e+02] [ 2.07721846e-01 9.56569783e-01 -2.04513777e-01 -5.41159209e+01] [ 6.80115200e-01 9.03640249e-03 7.33049561e-01 8.48663433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:-54.10, Z:84.88 [[ 7.05024947e-01 -3.00625899e-01 -6.42311368e-01 1.76920131e+02] [ 2.10272173e-01 9.53592697e-01 -2.15514688e-01 -5.41015872e+01] [ 6.77292727e-01 1.68830246e-02 7.35519902e-01 8.48778010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:-54.11, Z:84.91 [[ 7.03094710e-01 -2.83694665e-01 -6.52054573e-01 1.76932704e+02] [ 2.07969120e-01 9.58914665e-01 -1.92954688e-01 -5.41082304e+01] [ 6.80004907e-01 5.82045629e-05 7.33207558e-01 8.49074596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:-54.10, Z:84.92 [[ 7.02942658e-01 -2.91600227e-01 -6.48722535e-01 1.76954792e+02] [ 2.07512197e-01 9.56492643e-01 -2.05086596e-01 -5.40954263e+01] [ 6.80301630e-01 9.54627872e-03 7.32870084e-01 8.49223605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:-54.09, Z:84.94 [[ 7.02772598e-01 -2.91390706e-01 -6.49000872e-01 1.76975135e+02] [ 2.06886204e-01 9.56550659e-01 -2.05448132e-01 -5.40880383e+01] [ 6.80667888e-01 1.01139913e-02 7.32522309e-01 8.49409814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:-54.08, Z:84.96 [[ 7.02524930e-01 -2.90096861e-01 -6.49848086e-01 1.76994988e+02] [ 2.04601189e-01 9.56925094e-01 -2.05992036e-01 -5.40798891e+01] [ 6.81613583e-01 1.17548494e-02 7.31617897e-01 8.49580785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:-54.07, Z:84.98 [[ 7.02519685e-01 -2.89462851e-01 -6.50136409e-01 1.77015251e+02] [ 2.03501597e-01 9.57106544e-01 -2.06238121e-01 -5.40722508e+01] [ 6.81948087e-01 1.25825421e-02 7.31292340e-01 8.49767139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.04, Y:-54.06, Z:85.00 [[ 7.02602346e-01 -2.88914102e-01 -6.50291154e-01 1.77035321e+02] [ 2.02443785e-01 9.57260021e-01 -2.06566614e-01 -5.40646379e+01] [ 6.82177731e-01 1.34867850e-02 7.31062001e-01 8.49950526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-54.06, Z:85.01 [[ 7.03471003e-01 -2.87345922e-01 -6.50046820e-01 1.77053780e+02] [ 2.00126372e-01 9.57703643e-01 -2.06768393e-01 -5.40570188e+01] [ 6.81966262e-01 1.53640577e-02 7.31222239e-01 8.50133172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.07, Y:-54.05, Z:85.03 [[ 7.04267257e-01 -2.87097955e-01 -6.49293766e-01 1.77073001e+02] [ 1.99888895e-01 9.57771334e-01 -2.06684547e-01 -5.40499508e+01] [ 6.81213667e-01 1.57745459e-02 7.31914683e-01 8.50320120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.09, Y:-54.04, Z:85.05 [[ 7.05222212e-01 -2.86786919e-01 -6.48394089e-01 1.77091946e+02] [ 1.99504301e-01 9.57854136e-01 -2.06672415e-01 -5.40431977e+01] [ 6.80337906e-01 1.63925681e-02 7.32715236e-01 8.50507715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:-54.04, Z:85.07 [[ 7.05722053e-01 -2.86842678e-01 -6.47825333e-01 1.77111602e+02] [ 1.99624339e-01 9.57835405e-01 -2.06643315e-01 -5.40362135e+01] [ 6.79784162e-01 1.65110400e-02 7.33226349e-01 8.50701554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.13, Y:-54.03, Z:85.09 [[ 7.06001745e-01 -2.86980563e-01 -6.47459414e-01 1.77130312e+02] [ 1.99673688e-01 9.57790417e-01 -2.06804099e-01 -5.40294529e+01] [ 6.79479179e-01 1.67234456e-02 7.33504173e-01 8.50881310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:-54.02, Z:85.11 [[ 7.06352668e-01 -2.87337752e-01 -6.46918020e-01 1.77150325e+02] [ 2.00191403e-01 9.57686221e-01 -2.06786131e-01 -5.40222444e+01] [ 6.78961936e-01 1.65565094e-02 7.33986766e-01 8.51070784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.17, Y:-54.02, Z:85.13 [[ 7.06845079e-01 -2.88095293e-01 -6.46042674e-01 1.77169854e+02] [ 2.01246802e-01 9.57465551e-01 -2.06783564e-01 -5.40157571e+01] [ 6.78136977e-01 1.61499228e-02 7.34758069e-01 8.51250656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.19, Y:-54.00, Z:85.14 [[ 7.09160522e-01 -2.98473090e-01 -6.38752823e-01 1.77193370e+02] [ 2.05000182e-01 9.54120693e-01 -2.18239842e-01 -5.40004896e+01] [ 6.74586006e-01 2.38226356e-02 7.37811766e-01 8.51350495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:-54.00, Z:85.16 [[ 7.08412370e-01 -2.92447058e-01 -6.42360204e-01 1.77211535e+02] [ 2.04736537e-01 9.56132297e-01 -2.09508903e-01 -5.39992089e+01] [ 6.75451600e-01 1.69040944e-02 7.37210545e-01 8.51586645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:-54.00, Z:85.18 [[ 7.06374166e-01 -2.85881654e-01 -6.47539356e-01 1.77228613e+02] [ 2.02638947e-01 9.58196418e-01 -2.01982874e-01 -5.39991750e+01] [ 6.78213090e-01 1.14587906e-02 7.34775953e-01 8.51846008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:-53.98, Z:85.19 [[ 7.08634285e-01 -2.97954230e-01 -6.39578554e-01 1.77251951e+02] [ 2.06101053e-01 9.54339942e-01 -2.16235129e-01 -5.39821170e+01] [ 6.74803531e-01 2.14138124e-02 7.37686683e-01 8.51936936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:-53.99, Z:85.22 [[ 7.06396404e-01 -2.86709155e-01 -6.47149118e-01 1.77268411e+02] [ 2.03209851e-01 9.57947425e-01 -2.02589457e-01 -5.39852748e+01] [ 6.78019083e-01 1.16013885e-02 7.34952741e-01 8.52218958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.29, Y:-53.97, Z:85.23 [[ 7.08449353e-01 -2.99469386e-01 -6.39075583e-01 1.77292536e+02] [ 2.06514515e-01 9.53840841e-01 -2.18035331e-01 -5.39673387e+01] [ 6.74871298e-01 2.24886047e-02 7.37592702e-01 8.52301657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:-53.97, Z:85.26 [[ 7.06140777e-01 -2.86350150e-01 -6.47586901e-01 1.77308197e+02] [ 2.03723023e-01 9.58069070e-01 -2.01495873e-01 -5.39722351e+01] [ 6.78131353e-01 1.03560913e-02 7.34867756e-01 8.52592706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.33, Y:-53.96, Z:85.28 [[ 7.05575470e-01 -2.90786531e-01 -6.46224767e-01 1.77329463e+02] [ 2.04028170e-01 9.56674857e-01 -2.07715486e-01 -5.39624292e+01] [ 6.78627852e-01 1.47108945e-02 7.34334956e-01 8.52751217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.35, Y:-53.96, Z:85.29 [[ 7.05111206e-01 -2.91563221e-01 -6.46381524e-01 1.77349009e+02] [ 2.04771350e-01 9.56444135e-01 -2.08046414e-01 -5.39561306e+01] [ 6.78886501e-01 1.43354408e-02 7.34103272e-01 8.52935751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:-53.95, Z:85.31 [[ 7.04713255e-01 -2.92519005e-01 -6.46383679e-01 1.77368382e+02] [ 2.05810121e-01 9.56160457e-01 -2.08325163e-01 -5.39499564e+01] [ 6.78985584e-01 1.37772002e-02 7.34022320e-01 8.53115100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:-53.94, Z:85.33 [[ 7.04562820e-01 -2.93190060e-01 -6.46243624e-01 1.77387141e+02] [ 2.06622825e-01 9.55961291e-01 -2.08434687e-01 -5.39440020e+01] [ 6.78894867e-01 1.33266478e-02 7.34114541e-01 8.53294309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:-53.94, Z:85.35 [[ 7.04180240e-01 -2.94276344e-01 -6.46166869e-01 1.77406658e+02] [ 2.07982564e-01 9.55638984e-01 -2.08560268e-01 -5.39379067e+01] [ 6.78876603e-01 1.24725776e-02 7.34146438e-01 8.53480658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.43, Y:-53.93, Z:85.37 [[ 7.04176606e-01 -2.95449640e-01 -6.45635205e-01 1.77426743e+02] [ 2.09489063e-01 9.55286866e-01 -2.08665609e-01 -5.39319334e+01] [ 6.78417010e-01 1.16839257e-02 7.34584131e-01 8.53670226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:-53.93, Z:85.39 [[ 7.03890482e-01 -2.96596485e-01 -6.45421347e-01 1.77446039e+02] [ 2.10857232e-01 9.54940316e-01 -2.08873696e-01 -5.39260280e+01] [ 6.78290069e-01 1.09324479e-02 7.34712913e-01 8.53853285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.47, Y:-53.92, Z:85.40 [[ 7.03765373e-01 -2.97812170e-01 -6.44997839e-01 1.77466159e+02] [ 2.12499647e-01 9.54572657e-01 -2.08889787e-01 -5.39200134e+01] [ 6.77907221e-01 9.94758574e-03 7.35080163e-01 8.54041940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.49, Y:-53.91, Z:85.42 [[ 7.02963744e-01 -2.99936348e-01 -6.44887713e-01 1.77485867e+02] [ 2.15164668e-01 9.53923529e-01 -2.09126917e-01 -5.39144006e+01] [ 6.77898326e-01 8.25159037e-03 7.35109359e-01 8.54228604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.51, Y:-53.91, Z:85.44 [[ 7.02329443e-01 -3.00873128e-01 -6.45142398e-01 1.77505219e+02] [ 2.16096941e-01 9.53632944e-01 -2.09490623e-01 -5.39086496e+01] [ 6.78259144e-01 7.71813390e-03 7.34782257e-01 8.54411949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.52, Y:-53.90, Z:85.46 [[ 7.01660722e-01 -3.01726374e-01 -6.45471476e-01 1.77524146e+02] [ 2.16976461e-01 9.53367768e-01 -2.09788263e-01 -5.39028690e+01] [ 6.78670352e-01 7.14806820e-03 7.34408237e-01 8.54591090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:-53.90, Z:85.48 [[ 7.01128175e-01 -3.02601514e-01 -6.45640462e-01 1.77544058e+02] [ 2.17972848e-01 9.53094990e-01 -2.09994709e-01 -5.38964223e+01] [ 6.78901407e-01 6.50111662e-03 7.34200664e-01 8.54773926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.56, Y:-53.89, Z:85.50 [[ 7.00075932e-01 -3.03585516e-01 -6.46319986e-01 1.77563236e+02] [ 2.18839438e-01 9.52785786e-01 -2.10495952e-01 -5.38904028e+01] [ 6.79708018e-01 5.92284773e-03 7.33458881e-01 8.54952369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:177.58, Y:-53.88, Z:85.51 [[ 6.97602282e-01 -3.10995305e-01 -6.45471128e-01 1.77583071e+02] [ 2.18784879e-01 9.50319172e-01 -2.21419618e-01 -5.38793982e+01] [ 6.82264050e-01 1.32435086e-02 7.30985893e-01 8.55107018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:177.60, Y:-53.88, Z:85.53 [[ 6.97349078e-01 -3.04980685e-01 -6.48607004e-01 1.77601530e+02] [ 2.19000163e-01 9.52339444e-01 -2.12340559e-01 -5.38773483e+01] [ 6.82453802e-01 6.03045349e-03 7.30903852e-01 8.55332677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.62, Y:-53.88, Z:85.56 [[ 6.98471939e-01 -2.98785943e-01 -6.50279871e-01 1.77621157e+02] [ 2.19944830e-01 9.54318519e-01 -2.02238564e-01 -5.38754905e+01] [ 6.81000163e-01 -1.76773362e-03 7.32281130e-01 8.55554962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:-53.86, Z:85.57 [[ 6.97888564e-01 -3.05987055e-01 -6.47551909e-01 1.77642034e+02] [ 2.21037879e-01 9.52024718e-01 -2.11639298e-01 -5.38643598e+01] [ 6.81244309e-01 4.56714548e-03 7.32041892e-01 8.55708214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:-53.86, Z:85.59 [[ 6.96814607e-01 -3.08262439e-01 -6.47629271e-01 1.77661118e+02] [ 2.23942900e-01 9.51297827e-01 -2.11853772e-01 -5.38586616e+01] [ 6.81394879e-01 2.59082612e-03 7.31911407e-01 8.55884072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.68, Y:-53.85, Z:85.61 [[ 6.96067778e-01 -3.10034063e-01 -6.47586695e-01 1.77680960e+02] [ 2.26233502e-01 9.50724864e-01 -2.11992065e-01 -5.38529400e+01] [ 6.81401534e-01 1.05503990e-03 7.31909036e-01 8.56075793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.70, Y:-53.85, Z:85.63 [[ 6.95166479e-01 -3.12214391e-01 -6.47507329e-01 1.77700992e+02] [ 2.28982772e-01 9.50011392e-01 -2.12238650e-01 -5.38473623e+01] [ 6.81403300e-01 -7.26827750e-04 7.31907791e-01 8.56271557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.72, Y:-53.84, Z:85.65 [[ 6.93645592e-01 -3.16589496e-01 -6.47013821e-01 1.77720337e+02] [ 2.34856923e-01 9.48551201e-01 -2.12350760e-01 -5.38438527e+01] [ 6.80953757e-01 -4.65950624e-03 7.32311594e-01 8.56464317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:-53.84, Z:85.67 [[ 6.93110098e-01 -3.17519493e-01 -6.47131952e-01 1.77738988e+02] [ 2.38219980e-01 9.48213323e-01 -2.10101726e-01 -5.38399078e+01] [ 6.80330532e-01 -8.53613324e-03 7.32855716e-01 8.56673615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:-53.83, Z:85.68 [[ 6.92887521e-01 -3.22328104e-01 -6.44989517e-01 1.77759525e+02] [ 2.40210532e-01 9.46609283e-01 -2.15011083e-01 -5.38310296e+01] [ 6.79857179e-01 -5.95477878e-03 7.33320364e-01 8.56844455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.78, Y:-53.83, Z:85.70 [[ 6.92937255e-01 -3.21848920e-01 -6.45175350e-01 1.77778221e+02] [ 2.42127698e-01 9.46746846e-01 -2.12237103e-01 -5.38259218e+01] [ 6.79126010e-01 -9.14782638e-03 7.33964699e-01 8.57047220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.80, Y:-53.82, Z:85.72 [[ 6.93017020e-01 -3.23814619e-01 -6.44105195e-01 1.77796612e+02] [ 2.44863072e-01 9.46060194e-01 -2.12160755e-01 -5.38190442e+01] [ 6.78063040e-01 -1.06865631e-02 7.34926059e-01 8.57233484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.82, Y:-53.81, Z:85.74 [[ 6.92540440e-01 -3.24678206e-01 -6.44183049e-01 1.77815664e+02] [ 2.45879015e-01 9.45756588e-01 -2.12339321e-01 -5.38118706e+01] [ 6.78182312e-01 -1.13375268e-02 7.34806241e-01 8.57421002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:-53.80, Z:85.76 [[ 6.92063212e-01 -3.25287036e-01 -6.44388745e-01 1.77835217e+02] [ 2.46397448e-01 9.45544352e-01 -2.12683278e-01 -5.38044798e+01] [ 6.78481251e-01 -1.15854696e-02 7.34526357e-01 8.57607200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.85, Y:-53.80, Z:85.78 [[ 6.92045040e-01 -3.25670546e-01 -6.44214528e-01 1.77854423e+02] [ 2.46713583e-01 9.45412186e-01 -2.12904220e-01 -5.37972218e+01] [ 6.78384899e-01 -1.15971651e-02 7.34615161e-01 8.57790780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.87, Y:-53.79, Z:85.80 [[ 6.92065187e-01 -3.25810265e-01 -6.44122231e-01 1.77873908e+02] [ 2.46788763e-01 9.45364826e-01 -2.13027352e-01 -5.37899772e+01] [ 6.78336998e-01 -1.15333139e-02 7.34660397e-01 8.57983222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:-53.78, Z:85.82 [[ 6.92051548e-01 -3.25824333e-01 -6.44129768e-01 1.77893031e+02] [ 2.46558699e-01 9.45363950e-01 -2.13297469e-01 -5.37818977e+01] [ 6.78434567e-01 -1.12029543e-02 7.34575409e-01 8.58175450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.91, Y:-53.77, Z:85.84 [[ 6.91391232e-01 -3.25891517e-01 -6.44804531e-01 1.77912220e+02] [ 2.46204129e-01 9.45343902e-01 -2.13795306e-01 -5.37739941e+01] [ 6.79236109e-01 -1.09373379e-02 7.33838322e-01 8.58365708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.93, Y:-53.77, Z:85.86 [[ 6.90597238e-01 -3.25936466e-01 -6.45632152e-01 1.77931569e+02] [ 2.45767375e-01 9.45331741e-01 -2.14350875e-01 -5.37656221e+01] [ 6.80201333e-01 -1.06451964e-02 7.32948038e-01 8.58553472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:-53.76, Z:85.87 [[ 6.89562786e-01 -3.26220464e-01 -6.46593670e-01 1.77950491e+02] [ 2.45616607e-01 9.45234382e-01 -2.14952192e-01 -5.37570352e+01] [ 6.81304372e-01 -1.05911109e-02 7.31923617e-01 8.58737622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:-53.74, Z:85.88 [[ 6.89956445e-01 -3.37091911e-01 -6.40569394e-01 1.77973608e+02] [ 2.48747499e-01 9.41468767e-01 -2.27510973e-01 -5.37382506e+01] [ 6.79768186e-01 -2.36737286e-03 7.33423213e-01 8.58840332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.99, Y:-53.73, Z:85.90 [[ 6.90341048e-01 -3.37543616e-01 -6.39916826e-01 1.77994077e+02] [ 2.50794981e-01 9.41299139e-01 -2.25959749e-01 -5.37296015e+01] [ 6.78624428e-01 -4.49863768e-03 7.34471679e-01 8.59017169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:-53.74, Z:85.94 [[ 6.87173765e-01 -3.20268542e-01 -6.52089164e-01 1.78007193e+02] [ 2.47898291e-01 9.47082198e-01 -2.03916029e-01 -5.37375845e+01] [ 6.82889928e-01 -2.15260438e-02 7.30204064e-01 8.59355120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.03, Y:-53.72, Z:85.95 [[ 6.86655811e-01 -3.29971338e-01 -6.47782921e-01 1.78028567e+02] [ 2.49876260e-01 9.43893081e-01 -2.15934494e-01 -5.37236980e+01] [ 6.82690011e-01 -1.35928981e-02 7.30581673e-01 8.59508102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.05, Y:-53.70, Z:85.96 [[ 6.88541823e-01 -3.48262436e-01 -6.36100176e-01 1.78053347e+02] [ 2.56155036e-01 9.37396952e-01 -2.35948199e-01 -5.37010041e+01] [ 6.78450261e-01 -4.80059943e-04 7.34646182e-01 8.59552426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:-53.72, Z:85.99 [[ 6.85403526e-01 -3.24382413e-01 -6.51918750e-01 1.78064972e+02] [ 2.54143854e-01 9.45559167e-01 -2.03294768e-01 -5.37150887e+01] [ 6.82372998e-01 -2.63421932e-02 7.30529384e-01 8.59934302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:-53.69, Z:85.99 [[ 6.85751799e-01 -3.51044987e-01 -6.37582847e-01 1.78089995e+02] [ 2.62531931e-01 9.36328614e-01 -2.33164558e-01 -5.36865777e+01] [ 6.78838313e-01 -7.49284114e-03 7.34249550e-01 8.59946324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:-53.70, Z:86.03 [[ 6.83309968e-01 -3.31491573e-01 -6.50538873e-01 1.78102943e+02] [ 2.61062107e-01 9.43016850e-01 -2.06314802e-01 -5.36972997e+01] [ 6.81860737e-01 -2.88540885e-02 7.30912702e-01 8.60302797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.12, Y:-53.68, Z:86.05 [[ 6.82446534e-01 -3.39815449e-01 -6.47141553e-01 1.78123406e+02] [ 2.62970522e-01 9.40222950e-01 -2.16396185e-01 -5.36848544e+01] [ 6.81992107e-01 -2.25003257e-02 7.31013339e-01 8.60465293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:-53.68, Z:86.07 [[ 6.82168213e-01 -3.41058412e-01 -6.46781021e-01 1.78142195e+02] [ 2.64521570e-01 9.39751756e-01 -2.16552481e-01 -5.36771386e+01] [ 6.81670645e-01 -2.33623117e-02 7.31286082e-01 8.60653450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:-53.67, Z:86.08 [[ 6.81739205e-01 -3.42239297e-01 -6.46609557e-01 1.78160450e+02] [ 2.65937698e-01 9.39301729e-01 -2.16770393e-01 -5.36676143e+01] [ 6.81548822e-01 -2.41769819e-02 7.31373145e-01 8.60845202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.18, Y:-53.66, Z:86.10 [[ 6.81853187e-01 -3.42461832e-01 -6.46371507e-01 1.78179582e+02] [ 2.66050898e-01 9.39224427e-01 -2.16966348e-01 -5.36589731e+01] [ 6.81390601e-01 -2.40285242e-02 7.31525447e-01 8.61035150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.20, Y:-53.65, Z:86.12 [[ 6.81636849e-01 -3.42452389e-01 -6.46604646e-01 1.78198365e+02] [ 2.65718984e-01 9.39236672e-01 -2.17319799e-01 -5.36500777e+01] [ 6.81736480e-01 -2.36819467e-02 7.31214426e-01 8.61222100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:-53.64, Z:86.14 [[ 6.81908142e-01 -3.42169413e-01 -6.46468389e-01 1.78216607e+02] [ 2.65105592e-01 9.39355981e-01 -2.17553133e-01 -5.36412418e+01] [ 6.81703976e-01 -2.30311326e-02 7.31265517e-01 8.61402071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:-53.63, Z:86.16 [[ 6.81937192e-01 -3.41727731e-01 -6.46671341e-01 1.78235303e+02] [ 2.64264308e-01 9.39533010e-01 -2.17812070e-01 -5.36320087e+01] [ 6.82001497e-01 -2.23580036e-02 7.31008946e-01 8.61588439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:-53.62, Z:86.18 [[ 6.83028022e-01 -3.40460338e-01 -6.46188424e-01 1.78252783e+02] [ 2.62392319e-01 9.40030892e-01 -2.17927037e-01 -5.36202202e+01] [ 6.81632593e-01 -2.07046059e-02 7.31401618e-01 8.61763006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.27, Y:-53.61, Z:86.20 [[ 6.83291048e-01 -3.39931907e-01 -6.46188550e-01 1.78271048e+02] [ 2.61488189e-01 9.40238778e-01 -2.18116867e-01 -5.36113386e+01] [ 6.81716415e-01 -1.99333711e-02 7.31344919e-01 8.61952754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.29, Y:-53.60, Z:86.21 [[ 6.83663534e-01 -3.39534940e-01 -6.46003248e-01 1.78289977e+02] [ 2.60733384e-01 9.40398114e-01 -2.18333439e-01 -5.36020976e+01] [ 6.81632067e-01 -1.91680020e-02 7.31443992e-01 8.62144397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:-53.59, Z:86.23 [[ 6.84924438e-01 -3.38112481e-01 -6.45413406e-01 1.78307169e+02] [ 2.58680871e-01 9.40945621e-01 -2.18415990e-01 -5.35898206e+01] [ 6.81148090e-01 -1.73576533e-02 7.31939882e-01 8.62324254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:-53.58, Z:86.25 [[ 6.86061082e-01 -3.37429158e-01 -6.44563229e-01 1.78325898e+02] [ 2.57837728e-01 9.41207428e-01 -2.18284869e-01 -5.35800894e+01] [ 6.80323378e-01 -1.64359650e-02 7.32727753e-01 8.62511014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:-53.57, Z:86.27 [[ 6.86812800e-01 -3.37148154e-01 -6.43909388e-01 1.78342464e+02] [ 2.58000213e-01 9.41304740e-01 -2.17672407e-01 -5.35692512e+01] [ 6.79502809e-01 -1.66285635e-02 7.33484440e-01 8.62684002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.36, Y:-53.56, Z:86.29 [[ 6.87986342e-01 -3.39229584e-01 -6.41559103e-01 1.78363683e+02] [ 2.55234047e-01 9.40651899e-01 -2.23672945e-01 -5.35579437e+01] [ 6.79360269e-01 -9.86379511e-03 7.33738598e-01 8.62862232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.38, Y:-53.55, Z:86.31 [[ 6.88305783e-01 -3.34806810e-01 -6.43536750e-01 1.78382019e+02] [ 2.53985418e-01 9.42196682e-01 -2.18533337e-01 -5.35507901e+01] [ 6.79504640e-01 -1.30311905e-02 7.33555473e-01 8.63064227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.39, Y:-53.55, Z:86.33 [[ 6.86155713e-01 -3.23999520e-01 -6.51317625e-01 1.78394326e+02] [ 2.52523409e-01 9.45747692e-01 -2.04433927e-01 -5.35493660e+01] [ 6.82218635e-01 -2.41994402e-02 7.30747645e-01 8.63321818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:-53.52, Z:86.34 [[ 6.88618785e-01 -3.45231747e-01 -6.37667005e-01 1.78421086e+02] [ 2.50173242e-01 9.38507504e-01 -2.37943300e-01 -5.35186256e+01] [ 6.80600851e-01 4.32500406e-03 7.32641643e-01 8.63364933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.44, Y:-53.52, Z:86.36 [[ 6.88871974e-01 -3.32003586e-01 -6.44382668e-01 1.78437999e+02] [ 2.49312884e-01 9.43230502e-01 -2.19452287e-01 -5.35181826e+01] [ 6.80660333e-01 -9.47837130e-03 7.32537829e-01 8.63604361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:-53.51, Z:86.38 [[ 6.89276584e-01 -3.31474790e-01 -6.44222208e-01 1.78456810e+02] [ 2.48380911e-01 9.43424908e-01 -2.19673315e-01 -5.35083904e+01] [ 6.80591444e-01 -8.59682685e-03 7.32612709e-01 8.63785277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:-53.50, Z:86.40 [[ 6.89607433e-01 -3.30871544e-01 -6.44178244e-01 1.78474817e+02] [ 2.47311596e-01 9.43644844e-01 -2.19934953e-01 -5.34989919e+01] [ 6.80645695e-01 -7.64397097e-03 7.32572868e-01 8.63963400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:-53.49, Z:86.41 [[ 6.90234200e-01 -3.29579257e-01 -6.44169436e-01 1.78493490e+02] [ 2.45402748e-01 9.44107752e-01 -2.20086446e-01 -5.34872146e+01] [ 6.80701285e-01 -6.16975757e-03 7.32535115e-01 8.64148167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.51, Y:-53.48, Z:86.43 [[ 6.90485560e-01 -3.29329891e-01 -6.44027573e-01 1.78511885e+02] [ 2.44839812e-01 9.44198593e-01 -2.20323587e-01 -5.34782934e+01] [ 6.80649071e-01 -5.55333418e-03 7.32588563e-01 8.64327718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:-53.47, Z:86.45 [[ 6.90633918e-01 -3.28903236e-01 -6.44086526e-01 1.78531002e+02] [ 2.44089992e-01 9.44350770e-01 -2.20503287e-01 -5.34696699e+01] [ 6.80767851e-01 -4.92802623e-03 7.32482660e-01 8.64518825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.55, Y:-53.46, Z:86.47 [[ 6.90702757e-01 -3.28759014e-01 -6.44086340e-01 1.78549435e+02] [ 2.43633849e-01 9.44403471e-01 -2.20781864e-01 -5.34610144e+01] [ 6.80861403e-01 -4.42659185e-03 7.32398905e-01 8.64702083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.57, Y:-53.45, Z:86.49 [[ 6.91024380e-01 -3.28183072e-01 -6.44035075e-01 1.78568117e+02] [ 2.42685669e-01 9.44607228e-01 -2.20954407e-01 -5.34508341e+01] [ 6.80873683e-01 -3.61320116e-03 7.32391953e-01 8.64888110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:-53.44, Z:86.51 [[ 6.91150754e-01 -3.28355356e-01 -6.43811615e-01 1.78586632e+02] [ 2.42726252e-01 9.44548098e-01 -2.21162513e-01 -5.34426507e+01] [ 6.80730932e-01 -3.41334338e-03 7.32525595e-01 8.65072415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.61, Y:-53.43, Z:86.53 [[ 6.91615764e-01 -3.28615134e-01 -6.43179391e-01 1.78606124e+02] [ 2.43131744e-01 9.44457586e-01 -2.21103647e-01 -5.34345655e+01] [ 6.80113659e-01 -3.45855960e-03 7.33098526e-01 8.65264742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.62, Y:-53.43, Z:86.55 [[ 6.92189628e-01 -3.29396099e-01 -6.42161762e-01 1.78624400e+02] [ 2.44259355e-01 9.44183940e-01 -2.21029533e-01 -5.34260652e+01] [ 6.79125089e-01 -3.85966739e-03 7.34012409e-01 8.65456022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.64, Y:-53.43, Z:86.58 [[ 6.89054482e-01 -3.15889463e-01 -6.52240575e-01 1.78636082e+02] [ 2.43588311e-01 9.48592829e-01 -2.02080133e-01 -5.34307553e+01] [ 6.82545716e-01 -1.96339590e-02 7.30579121e-01 8.65759360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:-53.40, Z:86.58 [[ 6.92161429e-01 -3.44731780e-01 -6.34091915e-01 1.78664520e+02] [ 2.44862392e-01 9.38612163e-01 -2.43001268e-01 -5.34004293e+01] [ 6.78936643e-01 1.29308416e-02 7.34082984e-01 8.65777705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.68, Y:-53.41, Z:86.61 [[ 6.90050337e-01 -3.23345746e-01 -6.47516842e-01 1.78677252e+02] [ 2.45152063e-01 9.46191927e-01 -2.11237551e-01 -5.34098011e+01] [ 6.80977972e-01 -1.29755465e-02 7.32188935e-01 8.66077332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.70, Y:-53.40, Z:86.63 [[ 6.87603957e-01 -3.27314887e-01 -6.48124805e-01 1.78696343e+02] [ 2.43335600e-01 9.44888593e-01 -2.19028157e-01 -5.34005168e+01] [ 6.84096912e-01 -7.10721093e-03 7.29356499e-01 8.66272868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.72, Y:-53.38, Z:86.64 [[ 6.88496311e-01 -3.37930470e-01 -6.41697614e-01 1.78718048e+02] [ 2.44777731e-01 9.41165112e-01 -2.33006639e-01 -5.33844717e+01] [ 6.82683450e-01 3.35092555e-03 7.30706561e-01 8.66388249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:-53.39, Z:86.67 [[ 6.87117627e-01 -3.25664911e-01 -6.49470348e-01 1.78735027e+02] [ 2.42989043e-01 9.45445149e-01 -2.17001832e-01 -5.33874210e+01] [ 6.84708472e-01 -8.70839437e-03 7.28765032e-01 8.66659029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.75, Y:-53.38, Z:86.69 [[ 6.86573199e-01 -3.26509004e-01 -6.49622285e-01 1.78754075e+02] [ 2.42245270e-01 9.45168261e-01 -2.19030106e-01 -5.33805415e+01] [ 6.85517667e-01 -6.98772574e-03 7.28022458e-01 8.66866234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.78, Y:-53.35, Z:86.69 [[ 6.90948044e-01 -3.48732316e-01 -6.33227110e-01 1.78782781e+02] [ 2.43769778e-01 9.37041412e-01 -2.50059369e-01 -5.33543879e+01] [ 6.80563808e-01 1.84163998e-02 7.32457330e-01 8.66889927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:-53.36, Z:86.72 [[ 6.90906263e-01 -3.30569338e-01 -6.42940470e-01 1.78800491e+02] [ 2.44131485e-01 9.43777071e-01 -2.22900558e-01 -5.33609489e+01] [ 6.80476563e-01 -2.95862062e-03 7.32763873e-01 8.67153288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.81, Y:-53.38, Z:86.76 [[ 6.84898711e-01 -3.05050575e-01 -6.61708321e-01 1.78808175e+02] [ 2.41204040e-01 9.51861794e-01 -1.89155323e-01 -5.33763523e+01] [ 6.87556810e-01 -3.00544834e-02 7.25508347e-01 8.67552102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:-53.33, Z:86.74 [[ 6.90817458e-01 -3.54682696e-01 -6.30056684e-01 1.78842701e+02] [ 2.43727589e-01 9.34644353e-01 -2.58914650e-01 -5.33301140e+01] [ 6.80711468e-01 2.53005640e-02 7.32114594e-01 8.67440364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.86, Y:-53.34, Z:86.77 [[ 6.90412232e-01 -3.31307545e-01 -6.43091176e-01 1.78859873e+02] [ 2.44638673e-01 9.43517862e-01 -2.23441185e-01 -5.33413587e+01] [ 6.80795762e-01 -3.05844524e-03 7.32466911e-01 8.67719964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:-53.33, Z:86.79 [[ 6.89662959e-01 -3.32421071e-01 -6.43320476e-01 1.78879683e+02] [ 2.45826710e-01 9.43123434e-01 -2.23802182e-01 -5.33348057e+01] [ 6.81127177e-01 -3.79728114e-03 7.32155277e-01 8.67907129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:-53.36, Z:86.84 [[ 6.81803718e-01 -2.97716586e-01 -6.68212934e-01 1.78885423e+02] [ 2.43042969e-01 9.53740370e-01 -1.76944686e-01 -5.33585817e+01] [ 6.89981018e-01 -4.17629107e-02 7.22621653e-01 8.68374957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:-53.30, Z:86.82 [[ 6.86696255e-01 -3.67809959e-01 -6.27027980e-01 1.78923639e+02] [ 2.51533507e-01 9.29493444e-01 -2.69764402e-01 -5.33004667e+01] [ 6.82040430e-01 2.75276576e-02 7.30796195e-01 8.68164267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.94, Y:-53.32, Z:86.85 [[ 6.85793713e-01 -3.39704154e-01 -6.43652135e-01 1.78939956e+02] [ 2.55087112e-01 9.40477286e-01 -2.24573018e-01 -5.33178037e+01] [ 6.81628600e-01 -1.01766004e-02 7.31627561e-01 8.68475163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:-53.31, Z:86.87 [[ 6.84586213e-01 -3.42155979e-01 -6.43638876e-01 1.78958826e+02] [ 2.58197051e-01 9.39563187e-01 -2.24845059e-01 -5.33126134e+01] [ 6.81671475e-01 -1.22598326e-02 7.31555669e-01 8.68657726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:-53.31, Z:86.89 [[ 6.81999738e-01 -3.46923030e-01 -6.43832873e-01 1.78978379e+02] [ 2.64543874e-01 9.37742656e-01 -2.25067214e-01 -5.33078558e+01] [ 6.81830548e-01 -1.68262616e-02 7.31316608e-01 8.68854339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:-53.30, Z:86.90 [[ 6.80734774e-01 -3.49205197e-01 -6.43937806e-01 1.78998056e+02] [ 2.67392129e-01 9.36858515e-01 -2.25383166e-01 -5.33015599e+01] [ 6.81983590e-01 -1.87577425e-02 7.31126891e-01 8.69043977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:-53.30, Z:86.92 [[ 6.79390567e-01 -3.51250479e-01 -6.44244952e-01 1.79017653e+02] [ 2.69859405e-01 9.36057734e-01 -2.25769395e-01 -5.32952046e+01] [ 6.82352078e-01 -2.04699623e-02 7.30737040e-01 8.69237031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.04, Y:-53.29, Z:86.94 [[ 6.78616280e-01 -3.52899016e-01 -6.44160096e-01 1.79037071e+02] [ 2.71897552e-01 9.35408181e-01 -2.26016051e-01 -5.32886004e+01] [ 6.82313466e-01 -2.17673811e-02 7.30735598e-01 8.69424202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.06, Y:-53.28, Z:86.96 [[ 6.77745800e-01 -3.54379867e-01 -6.44263564e-01 1.79056335e+02] [ 2.73649159e-01 9.34820936e-01 -2.26331518e-01 -5.32820341e+01] [ 6.82478401e-01 -2.29069464e-02 7.30546716e-01 8.69613352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:-53.28, Z:86.98 [[ 6.77039789e-01 -3.55437049e-01 -6.44423485e-01 1.79074867e+02] [ 2.74799055e-01 9.34401664e-01 -2.26669386e-01 -5.32757508e+01] [ 6.82717074e-01 -2.36227717e-02 7.30300871e-01 8.69795068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:-53.27, Z:87.00 [[ 6.75947900e-01 -3.56333050e-01 -6.45074564e-01 1.79093657e+02] [ 2.75705018e-01 9.34041070e-01 -2.27055109e-01 -5.32697371e+01] [ 6.83433376e-01 -2.43728702e-02 7.29605910e-01 8.69974645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:-53.26, Z:87.02 [[ 6.75569843e-01 -3.56543602e-01 -6.45354203e-01 1.79113160e+02] [ 2.75772563e-01 9.33959775e-01 -2.27307352e-01 -5.32627843e+01] [ 6.83779848e-01 -2.44089906e-02 7.29280002e-01 8.70161809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:-53.26, Z:87.04 [[ 6.75121406e-01 -3.56597570e-01 -6.45793512e-01 1.79132881e+02] [ 2.75465437e-01 9.33946046e-01 -2.27735762e-01 -5.32558804e+01] [ 6.84346316e-01 -2.41445038e-02 7.28757273e-01 8.70353750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:-53.25, Z:87.06 [[ 6.74820440e-01 -3.55483492e-01 -6.46721626e-01 1.79152102e+02] [ 2.73390355e-01 9.34406517e-01 -2.28346611e-01 -5.32497761e+01] [ 6.85474353e-01 -2.27144940e-02 7.27742374e-01 8.70553952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:-53.24, Z:87.07 [[ 6.75544361e-01 -3.54738784e-01 -6.46374668e-01 1.79170889e+02] [ 2.72195024e-01 9.34716509e-01 -2.28505837e-01 -5.32430551e+01] [ 6.85236955e-01 -2.15741380e-02 7.28000599e-01 8.70740709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:-53.24, Z:87.09 [[ 6.75949466e-01 -3.53740192e-01 -6.46498412e-01 1.79189754e+02] [ 2.70594664e-01 9.35122972e-01 -2.28743425e-01 -5.32360822e+01] [ 6.85471260e-01 -2.03200250e-02 7.27816082e-01 8.70934295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:-53.23, Z:87.11 [[ 6.77171924e-01 -3.52391930e-01 -6.45955195e-01 1.79208352e+02] [ 2.68627306e-01 9.35668400e-01 -2.28831852e-01 -5.32294592e+01] [ 6.85038361e-01 -1.85626981e-02 7.28270465e-01 8.71121054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:-53.22, Z:87.13 [[ 6.77736850e-01 -3.50945233e-01 -6.46150297e-01 1.79226765e+02] [ 2.66422496e-01 9.36243324e-01 -2.29057835e-01 -5.32229898e+01] [ 6.85340657e-01 -1.69080391e-02 7.28026306e-01 8.71313585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:-53.22, Z:87.15 [[ 6.79769913e-01 -3.47762810e-01 -6.45735158e-01 1.79245923e+02] [ 2.62010591e-01 9.37485671e-01 -2.29065637e-01 -5.32170015e+01] [ 6.85027967e-01 -1.34775226e-02 7.28392092e-01 8.71512533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:-53.21, Z:87.17 [[ 6.80618287e-01 -3.46486412e-01 -6.45527624e-01 1.79265185e+02] [ 2.60055678e-01 9.37980404e-01 -2.29267980e-01 -5.32101672e+01] [ 6.84930501e-01 -1.18291444e-02 7.28512374e-01 8.71702386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:-53.20, Z:87.19 [[ 6.81382791e-01 -3.45225112e-01 -6.45396865e-01 1.79284568e+02] [ 2.58099300e-01 9.38464473e-01 -2.29497677e-01 -5.32031014e+01] [ 6.84910390e-01 -1.02007113e-02 7.28555902e-01 8.71889046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:179.30, Y:-53.20, Z:87.21 [[ 6.82372169e-01 -3.44016492e-01 -6.44996803e-01 1.79303497e+02] [ 2.56295424e-01 9.38924126e-01 -2.29639154e-01 -5.31961846e+01] [ 6.84602716e-01 -8.61036116e-03 7.28865546e-01 8.72072406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:-53.19, Z:87.23 [[ 6.83010700e-01 -3.42823438e-01 -6.44956179e-01 1.79322731e+02] [ 2.54517004e-01 9.39372210e-01 -2.29784562e-01 -5.31893093e+01] [ 6.84629445e-01 -7.20699989e-03 7.28855666e-01 8.72258974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.33, Y:-53.20, Z:87.26 [[ 6.79327459e-01 -3.22696058e-01 -6.59076215e-01 1.79333786e+02] [ 2.48724038e-01 9.46214254e-01 -2.06917710e-01 -5.31976076e+01] [ 6.90398839e-01 -2.33632155e-02 7.23051591e-01 8.72597478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:-53.16, Z:87.26 [[ 6.84250994e-01 -3.55148120e-01 -6.36922594e-01 1.79364525e+02] [ 2.47558330e-01 9.34656312e-01 -2.55210603e-01 -5.31635103e+01] [ 6.85941289e-01 1.69526150e-02 7.27459386e-01 8.72569347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:-53.18, Z:87.30 [[ 6.80623794e-01 -3.21144361e-01 -6.58496431e-01 1.79375544e+02] [ 2.44208491e-01 9.46853128e-01 -2.09359422e-01 -5.31837914e+01] [ 6.90734003e-01 -1.83154156e-02 7.22876948e-01 8.72972662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:-53.15, Z:87.30 [[ 6.84756812e-01 -3.49866575e-01 -6.39297652e-01 1.79404267e+02] [ 2.43938158e-01 9.36660432e-01 -2.51319337e-01 -5.31535199e+01] [ 6.86733051e-01 1.61435363e-02 7.26730420e-01 8.72972989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:-53.16, Z:87.32 [[ 6.84971534e-01 -3.35437078e-01 -6.46758041e-01 1.79422332e+02] [ 2.42855247e-01 9.42061532e-01 -2.31390145e-01 -5.31576273e+01] [ 6.86902705e-01 1.42707880e-03 7.26747987e-01 8.73217494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.44, Y:-53.15, Z:87.34 [[ 6.85258022e-01 -3.34077009e-01 -6.47158401e-01 1.79442160e+02] [ 2.40581824e-01 9.42540492e-01 -2.31814164e-01 -5.31536682e+01] [ 6.87416780e-01 3.15796726e-03 7.26256289e-01 8.73404638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:-53.15, Z:87.36 [[ 6.85085785e-01 -3.33852606e-01 -6.47456488e-01 1.79462386e+02] [ 2.40020419e-01 9.42618449e-01 -2.32078991e-01 -5.31482470e+01] [ 6.87784607e-01 3.59124016e-03 7.25905943e-01 8.73596018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:-53.14, Z:87.38 [[ 6.84817287e-01 -3.33847807e-01 -6.47742947e-01 1.79482651e+02] [ 2.39653485e-01 9.42618686e-01 -2.32456922e-01 -5.31426099e+01] [ 6.88179839e-01 3.95666386e-03 7.25529361e-01 8.73787674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.50, Y:-53.14, Z:87.40 [[ 6.85059628e-01 -3.33837087e-01 -6.47492166e-01 1.79501967e+02] [ 2.39457552e-01 9.42620831e-01 -2.32650060e-01 -5.31377642e+01] [ 6.88006822e-01 4.33227402e-03 7.25691287e-01 8.73965381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.52, Y:-53.13, Z:87.42 [[ 6.85392655e-01 -3.34055285e-01 -6.47027028e-01 1.79522042e+02] [ 2.39767904e-01 9.42543602e-01 -2.32643313e-01 -5.31327952e+01] [ 6.87566914e-01 4.31570381e-03 7.26108197e-01 8.74155530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:-53.13, Z:87.43 [[ 6.86243303e-01 -3.33977727e-01 -6.46164845e-01 1.79542215e+02] [ 2.39695106e-01 9.42569007e-01 -2.32615400e-01 -5.31311675e+01] [ 6.86743319e-01 4.74820918e-03 7.26884495e-01 8.74339761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:-53.13, Z:87.45 [[ 6.86403621e-01 -3.34220169e-01 -6.45869141e-01 1.79562541e+02] [ 2.39981601e-01 9.42483274e-01 -2.32667378e-01 -5.31264624e+01] [ 6.86482994e-01 4.70702005e-03 7.27130623e-01 8.74531438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:-53.12, Z:87.47 [[ 6.86771075e-01 -3.34203203e-01 -6.45487188e-01 1.79583994e+02] [ 2.39822234e-01 9.42487307e-01 -2.32815316e-01 -5.31242355e+01] [ 6.86171106e-01 5.08864532e-03 7.27422380e-01 8.74723928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.60, Y:-53.12, Z:87.49 [[ 6.86737855e-01 -3.34474594e-01 -6.45381952e-01 1.79604821e+02] [ 2.39964566e-01 9.42390517e-01 -2.33060336e-01 -5.31195744e+01] [ 6.86154592e-01 5.18255502e-03 7.27437294e-01 8.74915276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.62, Y:-53.12, Z:87.51 [[ 6.86730994e-01 -3.34866212e-01 -6.45186145e-01 1.79624635e+02] [ 2.40306816e-01 9.42251607e-01 -2.33269249e-01 -5.31151144e+01] [ 6.86041672e-01 5.15059525e-03 7.27544016e-01 8.75095381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.65, Y:-53.11, Z:87.53 [[ 6.86526019e-01 -3.35027674e-01 -6.45320449e-01 1.79645487e+02] [ 2.40332547e-01 9.42193963e-01 -2.33475486e-01 -5.31105881e+01] [ 6.86237781e-01 5.19548839e-03 7.27358725e-01 8.75284159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:-53.11, Z:87.55 [[ 6.86300563e-01 -3.35357017e-01 -6.45389192e-01 1.79666358e+02] [ 2.40497293e-01 9.42076608e-01 -2.33779207e-01 -5.31059132e+01] [ 6.86405558e-01 5.22844779e-03 7.27200160e-01 8.75474380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.69, Y:-53.10, Z:87.57 [[ 6.86056623e-01 -3.35625187e-01 -6.45509135e-01 1.79686767e+02] [ 2.40559754e-01 9.41980570e-01 -2.34101711e-01 -5.31013167e+01] [ 6.86627494e-01 5.32351059e-03 7.26989921e-01 8.75659082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.71, Y:-53.10, Z:87.58 [[ 6.85539604e-01 -3.35714233e-01 -6.46011923e-01 1.79707593e+02] [ 2.40238940e-01 9.41947197e-01 -2.34564978e-01 -5.30994794e+01] [ 6.87255922e-01 5.60636258e-03 7.26393740e-01 8.75839981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:-53.09, Z:87.60 [[ 6.85272193e-01 -3.36013332e-01 -6.46140126e-01 1.79727787e+02] [ 2.40454783e-01 9.41841090e-01 -2.34769798e-01 -5.30949282e+01] [ 6.87447103e-01 5.51373006e-03 7.26213522e-01 8.76027499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.75, Y:-53.09, Z:87.62 [[ 6.85120725e-01 -3.36439620e-01 -6.46078923e-01 1.79747921e+02] [ 2.40797993e-01 9.41689285e-01 -2.35026844e-01 -5.30902241e+01] [ 6.87477941e-01 5.44725355e-03 7.26184830e-01 8.76210612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:-53.07, Z:87.63 [[ 6.87499995e-01 -3.51540366e-01 -6.35423581e-01 1.79773578e+02] [ 2.44608488e-01 9.35987473e-01 -2.53168201e-01 -5.30722803e+01] [ 6.83747354e-01 1.86231354e-02 7.29481141e-01 8.76278213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.79, Y:-53.09, Z:87.66 [[ 6.84915036e-01 -3.28372055e-01 -6.50433077e-01 1.79789465e+02] [ 2.42718057e-01 9.44527268e-01 -2.21260447e-01 -5.30912267e+01] [ 6.87007525e-01 -6.32724523e-03 7.26622754e-01 8.76643086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:-53.05, Z:87.66 [[ 6.89733457e-01 -3.65914100e-01 -6.24799672e-01 1.79821200e+02] [ 2.49279502e-01 9.30159281e-01 -2.69561575e-01 -5.30548689e+01] [ 6.79799594e-01 3.01758856e-02 7.32776861e-01 8.76568522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:-53.09, Z:87.71 [[ 6.85143807e-01 -3.20402792e-01 -6.54155956e-01 1.79828832e+02] [ 2.44150591e-01 9.47127453e-01 -2.08182795e-01 -5.30900970e+01] [ 6.86271413e-01 -1.70774106e-02 7.27145040e-01 8.77084495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:-53.07, Z:87.72 [[ 6.85721940e-01 -3.38764101e-01 -6.44223801e-01 1.79852572e+02] [ 2.44206391e-01 9.40864091e-01 -2.34814824e-01 -5.30726941e+01] [ 6.85673873e-01 3.69410717e-03 7.27899508e-01 8.77185169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.89, Y:-53.03, Z:87.71 [[ 6.93119066e-01 -3.76470755e-01 -6.14699707e-01 1.79887501e+02] [ 2.52060667e-01 9.25523229e-01 -2.82616654e-01 -5.30346956e+01] [ 6.75315763e-01 4.09453732e-02 7.36391266e-01 8.77060418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.89, Y:-53.09, Z:87.77 [[ 6.87214573e-01 -3.11681072e-01 -6.56194361e-01 1.79888371e+02] [ 2.43076603e-01 9.49873570e-01 -1.96606121e-01 -5.30856224e+01] [ 6.84580087e-01 -2.43949046e-02 7.28529336e-01 8.77707808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:-53.02, Z:87.74 [[ 6.95610817e-01 -3.84901689e-01 -6.06610485e-01 1.79929738e+02] [ 2.53225715e-01 9.21539496e-01 -2.94349614e-01 -5.30155210e+01] [ 6.72311184e-01 5.11434015e-02 7.38499847e-01 8.77353159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:-53.08, Z:87.81 [[ 6.87809297e-01 -3.06028499e-01 -6.58228630e-01 1.79927676e+02] [ 2.40813479e-01 9.51631604e-01 -1.90803980e-01 -5.30785982e+01] [ 6.84782622e-01 -2.72735752e-02 7.28236852e-01 8.78117263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:-53.05, Z:87.81 [[ 6.88678020e-01 -3.35725513e-01 -6.42659291e-01 1.79955038e+02] [ 2.39854008e-01 9.41928236e-01 -2.35034581e-01 -5.30508601e+01] [ 6.84246037e-01 7.71874301e-03 7.29210382e-01 8.78147314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.98, Y:-53.05, Z:87.83 [[ 6.87710267e-01 -3.35913790e-01 -6.43596547e-01 1.79975720e+02] [ 2.39507264e-01 9.41859421e-01 -2.35663110e-01 -5.30462505e+01] [ 6.85339959e-01 7.92189192e-03 7.28180186e-01 8.78339266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:-53.04, Z:87.85 [[ 6.87311749e-01 -3.36394072e-01 -6.43771378e-01 1.79994370e+02] [ 2.39834705e-01 9.41688887e-01 -2.36011345e-01 -5.30380567e+01] [ 6.85625170e-01 7.81465137e-03 7.27912809e-01 8.78517342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.03, Y:-52.99, Z:87.84 [[ 6.92464572e-01 -3.74436137e-01 -6.16676898e-01 1.80026748e+02] [ 2.49572165e-01 9.26323055e-01 -2.82204415e-01 -5.29923679e+01] [ 6.76909559e-01 4.15111706e-02 7.34894735e-01 8.78365164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.04, Y:-53.00, Z:87.87 [[ 6.89315418e-01 -3.51290614e-01 -6.33592265e-01 1.80041233e+02] [ 2.49193857e-01 9.36175858e-01 -2.47945932e-01 -5.30015242e+01] [ 6.80254861e-01 1.30256534e-02 7.32859916e-01 8.78686997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.06, Y:-52.99, Z:87.89 [[ 6.88984291e-01 -3.55175234e-01 -6.31784140e-01 1.80061235e+02] [ 2.50472187e-01 9.34669772e-01 -2.52301606e-01 -5.29901482e+01] [ 6.80120820e-01 1.55874877e-02 7.32934308e-01 8.78855787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:-52.98, Z:87.91 [[ 6.88514104e-01 -3.53723481e-01 -6.33109807e-01 1.80081134e+02] [ 2.50095955e-01 9.35242765e-01 -2.50545374e-01 -5.29839715e+01] [ 6.80735148e-01 1.41658215e-02 7.32392646e-01 8.79066971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:-52.98, Z:87.93 [[ 6.88723642e-01 -3.52510290e-01 -6.33558395e-01 1.80099180e+02] [ 2.50945066e-01 9.35734690e-01 -2.47845042e-01 -5.29782633e+01] [ 6.80210496e-01 1.17083870e-02 7.32923321e-01 8.79268514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:-52.97, Z:87.95 [[ 6.87833567e-01 -3.50533147e-01 -6.35618988e-01 1.80117752e+02] [ 2.49419286e-01 9.36485162e-01 -2.46547281e-01 -5.29737427e+01] [ 6.81670745e-01 1.10478619e-02 7.31575656e-01 8.79497644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:-53.00, Z:88.00 [[ 6.82154000e-01 -3.16335526e-01 -6.59240286e-01 1.80123279e+02] [ 2.41424314e-01 9.48454850e-01 -2.05299046e-01 -5.30000123e+01] [ 6.90203028e-01 -1.91110680e-02 7.23363357e-01 8.80004997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.16, Y:-52.94, Z:87.98 [[ 6.88829442e-01 -3.73359791e-01 -6.21382705e-01 1.80158687e+02] [ 2.51574386e-01 9.27016549e-01 -2.78119843e-01 -5.29437373e+01] [ 6.79870817e-01 3.52531635e-02 7.32484052e-01 8.79772222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.16, Y:-52.99, Z:88.04 [[ 6.83973952e-01 -3.19342148e-01 -6.55896505e-01 1.80161745e+02] [ 2.43900916e-01 9.47460431e-01 -2.06956699e-01 -5.29863092e+01] [ 6.87525982e-01 -1.84207664e-02 7.25926098e-01 8.80384841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:-52.92, Z:88.01 [[ 6.91414283e-01 -3.85229537e-01 -6.11182864e-01 1.80198547e+02] [ 2.58102077e-01 9.21859210e-01 -2.89065589e-01 -5.29202460e+01] [ 6.74781155e-01 4.21165101e-02 7.36815169e-01 8.80063157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:-52.97, Z:88.08 [[ 6.83529782e-01 -3.17583302e-01 -6.57212205e-01 1.80199615e+02] [ 2.45961923e-01 9.47941654e-01 -2.02260609e-01 -5.29745377e+01] [ 6.87233417e-01 -2.33980278e-02 7.26059752e-01 8.80782257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:-52.90, Z:88.04 [[ 6.90851761e-01 -3.89472886e-01 -6.09126190e-01 1.80237547e+02] [ 2.60856665e-01 9.20028230e-01 -2.92407004e-01 -5.29039836e+01] [ 6.74297891e-01 4.31152669e-02 7.37199721e-01 8.80422179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:-52.96, Z:88.12 [[ 6.82104094e-01 -3.18186275e-01 -6.58400713e-01 1.80237821e+02] [ 2.48203387e-01 9.47659864e-01 -2.00837898e-01 -5.29632994e+01] [ 6.87843793e-01 -2.64249348e-02 7.25377584e-01 8.81179734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:-52.90, Z:88.09 [[ 6.87533870e-01 -3.79355351e-01 -6.19182279e-01 1.80273847e+02] [ 2.58957194e-01 9.24715293e-01 -2.79003224e-01 -5.29035413e+01] [ 6.78408688e-01 3.14824607e-02 7.34009882e-01 8.80921997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:-52.95, Z:88.16 [[ 6.80991959e-01 -3.23809426e-01 -6.56808501e-01 1.80277569e+02] [ 2.48227753e-01 9.45895065e-01 -2.08962938e-01 -5.29467895e+01] [ 6.88936088e-01 -2.07360180e-02 7.24525420e-01 8.81552090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:-52.93, Z:88.17 [[ 6.80392629e-01 -3.42522790e-01 -6.47876538e-01 1.80301535e+02] [ 2.47571544e-01 9.39509289e-01 -2.36707891e-01 -5.29258125e+01] [ 6.89763873e-01 6.58509456e-04 7.24034092e-01 8.81650664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.32, Y:-52.92, Z:88.18 [[ 6.79486628e-01 -3.42490959e-01 -6.48843484e-01 1.80320519e+02] [ 2.46916056e-01 9.39520522e-01 -2.37347110e-01 -5.29180640e+01] [ 6.90891007e-01 1.06431373e-03 7.22958148e-01 8.81833260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:-52.91, Z:88.20 [[ 6.78740968e-01 -3.42560573e-01 -6.49586755e-01 1.80340489e+02] [ 2.46597069e-01 9.39494972e-01 -2.37779483e-01 -5.29100220e+01] [ 6.91737367e-01 1.20448608e-03 7.22148160e-01 8.82017772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:-52.90, Z:88.22 [[ 6.77565442e-01 -3.43440655e-01 -6.50348820e-01 1.80360379e+02] [ 2.47273408e-01 9.39174134e-01 -2.38343884e-01 -5.29028521e+01] [ 6.92647770e-01 6.79609519e-04 7.21275679e-01 8.82199460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.39, Y:-52.85, Z:88.20 [[ 6.83873025e-01 -3.87116944e-01 -6.18432015e-01 1.80390960e+02] [ 2.61393770e-01 9.21362771e-01 -2.87687228e-01 -5.28540551e+01] [ 6.81168835e-01 3.50872588e-02 7.31285103e-01 8.81993978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:-52.86, Z:88.23 [[ 6.83863252e-01 -3.72471234e-01 -6.27372482e-01 1.80407070e+02] [ 2.64221431e-01 9.27937753e-01 -2.62904093e-01 -5.28605895e+01] [ 6.80086824e-01 1.40251929e-02 7.32997412e-01 8.82254862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.42, Y:-52.86, Z:88.25 [[ 6.81439807e-01 -3.69612428e-01 -6.31685398e-01 1.80424097e+02] [ 2.67238401e-01 9.29171339e-01 -2.55390406e-01 -5.28619851e+01] [ 6.81339436e-01 5.22259339e-03 7.31948972e-01 8.82521420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.44, Y:-52.86, Z:88.27 [[ 6.80456859e-01 -3.72508206e-01 -6.31043659e-01 1.80443100e+02] [ 2.69360207e-01 9.28014642e-01 -2.57359482e-01 -5.28552573e+01] [ 6.81486275e-01 5.14397432e-03 7.31812816e-01 8.82723900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:-52.85, Z:88.29 [[ 6.80001222e-01 -3.77461388e-01 -6.28586699e-01 1.80463790e+02] [ 2.72032027e-01 9.25998792e-01 -2.61772448e-01 -5.28460401e+01] [ 6.80879515e-01 7.00987071e-03 7.32361897e-01 8.82911200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:-52.88, Z:88.35 [[ 6.73407090e-01 -3.37349867e-01 -6.57813012e-01 1.80470676e+02] [ 2.61982530e-01 9.40963445e-01 -2.14366390e-01 -5.28799115e+01] [ 6.91294471e-01 -2.79796704e-02 7.22031227e-01 8.83506300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.50, Y:-52.83, Z:88.33 [[ 6.77921683e-01 -3.87687183e-01 -6.24596542e-01 1.80501562e+02] [ 2.75926461e-01 9.21706621e-01 -2.72619685e-01 -5.28283342e+01] [ 6.81385926e-01 1.24720821e-02 7.31818056e-01 8.83288397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:-52.83, Z:88.35 [[ 6.77936514e-01 -3.83142752e-01 -6.27378446e-01 1.80520785e+02] [ 2.77432670e-01 9.23674925e-01 -2.64302379e-01 -5.28259045e+01] [ 6.80759280e-01 5.12495617e-03 7.32489275e-01 8.83507741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.54, Y:-52.83, Z:88.38 [[ 6.76769152e-01 -3.75187012e-01 -6.33417888e-01 1.80537175e+02] [ 2.78898628e-01 9.26924519e-01 -2.51050776e-01 -5.28272787e+01] [ 6.81321562e-01 -6.75595888e-03 7.31953063e-01 8.83755574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.56, Y:-52.82, Z:88.40 [[ 6.75459754e-01 -3.77672537e-01 -6.33338438e-01 1.80556764e+02] [ 2.76446597e-01 9.25938354e-01 -2.57323615e-01 -5.28187269e+01] [ 6.83616413e-01 -1.27251018e-03 7.29840380e-01 8.83952593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:-52.84, Z:88.44 [[ 6.70734346e-01 -3.46433098e-01 -6.55819751e-01 1.80567983e+02] [ 2.64771634e-01 9.37792635e-01 -2.24590642e-01 -5.28417013e+01] [ 6.92828564e-01 -2.30018101e-02 7.20735387e-01 8.84447267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:-52.80, Z:88.43 [[ 6.74847659e-01 -3.83413291e-01 -6.30535396e-01 1.80595823e+02] [ 2.73674008e-01 9.23535410e-01 -2.68672446e-01 -5.27986882e+01] [ 6.85334353e-01 8.75182251e-03 7.28175961e-01 8.84298278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.61, Y:-52.80, Z:88.45 [[ 6.74350693e-01 -3.72428039e-01 -6.37611557e-01 1.80611925e+02] [ 2.69478745e-01 9.28059805e-01 -2.57072371e-01 -5.27978390e+01] [ 6.87482617e-01 1.53416907e-03 7.26199214e-01 8.84535790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:-52.79, Z:88.47 [[ 6.74887958e-01 -3.74580519e-01 -6.35779584e-01 1.80632100e+02] [ 2.67333919e-01 9.27166606e-01 -2.62477925e-01 -5.27869102e+01] [ 6.87792716e-01 7.17774273e-03 7.25871655e-01 8.84706225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.64, Y:-52.81, Z:88.52 [[ 6.70235122e-01 -3.39908082e-01 -6.59732807e-01 1.80642735e+02] [ 2.54204139e-01 9.40321103e-01 -2.26222190e-01 -5.28121010e+01] [ 6.97255432e-01 -1.60847529e-02 7.16642271e-01 8.85225086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:-52.77, Z:88.51 [[ 6.75114829e-01 -3.74972030e-01 -6.35307755e-01 1.80669264e+02] [ 2.62800797e-01 9.26932582e-01 -2.67827798e-01 -5.27696627e+01] [ 6.89315392e-01 1.38551339e-02 7.24328880e-01 8.85092092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:-52.80, Z:88.56 [[ 6.72634501e-01 -3.35559467e-01 -6.59516999e-01 1.80678854e+02] [ 2.49270826e-01 9.41928744e-01 -2.25020658e-01 -5.27965093e+01] [ 6.96725831e-01 -1.30416892e-02 7.17218956e-01 8.85604879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.71, Y:-52.75, Z:88.54 [[ 6.77303876e-01 -3.80901886e-01 -6.29422921e-01 1.80708049e+02] [ 2.60002220e-01 9.24258645e-01 -2.79543919e-01 -5.27462578e+01] [ 6.88228382e-01 2.56848226e-02 7.25039298e-01 8.85424289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:-52.75, Z:88.57 [[ 6.77245368e-01 -3.67987813e-01 -6.37121402e-01 1.80724794e+02] [ 2.59056867e-01 9.29751370e-01 -2.61633198e-01 -5.27493487e+01] [ 6.88642324e-01 1.21391970e-02 7.24999579e-01 8.85693807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:-52.74, Z:88.59 [[ 6.77581402e-01 -3.66055461e-01 -6.37876824e-01 1.80742608e+02] [ 2.60364109e-01 9.30555498e-01 -2.57443189e-01 -5.27446722e+01] [ 6.87818271e-01 8.35848623e-03 7.25834804e-01 8.85902950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.76, Y:-52.74, Z:88.61 [[ 6.76614773e-01 -3.65206639e-01 -6.39387644e-01 1.80761074e+02] [ 2.59170061e-01 9.30887838e-01 -2.57446524e-01 -5.27396769e+01] [ 6.89219361e-01 8.48198689e-03 7.24503090e-01 8.86126295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.78, Y:-52.73, Z:88.63 [[ 6.77366441e-01 -3.69831708e-01 -6.35923905e-01 1.80780512e+02] [ 2.62082979e-01 9.29042544e-01 -2.61136868e-01 -5.27299863e+01] [ 6.87377056e-01 1.02205192e-02 7.26228837e-01 8.86296609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.80, Y:-52.73, Z:88.65 [[ 6.77017899e-01 -3.67212444e-01 -6.37810149e-01 1.80798446e+02] [ 2.61461064e-01 9.30103689e-01 -2.57963641e-01 -5.27254590e+01] [ 6.87957031e-01 7.88348148e-03 7.25708601e-01 8.86505250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.82, Y:-52.72, Z:88.67 [[ 6.76635363e-01 -3.65702238e-01 -6.39082513e-01 1.80816757e+02] [ 2.60572465e-01 9.30704358e-01 -2.56693180e-01 -5.27201972e+01] [ 6.88670151e-01 7.16037745e-03 7.25039415e-01 8.86720999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.83, Y:-52.74, Z:88.72 [[ 6.72052031e-01 -3.36734580e-01 -6.59511857e-01 1.80829204e+02] [ 2.49889732e-01 9.41511655e-01 -2.26077255e-01 -5.27419038e+01] [ 6.97066130e-01 -1.28695628e-02 7.16891334e-01 8.87193584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.86, Y:-52.70, Z:88.70 [[ 6.76551239e-01 -3.74342557e-01 -6.34149880e-01 1.80856439e+02] [ 2.59361239e-01 9.27104284e-01 -2.70572346e-01 -5.26975097e+01] [ 6.89209814e-01 1.85821570e-02 7.24323502e-01 8.87041987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.87, Y:-52.70, Z:88.73 [[ 6.76106922e-01 -3.65578518e-01 -6.39712261e-01 1.80874605e+02] [ 2.57338830e-01 9.30714354e-01 -2.59899052e-01 -5.26959779e+01] [ 6.90402894e-01 1.10967432e-02 7.23339966e-01 8.87280730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:-52.69, Z:88.75 [[ 6.75953790e-01 -3.65044741e-01 -6.40178734e-01 1.80894331e+02] [ 2.55940346e-01 9.30908796e-01 -2.60582717e-01 -5.26876189e+01] [ 6.91072365e-01 1.22943088e-02 7.22681006e-01 8.87460663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.90, Y:-52.72, Z:88.80 [[ 6.69478140e-01 -3.27911534e-01 -6.66538105e-01 1.80903991e+02] [ 2.43097778e-01 9.44598842e-01 -2.20536839e-01 -5.27157720e+01] [ 7.01927696e-01 -1.43893396e-02 7.12102842e-01 8.87992053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.93, Y:-52.66, Z:88.78 [[ 6.75297202e-01 -3.75615745e-01 -6.34733410e-01 1.80933947e+02] [ 2.53285286e-01 9.26368785e-01 -2.78724664e-01 -5.26633300e+01] [ 6.92690590e-01 2.74533527e-02 7.20712190e-01 8.87771687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:-52.70, Z:88.84 [[ 6.67948811e-01 -3.24081294e-01 -6.69937087e-01 1.80941493e+02] [ 2.38252736e-01 9.45944931e-01 -2.20054134e-01 -5.27026135e+01] [ 7.05039020e-01 -1.26294464e-02 7.09056047e-01 8.88379156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:-52.65, Z:88.82 [[ 6.73169656e-01 -3.67025646e-01 -6.41977250e-01 1.80971105e+02] [ 2.46716041e-01 9.29865898e-01 -2.72911352e-01 -5.26549352e+01] [ 6.97118218e-01 2.53295549e-02 7.16508621e-01 8.88213497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.99, Y:-52.65, Z:88.85 [[ 6.72672760e-01 -3.58548666e-01 -6.47266724e-01 1.80988948e+02] [ 2.45589231e-01 9.33353653e-01 -2.61795509e-01 -5.26544719e+01] [ 6.97995192e-01 1.71409702e-02 7.15897269e-01 8.88450073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.01, Y:-52.65, Z:88.86 [[ 6.72880651e-01 -3.58096093e-01 -6.47301180e-01 1.81008054e+02] [ 2.45666906e-01 9.33536291e-01 -2.61070420e-01 -5.26480799e+01] [ 6.97767440e-01 1.66487558e-02 7.16130867e-01 8.88640421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:-52.68, Z:88.92 [[ 6.67172429e-01 -3.22886061e-01 -6.71286483e-01 1.81017365e+02] [ 2.36008911e-01 9.46371265e-01 -2.20638215e-01 -5.26781548e+01] [ 7.06527243e-01 -1.12258577e-02 7.07596803e-01 8.89176545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.04, Y:-52.66, Z:88.93 [[ 6.67248005e-01 -3.34708949e-01 -6.65394634e-01 1.81038640e+02] [ 2.36411053e-01 9.42321226e-01 -2.36939909e-01 -5.26639778e+01] [ 7.06321395e-01 7.91034964e-04 7.07890854e-01 8.89323896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:-52.66, Z:88.95 [[ 6.68005847e-01 -3.35195544e-01 -6.64388542e-01 1.81057697e+02] [ 2.37158885e-01 9.42148341e-01 -2.36880069e-01 -5.26579656e+01] [ 7.05353706e-01 6.71625482e-04 7.08855202e-01 8.89517472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.08, Y:-52.63, Z:88.95 [[ 6.72764711e-01 -3.53546972e-01 -6.49917058e-01 1.81079323e+02] [ 2.43739670e-01 9.35309802e-01 -2.56488882e-01 -5.26323416e+01] [ 6.98554663e-01 1.41460993e-02 7.15416851e-01 8.89528210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.10, Y:-52.62, Z:88.97 [[ 6.73555820e-01 -3.53455734e-01 -6.49146826e-01 1.81098927e+02] [ 2.43371874e-01 9.35331671e-01 -2.56758245e-01 -5.26248012e+01] [ 6.97920259e-01 1.49569307e-02 7.16019275e-01 8.89717548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.12, Y:-52.62, Z:89.00 [[ 6.73386012e-01 -3.47975902e-01 -6.52276055e-01 1.81116877e+02] [ 2.41724739e-01 9.37438356e-01 -2.50556338e-01 -5.26221822e+01] [ 6.98656160e-01 1.10498741e-02 7.15372260e-01 8.89950718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.14, Y:-52.62, Z:89.02 [[ 6.72786474e-01 -3.47670586e-01 -6.53057060e-01 1.81135712e+02] [ 2.40156273e-01 9.37533298e-01 -2.51706733e-01 -5.26156067e+01] [ 6.99773767e-01 1.25091356e-02 7.14254994e-01 8.90154061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.15, Y:-52.63, Z:89.05 [[ 6.69951613e-01 -3.30140119e-01 -6.64960404e-01 1.81152136e+02] [ 2.32224588e-01 9.43927783e-01 -2.34674415e-01 -5.26258990e+01] [ 7.05150039e-01 2.80034712e-03 7.09052594e-01 8.90516328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.17, Y:-52.60, Z:89.05 [[ 6.73011962e-01 -3.50164497e-01 -6.51490386e-01 1.81174661e+02] [ 2.37934525e-01 9.36508846e-01 -2.57562308e-01 -5.25993396e+01] [ 7.00315686e-01 1.83304590e-02 7.13597880e-01 8.90516005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:-52.59, Z:89.07 [[ 6.73545841e-01 -3.49612091e-01 -6.51235277e-01 1.81194726e+02] [ 2.35701953e-01 9.36659302e-01 -2.59063587e-01 -5.25915725e+01] [ 7.00557342e-01 2.09937749e-02 7.13287229e-01 8.90694137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:-52.60, Z:89.10 [[ 6.71996319e-01 -3.35801214e-01 -6.60044310e-01 1.81209766e+02] [ 2.32561051e-01 9.41885942e-01 -2.42417471e-01 -5.25959294e+01] [ 7.03090538e-01 9.40304936e-03 7.11038169e-01 8.90989033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.23, Y:-52.60, Z:89.13 [[ 6.69403509e-01 -3.25152273e-01 -6.67963279e-01 1.81226654e+02] [ 2.25889857e-01 9.45644387e-01 -2.33945433e-01 -5.25999291e+01] [ 7.07723615e-01 5.71776355e-03 7.06466271e-01 8.91303985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:-52.59, Z:89.15 [[ 6.69491526e-01 -3.26731459e-01 -6.67103928e-01 1.81245576e+02] [ 2.25293898e-01 9.45081415e-01 -2.36777910e-01 -5.25915597e+01] [ 7.07830316e-01 8.22636023e-03 7.06334603e-01 8.91488287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:-52.58, Z:89.17 [[ 6.69437357e-01 -3.27032313e-01 -6.67010863e-01 1.81264784e+02] [ 2.25457615e-01 9.44976701e-01 -2.37039868e-01 -5.25845226e+01] [ 7.07829421e-01 8.30066435e-03 7.06334630e-01 8.91687705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.28, Y:-52.57, Z:89.18 [[ 6.70909063e-01 -3.37000509e-01 -6.60538936e-01 1.81284037e+02] [ 2.30607207e-01 9.41417877e-01 -2.46074576e-01 -5.25683782e+01] [ 7.04770420e-01 1.27686246e-02 7.09320532e-01 8.91792181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:-52.57, Z:89.21 [[ 6.69617811e-01 -3.30174954e-01 -6.65279255e-01 1.81303203e+02] [ 2.26910026e-01 9.43869067e-01 -2.40047964e-01 -5.25695107e+01] [ 7.07194335e-01 9.78185900e-03 7.06951546e-01 8.92078316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.32, Y:-52.56, Z:89.23 [[ 6.68941106e-01 -3.29130354e-01 -6.66476561e-01 1.81321808e+02] [ 2.28139615e-01 9.44260669e-01 -2.37326999e-01 -5.25644897e+01] [ 7.07439123e-01 6.70807895e-03 7.06742449e-01 8.92290840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:-52.56, Z:89.25 [[ 6.68760544e-01 -3.30234970e-01 -6.66111252e-01 1.81340286e+02] [ 2.29538847e-01 9.43880152e-01 -2.37491423e-01 -5.25580141e+01] [ 7.07157163e-01 5.92648434e-03 7.07031558e-01 8.92475904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:-52.55, Z:89.27 [[ 6.68021707e-01 -3.31597787e-01 -6.66175582e-01 1.81359783e+02] [ 2.31237866e-01 9.43408875e-01 -2.37715679e-01 -5.25512668e+01] [ 7.07301950e-01 4.75421400e-03 7.06895572e-01 8.92673837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:-52.54, Z:89.29 [[ 6.67350257e-01 -3.32798221e-01 -6.66249937e-01 1.81379095e+02] [ 2.32609789e-01 9.42990084e-01 -2.38038626e-01 -5.25447642e+01] [ 7.07485915e-01 3.87888106e-03 7.06716799e-01 8.92867997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.40, Y:-52.54, Z:89.31 [[ 6.65721612e-01 -3.35159918e-01 -6.66695256e-01 1.81398362e+02] [ 2.35492868e-01 9.42159597e-01 -2.38491935e-01 -5.25388898e+01] [ 7.08066271e-01 1.76725755e-03 7.06143776e-01 8.93062884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:-52.53, Z:89.32 [[ 6.65472445e-01 -3.36473018e-01 -6.66282472e-01 1.81416366e+02] [ 2.37198509e-01 9.41692792e-01 -2.38645244e-01 -5.25326648e+01] [ 7.07731087e-01 7.70624736e-04 7.06481503e-01 8.93248461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:-52.53, Z:89.34 [[ 6.64984691e-01 -3.37772305e-01 -6.66112026e-01 1.81435002e+02] [ 2.38930443e-01 9.41227772e-01 -2.38752014e-01 -5.25262516e+01] [ 7.07606957e-01 -3.88007178e-04 7.06606145e-01 8.93444479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:-52.52, Z:89.36 [[ 6.65075954e-01 -3.39987252e-01 -6.64892956e-01 1.81454418e+02] [ 2.42201975e-01 9.40427123e-01 -2.38610625e-01 -5.25198191e+01] [ 7.06407941e-01 -2.34419765e-03 7.07801050e-01 8.93644034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:-52.51, Z:89.38 [[ 6.64444899e-01 -3.41003980e-01 -6.65003204e-01 1.81473119e+02] [ 2.43305425e-01 9.40056962e-01 -2.38946393e-01 -5.25129174e+01] [ 7.06622563e-01 -3.03217538e-03 7.07584171e-01 8.93840840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:-52.51, Z:89.41 [[ 6.62377086e-01 -3.33018812e-01 -6.71084992e-01 1.81486213e+02] [ 2.43964290e-01 9.42826159e-01 -2.27068841e-01 -5.25131321e+01] [ 7.08334681e-01 -1.33155766e-02 7.05751142e-01 8.94099433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:-52.49, Z:89.42 [[ 6.63944577e-01 -3.53716663e-01 -6.58833909e-01 1.81513741e+02] [ 2.43977618e-01 9.35305239e-01 -2.56279207e-01 -5.24899888e+01] [ 7.06861033e-01 9.41446144e-03 7.07289791e-01 8.94167121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.53, Y:-52.49, Z:89.44 [[ 6.63820194e-01 -3.41215346e-01 -6.65518473e-01 1.81529045e+02] [ 2.42834915e-01 9.39981880e-01 -2.39719148e-01 -5.24923361e+01] [ 7.07371157e-01 -2.48071087e-03 7.06837953e-01 8.94410353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:-52.49, Z:89.46 [[ 6.63707964e-01 -3.40770633e-01 -6.65858179e-01 1.81548052e+02] [ 2.41878951e-01 9.40144861e-01 -2.40046272e-01 -5.24850397e+01] [ 7.07803865e-01 -1.73645563e-03 7.06406875e-01 8.94608188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:-52.44, Z:89.44 [[ 6.70426259e-01 -3.84930870e-01 -6.34316054e-01 1.81580764e+02] [ 2.49914435e-01 9.22098133e-01 -2.95428179e-01 -5.24354787e+01] [ 6.98621075e-01 3.95380708e-02 7.14398583e-01 8.94447275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:-52.49, Z:89.51 [[ 6.63359247e-01 -3.12809348e-01 -6.79782923e-01 1.81579905e+02] [ 2.39462138e-01 9.49403526e-01 -2.03201449e-01 -5.24889998e+01] [ 7.08951616e-01 -2.79867119e-02 7.04701603e-01 8.95127154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.61, Y:-52.46, Z:89.52 [[ 6.63480216e-01 -3.38818349e-01 -6.67080302e-01 1.81605103e+02] [ 2.37981877e-01 9.40850965e-01 -2.41172319e-01 -5.24623122e+01] [ 7.09336753e-01 1.26003983e-03 7.04868629e-01 8.95192863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:-52.46, Z:89.54 [[ 6.63440931e-01 -3.38570016e-01 -6.67245439e-01 1.81623730e+02] [ 2.37271721e-01 9.40939241e-01 -2.41527380e-01 -5.24551400e+01] [ 7.09611346e-01 1.92067615e-03 7.04590696e-01 8.95387727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:-52.45, Z:89.56 [[ 6.64462835e-01 -3.38223161e-01 -6.66403958e-01 1.81641560e+02] [ 2.36796140e-01 9.41062130e-01 -2.41515332e-01 -5.24492373e+01] [ 7.08813607e-01 2.67607725e-03 7.05390749e-01 8.95579037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:-52.44, Z:89.58 [[ 6.65423609e-01 -3.38438228e-01 -6.65335243e-01 1.81660347e+02] [ 2.37231245e-01 9.40984478e-01 -2.41390862e-01 -5.24427354e+01] [ 7.07766032e-01 2.78887016e-03 7.06441410e-01 8.95775864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.70, Y:-52.39, Z:89.55 [[ 6.74321271e-01 -3.91403075e-01 -6.26174462e-01 1.81696291e+02] [ 2.49445565e-01 9.18862012e-01 -3.05727841e-01 -5.23861445e+01] [ 6.95030743e-01 4.99623436e-02 7.17241961e-01 8.95543417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:-52.45, Z:89.63 [[ 6.66019463e-01 -3.06281670e-01 -6.80154110e-01 1.81689787e+02] [ 2.37281524e-01 9.51443044e-01 -1.96095928e-01 -5.24537016e+01] [ 7.07188485e-01 -3.07842988e-02 7.06354566e-01 8.96341461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.72, Y:-52.42, Z:89.64 [[ 6.66845463e-01 -3.38388726e-01 -6.63935388e-01 1.81715675e+02] [ 2.37122089e-01 9.40999646e-01 -2.41438979e-01 -5.24236468e+01] [ 7.06463194e-01 3.56874178e-03 7.07740786e-01 8.96372605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.73, Y:-52.42, Z:89.66 [[ 6.67052579e-01 -3.38441176e-01 -6.63700556e-01 1.81734198e+02] [ 2.37115622e-01 9.40980143e-01 -2.41521328e-01 -5.24168992e+01] [ 7.06269806e-01 3.73365485e-03 7.07932921e-01 8.96565095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:-52.41, Z:89.68 [[ 6.67096349e-01 -3.38829636e-01 -6.63458317e-01 1.81753216e+02] [ 2.37551478e-01 9.40840900e-01 -2.41635461e-01 -5.24097157e+01] [ 7.06081975e-01 3.58863035e-03 7.08121011e-01 8.96761412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.79, Y:-52.35, Z:89.65 [[ 6.76111810e-01 -3.92911682e-01 -6.23292251e-01 1.81790713e+02] [ 2.51881558e-01 9.18235852e-01 -3.05611848e-01 -5.23509426e+01] [ 6.92407756e-01 4.96319568e-02 7.19797310e-01 8.96509995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:-52.42, Z:89.73 [[ 6.66900292e-01 -3.08640821e-01 -6.78221825e-01 1.81783956e+02] [ 2.39359529e-01 9.50680436e-01 -1.97265622e-01 -5.24190355e+01] [ 7.05656444e-01 -3.07823556e-02 7.07885182e-01 8.97315638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.83, Y:-52.34, Z:89.69 [[ 6.74678402e-01 -3.89635773e-01 -6.26891553e-01 1.81826982e+02] [ 2.53983427e-01 9.20003887e-01 -2.98471550e-01 -5.23422014e+01] [ 6.93037859e-01 4.21522435e-02 7.19667781e-01 8.96936634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.82, Y:-52.40, Z:89.77 [[ 6.65640299e-01 -3.15894561e-01 -6.76116572e-01 1.81822701e+02] [ 2.41608812e-01 9.48417683e-01 -2.05253697e-01 -5.24025247e+01] [ 7.06079439e-01 -2.67305895e-02 7.07627940e-01 8.97686144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.85, Y:-52.38, Z:89.78 [[ 6.65309838e-01 -3.43085940e-01 -6.63064746e-01 1.81847821e+02] [ 2.43092099e-01 9.39304011e-01 -2.42103710e-01 -5.23773381e+01] [ 7.05881754e-01 -1.11820946e-04 7.08329681e-01 8.97755075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:-52.33, Z:89.76 [[ 6.71999672e-01 -3.90730723e-01 -6.29083415e-01 1.81883302e+02] [ 2.59057402e-01 9.19839498e-01 -2.94592193e-01 -5.23272202e+01] [ 6.93761993e-01 3.49971417e-02 7.19353527e-01 8.97557606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.90, Y:-52.34, Z:89.79 [[ 6.71356196e-01 -3.64837837e-01 -6.45115657e-01 1.81896126e+02] [ 2.59251624e-01 9.31056975e-01 -2.56751835e-01 -5.23425426e+01] [ 6.94312216e-01 5.12465388e-03 7.19655671e-01 8.97882079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:-52.34, Z:89.81 [[ 6.69856576e-01 -3.61889001e-01 -6.48327478e-01 1.81913907e+02] [ 2.58969193e-01 9.32220090e-01 -2.52785800e-01 -5.23390917e+01] [ 6.95864300e-01 1.43338731e-03 7.18171860e-01 8.98115387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.92, Y:-52.37, Z:89.86 [[ 6.62666583e-01 -3.26989925e-01 -6.73758554e-01 1.81918459e+02] [ 2.48716776e-01 9.44673814e-01 -2.13848897e-01 -5.23662878e+01] [ 7.06408497e-01 -2.58645379e-02 7.07331648e-01 8.98637776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:-52.34, Z:89.87 [[ 6.61541693e-01 -3.48334607e-01 -6.64097576e-01 1.81942369e+02] [ 2.48900265e-01 9.37361468e-01 -2.43725534e-01 -5.23436833e+01] [ 7.07397517e-01 -4.05945984e-03 7.06804268e-01 8.98728704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.97, Y:-52.30, Z:89.86 [[ 6.66220104e-01 -3.83770484e-01 -6.39430206e-01 1.81973997e+02] [ 2.60023459e-01 9.23157608e-01 -2.83139245e-01 -5.23016078e+01] [ 6.98955344e-01 2.23662035e-02 7.14815486e-01 8.98606867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.99, Y:-52.30, Z:89.89 [[ 6.66409168e-01 -3.70241394e-01 -6.47163141e-01 1.81989813e+02] [ 2.60597169e-01 9.28911621e-01 -2.63082335e-01 -5.23048558e+01] [ 6.98561333e-01 6.67159742e-03 7.15519080e-01 8.98856412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.01, Y:-52.30, Z:89.91 [[ 6.65486765e-01 -3.69283244e-01 -6.48658039e-01 1.82008254e+02] [ 2.60086688e-01 9.29298819e-01 -2.62218649e-01 -5.22989953e+01] [ 6.99630103e-01 5.79571976e-03 7.14481721e-01 8.99075653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.01, Y:-52.33, Z:89.96 [[ 6.59303811e-01 -3.33708320e-01 -6.73763492e-01 1.82014726e+02] [ 2.49276293e-01 9.42441912e-01 -2.22855496e-01 -5.23263844e+01] [ 7.09351686e-01 -2.10237876e-02 7.04541117e-01 8.99609759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.04, Y:-52.31, Z:89.97 [[ 6.59706162e-01 -3.48914563e-01 -6.65617313e-01 1.82036257e+02] [ 2.49490991e-01 9.37140571e-01 -2.43970891e-01 -5.23078555e+01] [ 7.08901986e-01 -5.11642335e-03 7.05288449e-01 8.99729561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.05, Y:-52.30, Z:89.99 [[ 6.60177739e-01 -3.49046364e-01 -6.65080438e-01 1.82054376e+02] [ 2.49701099e-01 9.37091979e-01 -2.43942584e-01 -5.23009571e+01] [ 7.08388816e-01 -5.02585242e-03 7.05804524e-01 8.99925984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.07, Y:-52.29, Z:90.01 [[ 6.60368086e-01 -3.49276637e-01 -6.64770503e-01 1.82072384e+02] [ 2.49868414e-01 9.37006787e-01 -2.44098456e-01 -5.22940115e+01] [ 7.08152361e-01 -4.91032070e-03 7.06042578e-01 9.00127918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.09, Y:-52.29, Z:90.03 [[ 6.60770312e-01 -3.49384064e-01 -6.64314210e-01 1.82090048e+02] [ 2.49879693e-01 9.36968235e-01 -2.44234858e-01 -5.22872555e+01] [ 7.07773080e-01 -4.61548773e-03 7.06424776e-01 9.00314836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.11, Y:-52.28, Z:90.05 [[ 6.61319469e-01 -3.49021310e-01 -6.63958346e-01 1.82108303e+02] [ 2.49324001e-01 9.37106259e-01 -2.44273212e-01 -5.22796904e+01] [ 7.07456078e-01 -3.99812022e-03 7.06746003e-01 9.00509411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:-52.27, Z:90.07 [[ 6.61354121e-01 -3.48688442e-01 -6.64098711e-01 1.82127183e+02] [ 2.48501186e-01 9.37233075e-01 -2.44624864e-01 -5.22722331e+01] [ 7.07713139e-01 -3.24565514e-03 7.06492447e-01 9.00705245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.14, Y:-52.27, Z:90.09 [[ 6.61399047e-01 -3.48322219e-01 -6.64246138e-01 1.82144980e+02] [ 2.47623662e-01 9.37371657e-01 -2.44983467e-01 -5.22650722e+01] [ 7.07978688e-01 -2.45122933e-03 7.06229544e-01 9.00892659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:-52.22, Z:90.08 [[ 6.66756602e-01 -3.82244020e-01 -6.39785231e-01 1.82173464e+02] [ 2.57349032e-01 9.23736387e-01 -2.83694489e-01 -5.22238978e+01] [ 6.99433420e-01 2.45070641e-02 7.14277463e-01 9.00775931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:-52.22, Z:90.10 [[ 6.68271113e-01 -3.69955431e-01 -6.45404291e-01 1.82190047e+02] [ 2.55267479e-01 9.28936984e-01 -2.68168965e-01 -5.22235149e+01] [ 6.98750481e-01 1.44588466e-02 7.15219342e-01 9.01011733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.20, Y:-52.25, Z:90.16 [[ 6.62068756e-01 -3.30084697e-01 -6.72836573e-01 1.82196060e+02] [ 2.42297277e-01 9.43842777e-01 -2.24617100e-01 -5.22537347e+01] [ 7.09194607e-01 -1.43145058e-02 7.04867437e-01 9.01564669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:-52.24, Z:90.17 [[ 6.63040284e-01 -3.44103917e-01 -6.64808300e-01 1.82217580e+02] [ 2.41751822e-01 9.38930126e-01 -2.44880122e-01 -5.22352167e+01] [ 7.08472750e-01 1.64676791e-03 7.05736247e-01 9.01692518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.24, Y:-52.20, Z:90.16 [[ 6.68521373e-01 -3.75050373e-01 -6.42196536e-01 1.82244384e+02] [ 2.51094612e-01 9.26645618e-01 -2.79784551e-01 -5.21971227e+01] [ 7.00021906e-01 2.57898616e-02 7.13655529e-01 9.01598841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.26, Y:-52.20, Z:90.18 [[ 6.68800175e-01 -3.64576576e-01 -6.47912221e-01 1.82261571e+02] [ 2.50047219e-01 9.31040255e-01 -2.65782677e-01 -5.21979194e+01] [ 7.00130498e-01 1.57468524e-02 7.13841244e-01 9.01848501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:-52.22, Z:90.24 [[ 6.63125377e-01 -3.30073660e-01 -6.71800649e-01 1.82270357e+02] [ 2.39553369e-01 9.43900053e-01 -2.27303483e-01 -5.22237734e+01] [ 7.09139561e-01 -1.02014011e-02 7.04994336e-01 9.02353810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:-52.18, Z:90.22 [[ 6.67919612e-01 -3.73692351e-01 -6.43612787e-01 1.82300684e+02] [ 2.49505308e-01 9.27187113e-01 -2.79412166e-01 -5.21775881e+01] [ 7.01163671e-01 2.60400590e-02 7.12524682e-01 9.02207070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:-52.21, Z:90.27 [[ 6.62706213e-01 -3.32330670e-01 -6.71101186e-01 1.82308473e+02] [ 2.39884619e-01 9.43124970e-01 -2.30153558e-01 -5.22102247e+01] [ 7.09419372e-01 -8.46265987e-03 7.04735793e-01 9.02742262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:-52.17, Z:90.26 [[ 6.66588190e-01 -3.71498326e-01 -6.46257827e-01 1.82336589e+02] [ 2.49700559e-01 9.28158470e-01 -2.75991820e-01 -5.21690218e+01] [ 7.02360175e-01 2.26019470e-02 7.11462815e-01 9.02635106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:-52.20, Z:90.31 [[ 6.61175881e-01 -3.35814589e-01 -6.70876305e-01 1.82346115e+02] [ 2.41546209e-01 9.41896522e-01 -2.33423159e-01 -5.21976777e+01] [ 7.10282960e-01 -7.71386525e-03 7.03874004e-01 9.03128947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:-52.18, Z:90.33 [[ 6.61082720e-01 -3.45134903e-01 -6.66221837e-01 1.82367164e+02] [ 2.42090899e-01 9.38552139e-01 -2.45991623e-01 -5.21846760e+01] [ 7.10184225e-01 1.33456784e-03 7.04014620e-01 9.03282539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:-52.18, Z:90.35 [[ 6.60811753e-01 -3.45750885e-01 -6.66171263e-01 1.82385768e+02] [ 2.42682256e-01 9.38325731e-01 -2.46272503e-01 -5.21781950e+01] [ 7.10234573e-01 1.07181965e-03 7.03964276e-01 9.03476981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:-52.17, Z:90.37 [[ 6.60543079e-01 -3.46275847e-01 -6.66165053e-01 1.82404017e+02] [ 2.43119311e-01 9.38132291e-01 -2.46578194e-01 -5.21719613e+01] [ 7.10335021e-01 9.17930866e-04 7.03863137e-01 9.03668059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.42, Y:-52.17, Z:90.39 [[ 6.59927969e-01 -3.46628665e-01 -6.66591063e-01 1.82423132e+02] [ 2.43287785e-01 9.38002122e-01 -2.46907015e-01 -5.21665207e+01] [ 7.10848880e-01 7.67381837e-04 7.03344355e-01 9.03862767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.44, Y:-52.16, Z:90.41 [[ 6.59731758e-01 -3.46856758e-01 -6.66666631e-01 1.82442137e+02] [ 2.43280292e-01 9.37917661e-01 -2.47235030e-01 -5.21600966e+01] [ 7.11033549e-01 9.21948198e-04 7.03157481e-01 9.04059851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.46, Y:-52.15, Z:90.43 [[ 6.59641687e-01 -3.47215592e-01 -6.66568959e-01 1.82461099e+02] [ 2.43524536e-01 9.37784869e-01 -2.47498163e-01 -5.21528475e+01] [ 7.11033505e-01 9.34209136e-04 7.03157509e-01 9.04261329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:-52.11, Z:90.41 [[ 6.64888701e-01 -3.82209311e-01 -6.41746879e-01 1.82488259e+02] [ 2.54439675e-01 9.23675155e-01 -2.86504206e-01 -5.21113231e+01] [ 7.02270223e-01 2.72075417e-02 7.11390387e-01 9.04122394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:-52.11, Z:90.44 [[ 6.64853328e-01 -3.73825613e-01 -6.46702763e-01 1.82506034e+02] [ 2.53574830e-01 9.27302953e-01 -2.75334412e-01 -5.21107784e+01] [ 7.02616438e-01 1.90694565e-02 7.11313220e-01 9.04359700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:-52.14, Z:90.49 [[ 6.58265754e-01 -3.32386924e-01 -6.75429589e-01 1.82513371e+02] [ 2.40537320e-01 9.43075662e-01 -2.29673885e-01 -5.21447429e+01] [ 7.13321803e-01 -1.12795697e-02 7.00745872e-01 9.04929537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.53, Y:-52.13, Z:90.51 [[ 6.58574225e-01 -3.44844178e-01 -6.68851615e-01 1.82534267e+02] [ 2.40246888e-01 9.38657277e-01 -2.47394318e-01 -5.21289303e+01] [ 7.13134926e-01 2.23800216e-03 7.01023229e-01 9.05064764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:-52.09, Z:90.50 [[ 6.63820494e-01 -3.73824645e-01 -6.47763449e-01 1.82561017e+02] [ 2.50288533e-01 9.27218717e-01 -2.78605639e-01 -5.20917937e+01] [ 7.04768048e-01 2.28163699e-02 7.09070809e-01 9.04975460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:-52.09, Z:90.52 [[ 6.63742292e-01 -3.67717981e-01 -6.51329146e-01 1.82578471e+02] [ 2.47975702e-01 9.29740052e-01 -2.72197515e-01 -5.20889431e+01] [ 7.05658715e-01 1.91552000e-02 7.08292917e-01 9.05190475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:-52.09, Z:90.54 [[ 6.63156254e-01 -3.60125066e-01 -6.56150684e-01 1.82594694e+02] [ 2.45955083e-01 9.32809466e-01 -2.63386784e-01 -5.20894267e+01] [ 7.06915751e-01 1.32829974e-02 7.07173022e-01 9.05446038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:-52.11, Z:90.59 [[ 6.58594989e-01 -3.33299529e-01 -6.74658480e-01 1.82605736e+02] [ 2.35991861e-01 9.42811728e-01 -2.35401543e-01 -5.21100718e+01] [ 7.14535151e-01 -4.17963378e-03 6.99587056e-01 9.05905014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:-52.10, Z:90.61 [[ 6.59119609e-01 -3.41094090e-01 -6.70235901e-01 1.82626334e+02] [ 2.36020140e-01 9.40020031e-01 -2.46286083e-01 -5.20981693e+01] [ 7.14041900e-01 4.14281535e-03 7.00090710e-01 9.06069716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:-52.09, Z:90.63 [[ 6.59235162e-01 -3.41384269e-01 -6.69974464e-01 1.82645249e+02] [ 2.36218983e-01 9.39914253e-01 -2.46499067e-01 -5.20913803e+01] [ 7.13869451e-01 4.24016629e-03 7.00265969e-01 9.06271640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.67, Y:-52.06, Z:90.63 [[ 6.62720040e-01 -3.62748321e-01 -6.55145636e-01 1.82668713e+02] [ 2.44938270e-01 9.31728072e-01 -2.68119459e-01 -5.20632807e+01] [ 7.07677463e-01 1.72178996e-02 7.06325811e-01 9.06261316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:-52.08, Z:90.67 [[ 6.58454834e-01 -3.39750637e-01 -6.71570351e-01 1.82682147e+02] [ 2.36306419e-01 9.40513330e-01 -2.44118727e-01 -5.20800510e+01] [ 7.14560360e-01 2.04477171e-03 6.99570805e-01 9.06684931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.70, Y:-52.07, Z:90.69 [[ 6.58091409e-01 -3.42076455e-01 -6.70745404e-01 1.82701124e+02] [ 2.36463492e-01 9.39663235e-01 -2.47220592e-01 -5.20718889e+01] [ 7.14843140e-01 4.08694679e-03 6.99272895e-01 9.06873913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.72, Y:-52.05, Z:90.69 [[ 6.61153618e-01 -3.61574590e-01 -6.57373341e-01 1.82722888e+02] [ 2.44509516e-01 9.32211321e-01 -2.66827941e-01 -5.20460619e+01] [ 7.09289074e-01 1.56802211e-02 7.04743316e-01 9.06878868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:-52.04, Z:90.71 [[ 6.61206016e-01 -3.60542563e-01 -6.57887273e-01 1.82741473e+02] [ 2.44149805e-01 9.32620932e-01 -2.65723671e-01 -5.20400730e+01] [ 7.09364136e-01 1.50750406e-02 7.04680968e-01 9.07090940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:-52.05, Z:90.75 [[ 6.58148302e-01 -3.40894597e-01 -6.71291059e-01 1.82756195e+02] [ 2.36569429e-01 9.40097520e-01 -2.45461927e-01 -5.20527754e+01] [ 7.14755705e-01 2.74340798e-03 6.99368827e-01 9.07486795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:-52.04, Z:90.77 [[ 6.58901621e-01 -3.42565953e-01 -6.69699352e-01 1.82775186e+02] [ 2.37640352e-01 9.39487475e-01 -2.46759696e-01 -5.20444741e+01] [ 7.13705623e-01 3.44277375e-03 7.00437314e-01 9.07678277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:-52.04, Z:90.79 [[ 6.58323297e-01 -3.43053908e-01 -6.70018248e-01 1.82792966e+02] [ 2.37901724e-01 9.39309820e-01 -2.47183802e-01 -5.20376730e+01] [ 7.14152089e-01 3.32835919e-03 6.99982654e-01 9.07878875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:-52.03, Z:90.81 [[ 6.58244925e-01 -3.43550249e-01 -6.69840911e-01 1.82811726e+02] [ 2.38361929e-01 9.39128832e-01 -2.47428026e-01 -5.20304350e+01] [ 7.14070872e-01 3.20367071e-03 7.00066087e-01 9.08079292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:-52.02, Z:90.83 [[ 6.57807864e-01 -3.44307278e-01 -6.69881566e-01 1.82829926e+02] [ 2.39109067e-01 9.38852842e-01 -2.47754304e-01 -5.20232629e+01] [ 7.14223822e-01 2.79997312e-03 6.99911774e-01 9.08272023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:-51.98, Z:90.82 [[ 6.62342102e-01 -3.78612789e-01 -6.46494621e-01 1.82856872e+02] [ 2.49757173e-01 9.25134333e-01 -2.85915758e-01 -5.19831865e+01] [ 7.06345733e-01 2.79073752e-02 7.07316679e-01 9.08165142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:-52.02, Z:90.87 [[ 6.56426263e-01 -3.33712107e-01 -6.76565437e-01 1.82864594e+02] [ 2.38700684e-01 9.42638360e-01 -2.33355750e-01 -5.20171032e+01] [ 7.15630173e-01 -8.31578958e-03 6.98429884e-01 9.08723339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:-52.00, Z:90.89 [[ 6.55948126e-01 -3.44594060e-01 -6.71555650e-01 1.82885343e+02] [ 2.38542569e-01 9.38747195e-01 -2.48698907e-01 -5.20015631e+01] [ 7.16121148e-01 2.93897202e-03 6.97969815e-01 9.08868129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:-51.99, Z:90.91 [[ 6.55694144e-01 -3.44745633e-01 -6.71725866e-01 1.82903581e+02] [ 2.38380231e-01 9.38690737e-01 -2.49067394e-01 -5.19940135e+01] [ 7.16407744e-01 3.18586425e-03 6.97674562e-01 9.09062213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:-51.99, Z:90.92 [[ 6.55549202e-01 -3.44730233e-01 -6.71875219e-01 1.82921465e+02] [ 2.37977610e-01 9.38694792e-01 -2.49436857e-01 -5.19865650e+01] [ 7.16674195e-01 3.62687365e-03 6.97398698e-01 9.09249958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:-51.98, Z:90.94 [[ 6.55072007e-01 -3.44703420e-01 -6.72354236e-01 1.82939628e+02] [ 2.37461455e-01 9.38702939e-01 -2.49897677e-01 -5.19791504e+01] [ 7.17281481e-01 4.04275775e-03 6.96771794e-01 9.09449909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:-51.97, Z:90.96 [[ 6.54549754e-01 -3.44255866e-01 -6.73091761e-01 1.82958252e+02] [ 2.36210712e-01 9.38862760e-01 -2.50481969e-01 -5.19709894e+01] [ 7.18170676e-01 4.96142682e-03 6.95849312e-01 9.09644988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:-51.96, Z:90.98 [[ 6.54092454e-01 -3.44268824e-01 -6.73529538e-01 1.82976028e+02] [ 2.35731613e-01 9.38855713e-01 -2.50959273e-01 -5.19637144e+01] [ 7.18744509e-01 5.37836161e-03 6.95253482e-01 9.09838672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:-51.96, Z:91.00 [[ 6.53929553e-01 -3.44559491e-01 -6.73539084e-01 1.82994247e+02] [ 2.35852777e-01 9.38748718e-01 -2.51245523e-01 -5.19563531e+01] [ 7.18852981e-01 5.44080954e-03 6.95140842e-01 9.10036068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:-51.95, Z:91.02 [[ 6.53975056e-01 -3.44978046e-01 -6.73280606e-01 1.83012238e+02] [ 2.36235977e-01 9.38595251e-01 -2.51458780e-01 -5.19492797e+01] [ 7.18685737e-01 5.39466826e-03 6.95314108e-01 9.10233511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:-51.94, Z:91.04 [[ 6.53513009e-01 -3.45812344e-01 -6.73301247e-01 1.83029518e+02] [ 2.37098429e-01 9.38290875e-01 -2.51782779e-01 -5.19426426e+01] [ 7.18822010e-01 4.90465373e-03 6.95176857e-01 9.10425748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.05, Y:-51.94, Z:91.06 [[ 6.53296925e-01 -3.46554747e-01 -6.73129211e-01 1.83047256e+02] [ 2.37939335e-01 9.38019105e-01 -2.52002045e-01 -5.19355968e+01] [ 7.18740566e-01 4.46824432e-03 6.95264003e-01 9.10621229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:-51.93, Z:91.08 [[ 6.53281350e-01 -3.47336408e-01 -6.72741330e-01 1.83065042e+02] [ 2.38925922e-01 9.37732144e-01 -2.52136531e-01 -5.19287223e+01] [ 7.18427367e-01 3.98075122e-03 6.95590592e-01 9.10812228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.08, Y:-51.92, Z:91.10 [[ 6.52825001e-01 -3.48605172e-01 -6.72528031e-01 1.83083470e+02] [ 2.40547985e-01 9.37265019e-01 -2.52331035e-01 -5.19221782e+01] [ 7.18300902e-01 2.95274529e-03 6.95726308e-01 9.11015939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.10, Y:-51.92, Z:91.12 [[ 6.52515692e-01 -3.49439512e-01 -6.72395195e-01 1.83101064e+02] [ 2.41477825e-01 9.36955718e-01 -2.52591452e-01 -5.19155754e+01] [ 7.18269957e-01 2.45135685e-03 6.95760203e-01 9.11211611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:-51.91, Z:91.14 [[ 6.52738102e-01 -3.49941631e-01 -6.71918020e-01 1.83119169e+02] [ 2.42099000e-01 9.36768756e-01 -2.52690269e-01 -5.19087569e+01] [ 7.17858652e-01 2.26988549e-03 6.96185179e-01 9.11408071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:-51.90, Z:91.16 [[ 6.52515750e-01 -3.50722365e-01 -6.71726893e-01 1.83137499e+02] [ 2.43011293e-01 9.36477793e-01 -2.52892972e-01 -5.19015417e+01] [ 7.17752539e-01 1.77942642e-03 6.96296004e-01 9.11609773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:-51.89, Z:91.18 [[ 6.52226176e-01 -3.51403102e-01 -6.71652347e-01 1.83154923e+02] [ 2.43693711e-01 9.36223131e-01 -2.53179038e-01 -5.18943216e+01] [ 7.17784362e-01 1.45254269e-03 6.96263958e-01 9.11802791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:-51.84, Z:91.16 [[ 6.59860491e-01 -4.03156540e-01 -6.34073290e-01 1.83186122e+02] [ 2.58235120e-01 9.14145343e-01 -3.12494664e-01 -5.18354945e+01] [ 7.05619413e-01 4.24628901e-02 7.07317572e-01 9.11553956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:-51.87, Z:91.20 [[ 6.56967341e-01 -3.59442272e-01 -6.62718013e-01 1.83194902e+02] [ 2.51666426e-01 9.33165543e-01 -2.56643878e-01 -5.18674408e+01] [ 7.10674273e-01 1.82277244e-03 7.03518838e-01 9.12035705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:-51.85, Z:91.22 [[ 6.56549498e-01 -3.69132209e-01 -6.57787327e-01 1.83214832e+02] [ 2.51329870e-01 9.29294629e-01 -2.70637745e-01 -5.18519286e+01] [ 7.11179339e-01 1.23654724e-02 7.02901873e-01 9.12188390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.22, Y:-51.87, Z:91.27 [[ 6.51257812e-01 -3.39480759e-01 -6.78687024e-01 1.83224160e+02] [ 2.41681838e-01 9.40573127e-01 -2.38562531e-01 -5.18732415e+01] [ 7.19342166e-01 -8.66061559e-03 6.94601931e-01 9.12655662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.24, Y:-51.86, Z:91.28 [[ 6.51236338e-01 -3.50220281e-01 -6.73228778e-01 1.83244736e+02] [ 2.41172627e-01 9.36662471e-01 -2.53966885e-01 -5.18570249e+01] [ 7.19532485e-01 3.02811106e-03 6.94452183e-01 9.12806881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:-51.85, Z:91.30 [[ 6.51071138e-01 -3.50328249e-01 -6.73332378e-01 1.83262684e+02] [ 2.40963799e-01 9.36621070e-01 -2.54317557e-01 -5.18498749e+01] [ 7.19751916e-01 3.33009353e-03 6.94223372e-01 9.13006420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:-51.84, Z:91.32 [[ 6.51293890e-01 -3.50266251e-01 -6.73149183e-01 1.83280475e+02] [ 2.40623838e-01 9.36642395e-01 -2.54560785e-01 -5.18425458e+01] [ 7.19664114e-01 3.81814425e-03 6.94311879e-01 9.13200356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.30, Y:-51.83, Z:91.34 [[ 6.51391422e-01 -3.50127795e-01 -6.73126840e-01 1.83298904e+02] [ 2.40142355e-01 9.36691841e-01 -2.54833366e-01 -5.18347375e+01] [ 7.19736663e-01 4.35000409e-03 6.94233544e-01 9.13403525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.32, Y:-51.83, Z:91.36 [[ 6.51858387e-01 -3.49061570e-01 -6.73228537e-01 1.83316745e+02] [ 2.38242366e-01 9.37080879e-01 -2.55186210e-01 -5.18266444e+01] [ 7.19945288e-01 5.95371197e-03 6.94005285e-01 9.13610967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:-51.80, Z:91.36 [[ 6.56466850e-01 -3.71764261e-01 -6.56386022e-01 1.83340363e+02] [ 2.44662888e-01 9.28021480e-01 -2.80920279e-01 -5.17951959e+01] [ 7.13576447e-01 2.38215508e-02 7.00172256e-01 9.13573141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.35, Y:-51.82, Z:91.40 [[ 6.52146280e-01 -3.40882667e-01 -6.77129409e-01 1.83351391e+02] [ 2.35109886e-01 9.40104178e-01 -2.46834918e-01 -5.18167515e+01] [ 7.20713931e-01 1.77265570e-03 6.93230328e-01 9.14046308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.38, Y:-51.78, Z:91.40 [[ 6.57192790e-01 -3.70787464e-01 -6.56212080e-01 1.83376877e+02] [ 2.42619121e-01 9.28358130e-01 -2.81579729e-01 -5.17802970e+01] [ 7.13606053e-01 2.58425697e-02 7.00070398e-01 9.13986652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.39, Y:-51.80, Z:91.44 [[ 6.52089832e-01 -3.40025085e-01 -6.77614781e-01 1.83387412e+02] [ 2.32757432e-01 9.40408129e-01 -2.47904272e-01 -5.18017605e+01] [ 7.21528120e-01 3.93597888e-03 6.92373945e-01 9.14447335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.41, Y:-51.79, Z:91.46 [[ 6.52387357e-01 -3.45797054e-01 -6.74399832e-01 1.83406907e+02] [ 2.32714292e-01 9.38255516e-01 -2.55970009e-01 -5.17892526e+01] [ 7.21273037e-01 1.00491181e-02 6.92577953e-01 9.14615974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.42, Y:-51.78, Z:91.48 [[ 6.52395404e-01 -3.46455294e-01 -6.74054127e-01 1.83424689e+02] [ 2.33475492e-01 9.38015927e-01 -2.56154867e-01 -5.17819331e+01] [ 7.21019716e-01 9.73913853e-03 6.92846100e-01 9.14810644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.44, Y:-51.78, Z:91.50 [[ 6.52183370e-01 -3.47530075e-01 -6.73705944e-01 1.83442712e+02] [ 2.34940276e-01 9.37627223e-01 -2.56238675e-01 -5.17750778e+01] [ 7.20735679e-01 8.83394213e-03 6.93153693e-01 9.15013656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:-51.77, Z:91.52 [[ 6.52045394e-01 -3.48858653e-01 -6.73152616e-01 1.83460211e+02] [ 2.36749415e-01 9.37143059e-01 -2.56344692e-01 -5.17685765e+01] [ 7.20268366e-01 7.77988757e-03 6.93651897e-01 9.15210332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.48, Y:-51.76, Z:91.54 [[ 6.51584489e-01 -3.50595624e-01 -6.72696337e-01 1.83478412e+02] [ 2.39137193e-01 9.36506178e-01 -2.56455808e-01 -5.17617262e+01] [ 7.19896559e-01 6.23591324e-03 6.94053353e-01 9.15413815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.50, Y:-51.76, Z:91.56 [[ 6.50969139e-01 -3.54263164e-01 -6.71369340e-01 1.83496652e+02] [ 2.44619690e-01 9.35142187e-01 -2.56262166e-01 -5.17550022e+01] [ 7.18610039e-01 2.58860190e-03 6.95408449e-01 9.15617578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.51, Y:-51.75, Z:91.58 [[ 6.50149528e-01 -3.56479764e-01 -6.70990141e-01 1.83514523e+02] [ 2.47630952e-01 9.34302876e-01 -2.56431372e-01 -5.17480025e+01] [ 7.18320613e-01 5.60808485e-04 6.95711997e-01 9.15814971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.53, Y:-51.74, Z:91.60 [[ 6.49297645e-01 -3.58943053e-01 -6.70501643e-01 1.83533547e+02] [ 2.51072561e-01 9.33357759e-01 -2.56526533e-01 -5.17404133e+01] [ 7.17896328e-01 -1.78249127e-03 6.96147746e-01 9.16014048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.55, Y:-51.73, Z:91.62 [[ 6.48066678e-01 -3.61198250e-01 -6.70481473e-01 1.83551836e+02] [ 2.54004987e-01 9.32481042e-01 -2.56827907e-01 -5.17333433e+01] [ 7.17977053e-01 -3.86402926e-03 6.96056047e-01 9.16216646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:-51.73, Z:91.64 [[ 6.46806748e-01 -3.63540249e-01 -6.70432337e-01 1.83569968e+02] [ 2.57068806e-01 9.31558933e-01 -2.57125616e-01 -5.17262388e+01] [ 7.18022743e-01 -6.03665715e-03 6.95993462e-01 9.16410351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:-51.72, Z:91.66 [[ 6.43327138e-01 -3.68099794e-01 -6.71291840e-01 1.83588491e+02] [ 2.63026780e-01 9.29724067e-01 -2.57740318e-01 -5.17194943e+01] [ 7.18990338e-01 -1.07563899e-02 6.94936827e-01 9.16605969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.61, Y:-51.71, Z:91.68 [[ 6.43227647e-01 -3.68463146e-01 -6.71187831e-01 1.83607161e+02] [ 2.63269540e-01 9.29580275e-01 -2.58010973e-01 -5.17121108e+01] [ 7.18990503e-01 -1.07435207e-02 6.94936856e-01 9.16809660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.63, Y:-51.71, Z:91.70 [[ 6.41383016e-01 -3.70744552e-01 -6.71696586e-01 1.83626110e+02] [ 2.66077732e-01 9.28644908e-01 -2.58498116e-01 -5.17050274e+01] [ 7.19604383e-01 -1.29272033e-02 6.94263941e-01 9.17010136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.64, Y:-51.70, Z:91.72 [[ 6.39958888e-01 -3.72863456e-01 -6.71882032e-01 1.83644475e+02] [ 2.68753462e-01 9.27766650e-01 -2.58883411e-01 -5.16977612e+01] [ 7.19877905e-01 -1.48958819e-02 6.93940858e-01 9.17202750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.66, Y:-51.69, Z:91.74 [[ 6.37591697e-01 -3.75923442e-01 -6.72427241e-01 1.83663448e+02] [ 2.72702088e-01 9.26475955e-01 -2.59375934e-01 -5.16904750e+01] [ 7.20493164e-01 -1.79963713e-02 6.93228484e-01 9.17401369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.68, Y:-51.68, Z:91.76 [[ 6.36679960e-01 -3.77168280e-01 -6.72594021e-01 1.83681842e+02] [ 2.74123895e-01 9.25949970e-01 -2.59755160e-01 -5.16829102e+01] [ 7.20759820e-01 -1.89931879e-02 6.92924628e-01 9.17597766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.70, Y:-51.68, Z:91.78 [[ 6.35821173e-01 -3.78022455e-01 -6.72926787e-01 1.83699425e+02] [ 2.74918622e-01 9.25589768e-01 -2.60198641e-01 -5.16755764e+01] [ 7.21215077e-01 -1.95603005e-02 6.92434984e-01 9.17783597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:-51.67, Z:91.80 [[ 6.35113507e-01 -3.78455592e-01 -6.73351467e-01 1.83717602e+02] [ 2.75171473e-01 9.25407858e-01 -2.60578121e-01 -5.16682093e+01] [ 7.21741986e-01 -1.97904308e-02 6.91879212e-01 9.17980406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.74, Y:-51.64, Z:91.80 [[ 6.37835529e-01 -3.99375433e-01 -6.58532536e-01 1.83741512e+02] [ 2.81687244e-01 9.16774408e-01 -2.83155400e-01 -5.16405322e+01] [ 7.16811087e-01 -4.89364092e-03 6.97250255e-01 9.17986566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:-51.63, Z:91.81 [[ 6.39549852e-01 -4.03488255e-01 -6.54349459e-01 1.83762270e+02] [ 2.83580160e-01 9.14982666e-01 -2.87034866e-01 -5.16273190e+01] [ 7.14533610e-01 -1.98741807e-03 6.99598292e-01 9.18128286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.77, Y:-51.66, Z:91.86 [[ 6.36125681e-01 -3.63324398e-01 -6.80690458e-01 1.83769051e+02] [ 2.71203563e-01 9.31190578e-01 -2.43583119e-01 -5.16554289e+01] [ 7.22352231e-01 -2.96561999e-02 6.90889111e-01 9.18646408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.79, Y:-51.64, Z:91.88 [[ 6.36661281e-01 -3.74572885e-01 -6.74060507e-01 1.83789291e+02] [ 2.69142884e-01 9.27071637e-01 -2.60960318e-01 -5.16380704e+01] [ 7.22651036e-01 -1.52752585e-02 6.91044243e-01 9.18788173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.81, Y:-51.63, Z:91.90 [[ 6.37551768e-01 -3.73376846e-01 -6.73882389e-01 1.83807344e+02] [ 2.67141203e-01 9.27581663e-01 -2.61204585e-01 -5.16295874e+01] [ 7.22608692e-01 -1.34903074e-02 6.91125669e-01 9.18993560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.83, Y:-51.62, Z:91.92 [[ 6.38562457e-01 -3.72156636e-01 -6.73600347e-01 1.83825125e+02] [ 2.65143790e-01 9.28096525e-01 -2.61410807e-01 -5.16210352e+01] [ 7.22451908e-01 -1.16738218e-02 6.91322619e-01 9.19190655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.84, Y:-51.61, Z:91.94 [[ 6.41095922e-01 -3.69668863e-01 -6.72562972e-01 1.83842955e+02] [ 2.61604486e-01 9.29125475e-01 -2.61321536e-01 -5.16119672e+01] [ 7.21497826e-01 -8.41331906e-03 6.92365585e-01 9.19395799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.86, Y:-51.60, Z:91.96 [[ 6.42120588e-01 -3.68918046e-01 -6.71997490e-01 1.83860856e+02] [ 2.60409468e-01 9.29434550e-01 -2.61416003e-01 -5.16039445e+01] [ 7.21018766e-01 -7.13391126e-03 6.92878811e-01 9.19603332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:-51.60, Z:91.98 [[ 6.42848027e-01 -3.68263862e-01 -6.71660734e-01 1.83877890e+02] [ 2.59260537e-01 9.29702200e-01 -2.61606179e-01 -5.15961242e+01] [ 7.20784564e-01 -5.96210670e-03 6.93133512e-01 9.19802458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.90, Y:-51.59, Z:92.00 [[ 6.44100895e-01 -3.67624094e-01 -6.70810378e-01 1.83895009e+02] [ 2.58371219e-01 9.29961855e-01 -2.61563114e-01 -5.15882231e+01] [ 7.19984966e-01 -4.84505942e-03 6.93972748e-01 9.19995604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:-51.58, Z:92.02 [[ 6.45289287e-01 -3.66537382e-01 -6.70262698e-01 1.83911798e+02] [ 2.56729645e-01 9.30397651e-01 -2.61629701e-01 -5.15786353e+01] [ 7.19507905e-01 -3.24946144e-03 6.94476648e-01 9.20196455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:-51.54, Z:92.01 [[ 6.50137054e-01 -3.98263969e-01 -6.47076211e-01 1.83939609e+02] [ 2.65016107e-01 9.16998821e-01 -2.98126860e-01 -5.15388011e+01] [ 7.12101309e-01 2.23377002e-02 7.01721279e-01 9.20124873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:-51.57, Z:92.07 [[ 6.45228903e-01 -3.51173649e-01 -6.78495934e-01 1.83944935e+02] [ 2.55796216e-01 9.36139563e-01 -2.41269588e-01 -5.15726051e+01] [ 7.19894408e-01 -1.78825807e-02 6.93853193e-01 9.20666047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.97, Y:-51.53, Z:92.06 [[ 6.49091202e-01 -3.92900792e-01 -6.51390496e-01 1.83974130e+02] [ 2.63788308e-01 9.19414031e-01 -2.91708020e-01 -5.15275392e+01] [ 7.13509874e-01 1.75159125e-02 7.00426194e-01 9.20568407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.98, Y:-51.55, Z:92.10 [[ 6.44525297e-01 -3.54919395e-01 -6.77214416e-01 1.83981869e+02] [ 2.56021944e-01 9.34781774e-01 -2.46243374e-01 -5.15544309e+01] [ 7.20444242e-01 -1.46716673e-02 6.93357654e-01 9.21044502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.00, Y:-51.54, Z:92.12 [[ 6.43105292e-01 -3.67897207e-01 -6.71615388e-01 1.84002431e+02] [ 2.57400238e-01 9.29858653e-01 -2.62884009e-01 -5.15383469e+01] [ 7.21221673e-01 -3.81186312e-03 6.92693849e-01 9.21190887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.03, Y:-51.50, Z:92.11 [[ 6.47508493e-01 -4.01278019e-01 -6.47849290e-01 1.84029737e+02] [ 2.67913234e-01 9.15730946e-01 -2.99431685e-01 -5.14996020e+01] [ 7.13410997e-01 2.03171605e-02 7.00451257e-01 9.21106469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.04, Y:-51.53, Z:92.17 [[ 6.41898244e-01 -3.55453884e-01 -6.79425626e-01 1.84035527e+02] [ 2.58897912e-01 9.34498962e-01 -2.44302193e-01 -5.15346578e+01] [ 7.21760705e-01 -1.90847272e-02 6.91879511e-01 9.21651822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.06, Y:-51.52, Z:92.18 [[ 6.41647399e-01 -3.69645637e-01 -6.72049640e-01 1.84056413e+02] [ 2.59304190e-01 9.29158264e-01 -2.63488630e-01 -5.15169253e+01] [ 7.21837899e-01 -5.19849376e-03 6.92042646e-01 9.21793134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.07, Y:-51.51, Z:92.20 [[ 6.41737189e-01 -3.69716266e-01 -6.71925043e-01 1.84073813e+02] [ 2.59119519e-01 9.29132085e-01 -2.63762476e-01 -5.15096309e+01] [ 7.21824393e-01 -4.84270388e-03 6.92059314e-01 9.21987285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.09, Y:-51.50, Z:92.22 [[ 6.42091031e-01 -3.69410560e-01 -6.71755124e-01 1.84092110e+02] [ 2.58442229e-01 9.29257215e-01 -2.63986064e-01 -5.15023301e+01] [ 7.21752536e-01 -4.10680780e-03 6.92139012e-01 9.22187921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:-51.50, Z:92.24 [[ 6.42180814e-01 -3.68774543e-01 -6.72018704e-01 1.84109600e+02] [ 2.57084530e-01 9.29514133e-01 -2.64406922e-01 -5.14953612e+01] [ 7.22157425e-01 -2.96855970e-03 6.91722373e-01 9.22381032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:-51.49, Z:92.26 [[ 6.42368393e-01 -3.68128163e-01 -6.72193799e-01 1.84127665e+02] [ 2.55779719e-01 9.29773198e-01 -2.64761282e-01 -5.14883094e+01] [ 7.22453862e-01 -1.85926108e-03 6.91416633e-01 9.22577686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.15, Y:-51.46, Z:92.26 [[ 6.46404888e-01 -3.89686536e-01 -6.55976466e-01 1.84153489e+02] [ 2.59207310e-01 9.20763098e-01 -2.91559407e-01 -5.14590233e+01] [ 7.17615698e-01 1.84315306e-02 6.96195366e-01 9.22578437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:-51.46, Z:92.28 [[ 6.47665603e-01 -3.82834295e-01 -6.58761845e-01 1.84170579e+02] [ 2.59597893e-01 9.23747039e-01 -2.81603165e-01 -5.14556384e+01] [ 7.16336653e-01 1.13714966e-02 6.97662160e-01 9.22768983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:-51.45, Z:92.30 [[ 6.46727380e-01 -3.75574565e-01 -6.63842935e-01 1.84188505e+02] [ 2.55654032e-01 9.26754997e-01 -2.75256591e-01 -5.14544320e+01] [ 7.18599132e-01 8.30185127e-03 6.95374983e-01 9.23036551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.20, Y:-51.47, Z:92.34 [[ 6.43258132e-01 -3.51535961e-01 -6.80177509e-01 1.84198667e+02] [ 2.47560419e-01 9.36142205e-01 -2.49703047e-01 -5.14695572e+01] [ 7.24522473e-01 -7.76151381e-03 6.89207476e-01 9.23431408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.22, Y:-51.45, Z:92.36 [[ 6.44307180e-01 -3.62249288e-01 -6.73530780e-01 1.84219478e+02] [ 2.46161907e-01 9.32065196e-01 -2.65817206e-01 -5.14539972e+01] [ 7.24066692e-01 5.47031323e-03 6.89708273e-01 9.23583698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:-51.45, Z:92.38 [[ 6.45763402e-01 -3.61035041e-01 -6.72787728e-01 1.84237934e+02] [ 2.44390768e-01 9.32524084e-01 -2.65842032e-01 -5.14480238e+01] [ 7.23369049e-01 7.24794587e-03 6.90423556e-01 9.23790392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.26, Y:-51.44, Z:92.40 [[ 6.46246196e-01 -3.61038003e-01 -6.72322403e-01 1.84255723e+02] [ 2.44260339e-01 9.32519599e-01 -2.65977600e-01 -5.14417147e+01] [ 7.22981840e-01 7.66531453e-03 6.90824509e-01 9.23989631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.27, Y:-51.44, Z:92.42 [[ 6.46625136e-01 -3.61331110e-01 -6.71800389e-01 1.84273312e+02] [ 2.44607570e-01 9.32405679e-01 -2.66057863e-01 -5.14357092e+01] [ 7.22525480e-01 7.71224113e-03 6.91301274e-01 9.24182818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.30, Y:-51.40, Z:92.41 [[ 6.51360079e-01 -3.88866755e-01 -6.51546387e-01 1.84299072e+02] [ 2.53458485e-01 9.20874193e-01 -2.96225448e-01 -5.14032771e+01] [ 7.15184482e-01 2.78094711e-02 6.98382266e-01 9.24148567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.32, Y:-51.41, Z:92.44 [[ 6.51051644e-01 -3.77351635e-01 -6.58587504e-01 1.84315716e+02] [ 2.55277664e-01 9.25978782e-01 -2.78202461e-01 -5.14082017e+01] [ 7.14818208e-01 1.30014900e-02 6.99189453e-01 9.24408920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.33, Y:-51.43, Z:92.48 [[ 6.46518938e-01 -3.54550821e-01 -6.75504980e-01 1.84327243e+02] [ 2.48367190e-01 9.35027457e-01 -2.53056107e-01 -5.14259487e+01] [ 7.21336955e-01 -4.16770810e-03 6.92571750e-01 9.24833062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:-51.41, Z:92.50 [[ 6.46251390e-01 -3.64797715e-01 -6.70284841e-01 1.84348322e+02] [ 2.49671687e-01 9.31075636e-01 -2.66011670e-01 -5.14129751e+01] [ 7.21126334e-01 4.55926417e-03 6.92788585e-01 9.24994549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.37, Y:-51.41, Z:92.52 [[ 6.45584163e-01 -3.66008642e-01 -6.70267680e-01 1.84366496e+02] [ 2.51091191e-01 9.30604346e-01 -2.66324548e-01 -5.14073045e+01] [ 7.21231102e-01 3.63660036e-03 6.92684974e-01 9.25191630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:-51.40, Z:92.54 [[ 6.44728622e-01 -3.67137060e-01 -6.70473999e-01 1.84384443e+02] [ 2.52332368e-01 9.30162752e-01 -2.66693889e-01 -5.14016191e+01] [ 7.21563151e-01 2.76289149e-03 6.92343113e-01 9.25386529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.40, Y:-51.40, Z:92.56 [[ 6.44107483e-01 -3.68322687e-01 -6.70420725e-01 1.84403430e+02] [ 2.53772382e-01 9.29696247e-01 -2.66954054e-01 -5.13951432e+01] [ 7.21612866e-01 1.81283962e-03 6.92294435e-01 9.25582308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.42, Y:-51.39, Z:92.58 [[ 6.42179862e-01 -3.70166480e-01 -6.71253903e-01 1.84422010e+02] [ 2.55761435e-01 9.28965419e-01 -2.67599212e-01 -5.13896527e+01] [ 7.22627922e-01 1.65963777e-04 6.91237194e-01 9.25774406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:-51.38, Z:92.60 [[ 6.41338437e-01 -3.71299138e-01 -6.71432766e-01 1.84441131e+02] [ 2.57102743e-01 9.28512937e-01 -2.67884128e-01 -5.13829376e+01] [ 7.22899155e-01 -8.22817835e-04 6.90953063e-01 9.25974973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.46, Y:-51.38, Z:92.62 [[ 6.40565605e-01 -3.72598986e-01 -6.71450446e-01 1.84459645e+02] [ 2.58650999e-01 9.27990572e-01 -2.68203579e-01 -5.13766834e+01] [ 7.23032065e-01 -1.86934043e-03 6.90811942e-01 9.26171207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.48, Y:-51.35, Z:92.61 [[ 6.43377161e-01 -3.98204800e-01 -6.53833898e-01 1.84484411e+02] [ 2.68102420e-01 9.17184141e-01 -2.94778466e-01 -5.13462265e+01] [ 7.17068282e-01 1.43592821e-02 6.96854999e-01 9.26147582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.49, Y:-51.37, Z:92.66 [[ 6.38605487e-01 -3.67269619e-01 -6.76236688e-01 1.84494486e+02] [ 2.61712451e-01 9.30033921e-01 -2.57960267e-01 -5.13705870e+01] [ 7.23664027e-01 -1.22447194e-02 6.90043797e-01 9.26610692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.51, Y:-51.36, Z:92.68 [[ 6.38140317e-01 -3.76163476e-01 -6.71772265e-01 1.84514115e+02] [ 2.63108223e-01 9.26538933e-01 -2.68885976e-01 -5.13579031e+01] [ 7.23568241e-01 -5.16182520e-03 6.90233552e-01 9.26774178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:-51.33, Z:92.68 [[ 6.40842747e-01 -3.95424426e-01 -6.57997034e-01 1.84537498e+02] [ 2.70926991e-01 9.18476529e-01 -2.88096218e-01 -5.13312950e+01] [ 7.18275113e-01 6.35521521e-03 6.95730172e-01 9.26806043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.55, Y:-51.35, Z:92.72 [[ 6.37707246e-01 -3.72350399e-01 -6.74303084e-01 1.84549514e+02] [ 2.65355754e-01 9.28012387e-01 -2.61494422e-01 -5.13457797e+01] [ 7.23129167e-01 -1.21733157e-02 6.90605545e-01 9.27205830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.57, Y:-51.33, Z:92.74 [[ 6.37622109e-01 -3.78659959e-01 -6.70861149e-01 1.84568103e+02] [ 2.66455979e-01 9.25508275e-01 -2.69138707e-01 -5.13338085e+01] [ 7.22799597e-01 -7.14617457e-03 6.91020749e-01 9.27375643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.59, Y:-51.30, Z:92.74 [[ 6.40844243e-01 -4.00315691e-01 -6.55031300e-01 1.84591720e+02] [ 2.74295731e-01 9.16348712e-01 -2.91662288e-01 -5.13048479e+01] [ 7.16994078e-01 7.23780917e-03 6.97041682e-01 9.27387424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.60, Y:-51.32, Z:92.78 [[ 6.37944885e-01 -3.73861265e-01 -6.73241471e-01 1.84602204e+02] [ 2.68831870e-01 9.27363837e-01 -2.60241693e-01 -5.13221195e+01] [ 7.21634083e-01 -1.49689063e-02 6.92112840e-01 9.27817476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.62, Y:-51.31, Z:92.80 [[ 6.37935976e-01 -3.80830038e-01 -6.69332632e-01 1.84621261e+02] [ 2.69869156e-01 9.24600107e-01 -2.68859222e-01 -5.13095987e+01] [ 7.21254691e-01 -9.11726251e-03 6.92609952e-01 9.27988846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.64, Y:-51.30, Z:92.82 [[ 6.37716566e-01 -3.81784500e-01 -6.68997890e-01 1.84639031e+02] [ 2.71057442e-01 9.24199779e-01 -2.69040205e-01 -5.13012695e+01] [ 7.21003082e-01 -9.76546117e-03 6.92863039e-01 9.28194606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.66, Y:-51.28, Z:92.83 [[ 6.39544442e-01 -3.96624978e-01 -6.58537420e-01 1.84660150e+02] [ 2.76885600e-01 9.17980451e-01 -2.83982844e-01 -5.12793122e+01] [ 7.17159167e-01 -7.19879547e-04 6.96909041e-01 9.28258970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.67, Y:-51.29, Z:92.86 [[ 6.37006578e-01 -3.79300405e-01 -6.71084065e-01 1.84673182e+02] [ 2.72289477e-01 9.25163443e-01 -2.64444784e-01 -5.12881773e+01] [ 7.21166458e-01 -1.42760624e-02 6.92614708e-01 9.28608397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.69, Y:-51.28, Z:92.88 [[ 6.36786088e-01 -3.83289501e-01 -6.69023645e-01 1.84691891e+02] [ 2.72564661e-01 9.23567223e-01 -2.69688878e-01 -5.12768467e+01] [ 7.21257225e-01 -1.06180774e-02 6.92585931e-01 9.28790116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.71, Y:-51.27, Z:92.90 [[ 6.36619140e-01 -3.83309631e-01 -6.69170978e-01 1.84709593e+02] [ 2.72208639e-01 9.23563275e-01 -2.70061724e-01 -5.12668917e+01] [ 7.21538999e-01 -1.02276590e-02 6.92298251e-01 9.28988877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:-51.26, Z:92.92 [[ 6.36439782e-01 -3.83353612e-01 -6.69316377e-01 1.84726248e+02] [ 2.71879423e-01 9.23549087e-01 -2.70441608e-01 -5.12587339e+01] [ 7.21821296e-01 -9.85355249e-03 6.92009338e-01 9.29182209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.74, Y:-51.25, Z:92.94 [[ 6.36380060e-01 -3.83228490e-01 -6.69444802e-01 1.84743825e+02] [ 2.71344907e-01 9.23606451e-01 -2.70782321e-01 -5.12502602e+01] [ 7.22075038e-01 -9.32996770e-03 6.91751828e-01 9.29382911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:-51.24, Z:92.96 [[ 6.36309519e-01 -3.83540380e-01 -6.69333230e-01 1.84762232e+02] [ 2.71507710e-01 9.23477758e-01 -2.71057915e-01 -5.12425875e+01] [ 7.22076007e-01 -9.25240120e-03 6.91751859e-01 9.29587477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:-51.23, Z:92.98 [[ 6.36211910e-01 -3.83367761e-01 -6.69524881e-01 1.84778888e+02] [ 2.70970300e-01 9.23553909e-01 -2.71336089e-01 -5.12343574e+01] [ 7.22363830e-01 -8.79410598e-03 6.91457273e-01 9.29779575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.80, Y:-51.21, Z:92.98 [[ 6.39692865e-01 -4.00259057e-01 -6.56190313e-01 1.84801697e+02] [ 2.75385042e-01 9.16387658e-01 -2.90511167e-01 -5.12078109e+01] [ 7.17604430e-01 5.13292352e-03 6.96432004e-01 9.29822940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:-51.22, Z:93.02 [[ 6.36849160e-01 -3.75221630e-01 -6.73521993e-01 1.84812799e+02] [ 2.69327637e-01 9.26817710e-01 -2.61670702e-01 -5.12221738e+01] [ 7.22416619e-01 -1.47533201e-02 6.91300635e-01 9.30211549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.83, Y:-51.21, Z:93.04 [[ 6.37039315e-01 -3.82257628e-01 -6.69372854e-01 1.84831634e+02] [ 2.69012076e-01 9.24029222e-01 -2.71666155e-01 -5.12084301e+01] [ 7.22366538e-01 -7.00736036e-03 6.91474860e-01 9.30368371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.85, Y:-51.20, Z:93.06 [[ 6.37176901e-01 -3.82219069e-01 -6.69263909e-01 1.84849798e+02] [ 2.68772302e-01 9.24047676e-01 -2.71840655e-01 -5.11998663e+01] [ 7.22334442e-01 -6.66901562e-03 6.91511734e-01 9.30572202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.87, Y:-51.19, Z:93.08 [[ 6.37622474e-01 -3.81972333e-01 -6.68980357e-01 1.84867501e+02] [ 2.68200789e-01 9.24154534e-01 -2.72041788e-01 -5.11915160e+01] [ 7.22153666e-01 -5.96110159e-03 6.91706981e-01 9.30776163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:-51.18, Z:93.10 [[ 6.37769014e-01 -3.81991917e-01 -6.68829471e-01 1.84885520e+02] [ 2.67961541e-01 9.24148949e-01 -2.72296406e-01 -5.11836697e+01] [ 7.22113078e-01 -5.55836519e-03 6.91752706e-01 9.30981586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.91, Y:-51.16, Z:93.10 [[ 6.41055711e-01 -4.01842399e-01 -6.53888570e-01 1.84909619e+02] [ 2.73414406e-01 9.15653026e-01 -2.94659291e-01 -5.11558706e+01] [ 7.17141644e-01 1.01104665e-02 6.96854103e-01 9.31007527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.93, Y:-51.15, Z:93.12 [[ 6.40836139e-01 -3.94302481e-01 -6.58676397e-01 1.84927088e+02] [ 2.72406741e-01 9.18974890e-01 -2.85095983e-01 -5.11534215e+01] [ 7.17721123e-01 3.27191788e-03 6.96322974e-01 9.31245552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:-51.15, Z:93.15 [[ 6.40462531e-01 -3.90628181e-01 -6.61224145e-01 1.84945365e+02] [ 2.70143929e-01 9.20546172e-01 -2.82164851e-01 -5.11476547e+01] [ 7.18908898e-01 2.09032655e-03 6.95101163e-01 9.31464784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.96, Y:-51.14, Z:93.17 [[ 6.39978791e-01 -3.85976236e-01 -6.64416655e-01 1.84963365e+02] [ 2.68139151e-01 9.22508600e-01 -2.77631553e-01 -5.11439546e+01] [ 7.20089260e-01 -4.77812119e-04 6.93881279e-01 9.31707283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:-51.13, Z:93.19 [[ 6.40213647e-01 -3.89319866e-01 -6.62236006e-01 1.84981693e+02] [ 2.68231385e-01 9.21097642e-01 -2.82189756e-01 -5.11336367e+01] [ 7.19846102e-01 3.02925169e-03 6.94127088e-01 9.31877468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.00, Y:-51.13, Z:93.21 [[ 6.39902966e-01 -3.86874446e-01 -6.63967136e-01 1.84999853e+02] [ 2.67397582e-01 9.22131384e-01 -2.79592998e-01 -5.11281177e+01] [ 7.20432320e-01 1.36918237e-03 6.93523899e-01 9.32097431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:-51.12, Z:93.23 [[ 6.40268422e-01 -3.89767058e-01 -6.61919926e-01 1.85018712e+02] [ 2.67789037e-01 9.20904382e-01 -2.83238682e-01 -5.11181202e+01] [ 7.19962068e-01 4.09388476e-03 6.94001341e-01 9.32280705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:-51.11, Z:93.25 [[ 6.40437120e-01 -3.88629439e-01 -6.62425433e-01 1.85036013e+02] [ 2.67594066e-01 9.21388432e-01 -2.81845301e-01 -5.11126527e+01] [ 7.19884512e-01 3.24307758e-03 6.94086285e-01 9.32482478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.05, Y:-51.13, Z:93.29 [[ 6.36375489e-01 -3.66945116e-01 -6.78511252e-01 1.85045708e+02] [ 2.61819148e-01 9.30140216e-01 -2.57468274e-01 -5.11266876e+01] [ 7.25587328e-01 -1.38007393e-02 6.87991692e-01 9.32870190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.07, Y:-51.11, Z:93.30 [[ 6.36487596e-01 -3.79164169e-01 -6.71653239e-01 1.85066150e+02] [ 2.61765973e-01 9.25328612e-01 -2.74309196e-01 -5.11112458e+01] [ 7.25508178e-01 -1.22156263e-03 6.88212461e-01 9.33018590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:-51.08, Z:93.30 [[ 6.40506557e-01 -4.02775904e-01 -6.53852370e-01 1.85092280e+02] [ 2.68451314e-01 9.15138696e-01 -3.00757476e-01 -5.10818059e+01] [ 7.19503470e-01 1.71096075e-02 6.94278056e-01 9.33026317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:-51.08, Z:93.33 [[ 6.40400760e-01 -3.90461524e-01 -6.61382390e-01 1.85109164e+02] [ 2.67708720e-01 9.20605682e-01 -2.84283695e-01 -5.10844613e+01] [ 7.19874231e-01 4.99766095e-03 6.94086533e-01 9.33291102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.12, Y:-51.10, Z:93.37 [[ 6.35838541e-01 -3.65348357e-01 -6.79874936e-01 1.85119134e+02] [ 2.59790870e-01 9.30778991e-01 -2.57214258e-01 -5.10996154e+01] [ 7.26786113e-01 -1.30785627e-02 6.86739323e-01 9.33687842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:-51.06, Z:93.37 [[ 6.39897230e-01 -3.99763020e-01 -6.56293428e-01 1.85147757e+02] [ 2.64937476e-01 9.16441137e-01 -2.99906279e-01 -5.10614070e+01] [ 7.21345735e-01 1.80324727e-02 6.92340350e-01 9.33651190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.16, Y:-51.08, Z:93.41 [[ 6.35741821e-01 -3.65983450e-01 -6.79623757e-01 1.85155974e+02] [ 2.57908756e-01 9.30566816e-01 -2.59862416e-01 -5.10843135e+01] [ 7.27540659e-01 -1.00755119e-02 6.85990578e-01 9.34088674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:-51.05, Z:93.40 [[ 6.40070411e-01 -3.99860741e-01 -6.56064980e-01 1.85184445e+02] [ 2.62073898e-01 9.16314903e-01 -3.02794105e-01 -5.10462327e+01] [ 7.22237593e-01 2.18720403e-02 6.91299119e-01 9.34044747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.19, Y:-51.07, Z:93.45 [[ 6.35730792e-01 -3.63979672e-01 -6.80709305e-01 1.85192369e+02] [ 2.54953051e-01 9.31369724e-01 -2.59902634e-01 -5.10716607e+01] [ 7.28591313e-01 -8.32080696e-03 6.84898140e-01 9.34500729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:-51.04, Z:93.45 [[ 6.39894297e-01 -3.97323892e-01 -6.57775808e-01 1.85219658e+02] [ 2.60127780e-01 9.17424894e-01 -3.01106462e-01 -5.10355828e+01] [ 7.23096693e-01 2.15705474e-02 6.90409940e-01 9.34463578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.23, Y:-51.06, Z:93.49 [[ 6.35579567e-01 -3.64183743e-01 -6.80741372e-01 1.85227910e+02] [ 2.53604050e-01 9.31304673e-01 -2.61450937e-01 -5.10588240e+01] [ 7.29193802e-01 -6.46589587e-03 6.84276692e-01 9.34903126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:-51.03, Z:93.49 [[ 6.39189553e-01 -3.92043449e-01 -6.61618205e-01 1.85254491e+02] [ 2.58014201e-01 9.19764119e-01 -2.95740828e-01 -5.10273342e+01] [ 7.24475940e-01 1.83275550e-02 6.89056393e-01 9.34917844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.26, Y:-51.04, Z:93.53 [[ 6.36093630e-01 -3.65856330e-01 -6.79362966e-01 1.85264481e+02] [ 2.52989507e-01 9.30663810e-01 -2.64312659e-01 -5.10439340e+01] [ 7.28958986e-01 -3.74410317e-03 6.84547134e-01 9.35302907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.28, Y:-51.03, Z:93.55 [[ 6.36391879e-01 -3.74821793e-01 -6.74176535e-01 1.85284040e+02] [ 2.52408801e-01 9.27076036e-01 -2.77163889e-01 -5.10317939e+01] [ 7.28899975e-01 6.21675729e-03 6.84591980e-01 9.35459475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.30, Y:-51.03, Z:93.57 [[ 6.36171500e-01 -3.75086558e-01 -6.74237270e-01 1.85302091e+02] [ 2.52535529e-01 9.26968997e-01 -2.77406355e-01 -5.10258224e+01] [ 7.29048441e-01 6.20915114e-03 6.84433940e-01 9.35662190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.32, Y:-51.02, Z:93.59 [[ 6.36338714e-01 -3.75530884e-01 -6.73832024e-01 1.85320287e+02] [ 2.53024486e-01 9.26789634e-01 -2.77560055e-01 -5.10197874e+01] [ 7.28732908e-01 6.12620670e-03 6.84770632e-01 9.35862687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.34, Y:-51.01, Z:93.61 [[ 6.36421117e-01 -3.76089744e-01 -6.73442400e-01 1.85338103e+02] [ 2.53689683e-01 9.26564512e-01 -2.77704430e-01 -5.10136940e+01] [ 7.28429617e-01 5.89157448e-03 6.85095310e-01 9.36062032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.36, Y:-50.99, Z:93.61 [[ 6.40390843e-01 -3.95685427e-01 -6.58280041e-01 1.85363414e+02] [ 2.59789856e-01 9.18155771e-01 -2.99164187e-01 -5.09885756e+01] [ 7.22778527e-01 2.05675290e-02 6.90773608e-01 9.36100245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.37, Y:-51.01, Z:93.65 [[ 6.37266125e-01 -3.66607086e-01 -6.77857750e-01 1.85372314e+02] [ 2.54759152e-01 9.30364169e-01 -2.63667000e-01 -5.10090986e+01] [ 7.27316753e-01 -4.66441813e-03 6.86286080e-01 9.36520730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.39, Y:-51.00, Z:93.67 [[ 6.38307847e-01 -3.77068216e-01 -6.71105546e-01 1.85392322e+02] [ 2.55512752e-01 9.26168798e-01 -2.77352830e-01 -5.09953402e+01] [ 7.26137953e-01 5.56046246e-03 6.87526548e-01 9.36679565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:-50.99, Z:93.69 [[ 6.38115763e-01 -3.77550635e-01 -6.71016983e-01 1.85410267e+02] [ 2.55910270e-01 9.25972923e-01 -2.77640198e-01 -5.09872170e+01] [ 7.26166790e-01 5.44644964e-03 6.87497003e-01 9.36883645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.43, Y:-50.98, Z:93.71 [[ 6.37727905e-01 -3.78097995e-01 -6.71077511e-01 1.85427711e+02] [ 2.56334255e-01 9.25750624e-01 -2.77990164e-01 -5.09786770e+01] [ 7.26357948e-01 5.26193080e-03 6.87296474e-01 9.37077718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.45, Y:-50.97, Z:93.73 [[ 6.36027161e-01 -3.79067414e-01 -6.72143844e-01 1.85445537e+02] [ 2.57027381e-01 9.25358247e-01 -2.78655773e-01 -5.09679407e+01] [ 7.27603172e-01 4.47326854e-03 6.85983683e-01 9.37275146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.47, Y:-50.93, Z:93.73 [[ 6.39731324e-01 -4.04875082e-01 -6.53314626e-01 1.85471414e+02] [ 2.64479113e-01 9.14059094e-01 -3.07484587e-01 -5.09341329e+01] [ 7.21661023e-01 2.39194495e-02 6.91833237e-01 9.37262633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:-50.96, Z:93.77 [[ 6.34419508e-01 -3.66640264e-01 -6.80504816e-01 1.85477723e+02] [ 2.57458984e-01 9.30314425e-01 -2.61208620e-01 -5.09603969e+01] [ 7.28853044e-01 -9.48623413e-03 6.84604449e-01 9.37730885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.50, Y:-50.94, Z:93.79 [[ 6.33931574e-01 -3.80257595e-01 -6.73450014e-01 1.85497013e+02] [ 2.57611554e-01 9.24872653e-01 -2.79726406e-01 -5.09426620e+01] [ 7.29223592e-01 3.83889592e-03 6.84264726e-01 9.37864338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.51, Y:-50.94, Z:93.81 [[ 6.33912483e-01 -3.80499601e-01 -6.73331284e-01 1.85514859e+02] [ 2.57705347e-01 9.24772623e-01 -2.79970622e-01 -5.09352933e+01] [ 7.29207048e-01 3.95579977e-03 6.84281692e-01 9.38069921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.53, Y:-50.93, Z:93.83 [[ 6.33503301e-01 -3.80780831e-01 -6.73557367e-01 1.85532654e+02] [ 2.57667708e-01 9.24656350e-01 -2.80388991e-01 -5.09281781e+01] [ 7.29575850e-01 4.07336857e-03 6.83887774e-01 9.38279821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.56, Y:-50.90, Z:93.83 [[ 6.36889005e-01 -4.03095223e-01 -6.57180824e-01 1.85557403e+02] [ 2.64818678e-01 9.14940904e-01 -3.04555757e-01 -5.08987199e+01] [ 7.24046589e-01 1.99344559e-02 6.89462947e-01 9.38291651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.57, Y:-50.92, Z:93.87 [[ 6.31865864e-01 -3.72776842e-01 -6.79546139e-01 1.85566667e+02] [ 2.58605236e-01 9.27901348e-01 -2.68556177e-01 -5.09192709e+01] [ 7.30663302e-01 -6.04270883e-03 6.82711231e-01 9.38728907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.59, Y:-50.90, Z:93.89 [[ 6.31160527e-01 -3.83030875e-01 -6.74480347e-01 1.85587122e+02] [ 2.59797138e-01 9.23732362e-01 -2.81467529e-01 -5.09036783e+01] [ 7.30850078e-01 2.42313039e-03 6.82533730e-01 9.38885983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:-50.90, Z:93.91 [[ 6.29930422e-01 -3.84605939e-01 -6.74733974e-01 1.85605293e+02] [ 2.61637717e-01 9.23080270e-01 -2.81901614e-01 -5.08954682e+01] [ 7.31254654e-01 1.04254543e-03 6.82103764e-01 9.39087471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.62, Y:-50.89, Z:93.93 [[ 6.29143256e-01 -3.86286876e-01 -6.74508127e-01 1.85623005e+02] [ 2.63850635e-01 9.22378574e-01 -2.82135799e-01 -5.08880343e+01] [ 7.31137201e-01 -4.65562545e-04 6.82230296e-01 9.39286922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.64, Y:-50.88, Z:93.95 [[ 6.28005660e-01 -3.88151358e-01 -6.74497898e-01 1.85640369e+02] [ 2.66237442e-01 9.21593038e-01 -2.82460433e-01 -5.08813979e+01] [ 7.31249968e-01 -2.18984441e-03 6.82106069e-01 9.39484886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:-50.88, Z:93.97 [[ 6.26221348e-01 -3.91844943e-01 -6.74021041e-01 1.85658268e+02] [ 2.71553984e-01 9.20011113e-01 -2.82556165e-01 -5.08761902e+01] [ 7.30825053e-01 -6.09039646e-03 6.82537654e-01 9.39696759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:-50.87, Z:93.99 [[ 6.25428149e-01 -3.93915957e-01 -6.73550183e-01 1.85675810e+02] [ 2.74446374e-01 9.19111202e-01 -2.82690267e-01 -5.08696530e+01] [ 7.30423725e-01 -8.05095559e-03 6.82946824e-01 9.39895852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.69, Y:-50.86, Z:94.01 [[ 6.24584705e-01 -3.95756282e-01 -6.73253972e-01 1.85693591e+02] [ 2.76960347e-01 9.18303368e-01 -2.82863730e-01 -5.08627203e+01] [ 7.30196489e-01 -9.79229450e-03 6.83167036e-01 9.40096156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:-50.86, Z:94.03 [[ 6.23941059e-01 -3.97435898e-01 -6.72861250e-01 1.85710874e+02] [ 2.79252893e-01 9.17560240e-01 -2.83021249e-01 -5.08554994e+01] [ 7.29873534e-01 -1.13098728e-02 6.83488633e-01 9.40289278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.73, Y:-50.85, Z:94.05 [[ 6.23190526e-01 -3.98828842e-01 -6.72732580e-01 1.85729220e+02] [ 2.81046405e-01 9.16939561e-01 -2.83257408e-01 -5.08478529e+01] [ 7.29826340e-01 -1.25457397e-02 6.83517459e-01 9.40490375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.75, Y:-50.84, Z:94.07 [[ 6.21120499e-01 -4.01210414e-01 -6.73230666e-01 1.85747369e+02] [ 2.83998678e-01 9.15864266e-01 -2.83791115e-01 -5.08393097e+01] [ 7.30447861e-01 -1.49281403e-02 6.82805297e-01 9.40693036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.76, Y:-50.83, Z:94.09 [[ 6.20500368e-01 -4.02307471e-01 -6.73147823e-01 1.85764854e+02] [ 2.85302250e-01 9.15368655e-01 -2.84082472e-01 -5.08313047e+01] [ 7.30466919e-01 -1.57773105e-02 6.82765814e-01 9.40894779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.78, Y:-50.82, Z:94.11 [[ 6.19290599e-01 -4.03299579e-01 -6.73668022e-01 1.85781750e+02] [ 2.86194803e-01 9.14918701e-01 -2.84633632e-01 -5.08241467e+01] [ 7.31144096e-01 -1.65293546e-02 6.82022794e-01 9.41092348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.80, Y:-50.82, Z:94.13 [[ 6.18238966e-01 -4.04554148e-01 -6.73881682e-01 1.85799665e+02] [ 2.87640693e-01 9.14344208e-01 -2.85021930e-01 -5.08164500e+01] [ 7.31466617e-01 -1.76241312e-02 6.81649454e-01 9.41299742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:-50.81, Z:94.15 [[ 6.16919192e-01 -4.06573596e-01 -6.73875821e-01 1.85816130e+02] [ 2.90282161e-01 9.13408210e-01 -2.85344893e-01 -5.08088399e+01] [ 7.31537407e-01 -1.95793889e-02 6.81520117e-01 9.41501826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.83, Y:-50.80, Z:94.17 [[ 6.16688293e-01 -4.07545704e-01 -6.73499851e-01 1.85833831e+02] [ 2.91636394e-01 9.12956725e-01 -2.85408885e-01 -5.08006345e+01] [ 7.31193383e-01 -2.04087500e-02 6.81864884e-01 9.41710267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.85, Y:-50.78, Z:94.18 [[ 6.18630325e-01 -4.22995100e-01 -6.62096418e-01 1.85854386e+02] [ 2.97916755e-01 9.06060856e-01 -3.00498474e-01 -5.07777002e+01] [ 7.27009029e-01 -1.13521479e-02 6.86534049e-01 9.41778740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.87, Y:-50.79, Z:94.21 [[ 6.17450471e-01 -4.05198826e-01 -6.74217196e-01 1.85867554e+02] [ 2.93333442e-01 9.13900048e-01 -2.80610397e-01 -5.07865311e+01] [ 7.29870131e-01 -2.45074292e-02 6.83146381e-01 9.42132790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:-50.78, Z:94.23 [[ 6.17263337e-01 -4.08883068e-01 -6.72161149e-01 1.85886375e+02] [ 2.93481338e-01 9.12343929e-01 -2.85477247e-01 -5.07760671e+01] [ 7.29968956e-01 -2.10521153e-02 6.83156008e-01 9.42323748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:-50.77, Z:94.25 [[ 6.17718692e-01 -4.09231657e-01 -6.71530393e-01 1.85902938e+02] [ 2.93932904e-01 9.12188360e-01 -2.85509796e-01 -5.07672653e+01] [ 7.29401855e-01 -2.10201414e-02 6.83762450e-01 9.42527381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.93, Y:-50.74, Z:94.25 [[ 6.21253879e-01 -4.30931887e-01 -6.54477904e-01 1.85925209e+02] [ 3.01025503e-01 9.02368210e-01 -3.08407622e-01 -5.07364229e+01] [ 7.23482733e-01 -5.41510901e-03 6.90321238e-01 9.42528447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:-50.75, Z:94.30 [[ 6.19898169e-01 -4.02015662e-01 -6.73876596e-01 1.85935363e+02] [ 2.91669944e-01 9.15308185e-01 -2.77740113e-01 -5.07532462e+01] [ 7.28460640e-01 -2.43789616e-02 6.84653754e-01 9.42959668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.95, Y:-50.74, Z:94.31 [[ 6.20656937e-01 -4.06737417e-01 -6.70335468e-01 1.85953579e+02] [ 2.90122404e-01 9.13382680e-01 -2.85588990e-01 -5.07404120e+01] [ 7.28432534e-01 -1.72265497e-02 6.84900934e-01 9.43137807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.97, Y:-50.73, Z:94.33 [[ 6.21355482e-01 -4.05699050e-01 -6.70317571e-01 1.85970893e+02] [ 2.88254648e-01 9.13874065e-01 -2.85908116e-01 -5.07313695e+01] [ 7.28578494e-01 -1.55715802e-02 6.84785298e-01 9.43346245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.99, Y:-50.72, Z:94.35 [[ 6.22254990e-01 -4.04373953e-01 -6.70283846e-01 1.85987419e+02] [ 2.85971776e-01 9.14492923e-01 -2.86221658e-01 -5.07221038e+01] [ 7.28710417e-01 -1.35794066e-02 6.84687322e-01 9.43538766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:-50.71, Z:94.37 [[ 6.23596284e-01 -4.00965077e-01 -6.71084705e-01 1.86003974e+02] [ 2.80303781e-01 9.16046905e-01 -2.86858603e-01 -5.07103357e+01] [ 7.29765349e-01 -9.22362165e-03 6.83635473e-01 9.43732454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:-50.70, Z:94.39 [[ 6.24094355e-01 -3.99132757e-01 -6.71713688e-01 1.86021011e+02] [ 2.76989813e-01 9.16868948e-01 -2.87450823e-01 -5.07006834e+01] [ 7.30604462e-01 -6.66141230e-03 6.82768442e-01 9.43926150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:-50.69, Z:94.41 [[ 6.24487325e-01 -3.97504095e-01 -6.72313971e-01 1.86039035e+02] [ 2.74016493e-01 9.17589979e-01 -2.87999292e-01 -5.06911570e+01] [ 7.31389460e-01 -4.37320844e-03 6.81945990e-01 9.44124246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.06, Y:-50.68, Z:94.43 [[ 6.25138423e-01 -3.94507358e-01 -6.73473011e-01 1.86057044e+02] [ 2.68734353e-01 9.18892681e-01 -2.88821898e-01 -5.06815946e+01] [ 7.32791784e-01 -4.31668090e-04 6.80452801e-01 9.44318199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:-50.67, Z:94.45 [[ 6.25426834e-01 -3.93339348e-01 -6.73888294e-01 1.86074417e+02] [ 2.66471336e-01 9.19392325e-01 -2.89328152e-01 -5.06741054e+01] [ 7.33371872e-01 1.38167593e-03 6.79826293e-01 9.44512235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.09, Y:-50.67, Z:94.47 [[ 6.25670417e-01 -3.92504156e-01 -6.74149106e-01 1.86091531e+02] [ 2.64878677e-01 9.19746364e-01 -2.89665175e-01 -5.06669678e+01] [ 7.33740973e-01 2.66720776e-03 6.79424072e-01 9.44710273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.11, Y:-50.66, Z:94.49 [[ 6.26251824e-01 -3.91988536e-01 -6.73909223e-01 1.86109063e+02] [ 2.63916683e-01 9.19962794e-01 -2.89855900e-01 -5.06595161e+01] [ 7.33591601e-01 3.66689924e-03 6.79580691e-01 9.44913652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.14, Y:-50.62, Z:94.49 [[ 6.32464739e-01 -4.22271931e-01 -6.49364897e-01 1.86135027e+02] [ 2.72105325e-01 9.06026745e-01 -3.24151554e-01 -5.06212797e+01] [ 7.25222067e-01 2.83187815e-02 6.87932410e-01 9.44856010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.14, Y:-50.66, Z:94.54 [[ 6.29316637e-01 -3.76635898e-01 -6.79783767e-01 1.86141873e+02] [ 2.62786565e-01 9.26320029e-01 -2.69952634e-01 -5.06555042e+01] [ 7.31371172e-01 -8.75235684e-03 6.81923460e-01 9.45382077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.16, Y:-50.64, Z:94.55 [[ 6.30561090e-01 -3.90416972e-01 -6.70796019e-01 1.86162185e+02] [ 2.62451073e-01 9.20616929e-01 -2.89108811e-01 -5.06380257e+01] [ 7.30419157e-01 6.24963173e-03 6.82970568e-01 9.45532296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.18, Y:-50.63, Z:94.57 [[ 6.31591962e-01 -3.90321182e-01 -6.69881309e-01 1.86180196e+02] [ 2.62397399e-01 9.20653791e-01 -2.89040140e-01 -5.06309288e+01] [ 7.29547256e-01 6.78031649e-03 6.83896797e-01 9.45739337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:-50.62, Z:94.59 [[ 6.32471672e-01 -3.89990756e-01 -6.69243450e-01 1.86197401e+02] [ 2.61870568e-01 9.20787513e-01 -2.89091962e-01 -5.06246077e+01] [ 7.28974204e-01 7.58731419e-03 6.84499118e-01 9.45940617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:-50.58, Z:94.58 [[ 6.39574167e-01 -4.24761075e-01 -6.40720621e-01 1.86224585e+02] [ 2.72016107e-01 9.04605099e-01 -3.28171987e-01 -5.05832492e+01] [ 7.18993827e-01 3.56039967e-02 6.94103906e-01 9.45845364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:-50.62, Z:94.64 [[ 6.33290205e-01 -3.72354751e-01 -6.78450776e-01 1.86230373e+02] [ 2.60121359e-01 9.28058687e-01 -2.66540712e-01 -5.06246828e+01] [ 7.28889838e-01 -7.68191545e-03 6.84587900e-01 9.46420297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:-50.61, Z:94.65 [[ 6.33713219e-01 -3.88643871e-01 -6.68852374e-01 1.86250961e+02] [ 2.59581621e-01 9.21336146e-01 -2.89408170e-01 -5.06051880e+01] [ 7.28714580e-01 9.77999962e-03 6.84747700e-01 9.46539368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.27, Y:-50.60, Z:94.67 [[ 6.33567463e-01 -3.88545174e-01 -6.69047769e-01 1.86268672e+02] [ 2.59031197e-01 9.21372162e-01 -2.89786436e-01 -5.05978640e+01] [ 7.29037110e-01 1.02950129e-02 6.84396745e-01 9.46738689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.29, Y:-50.59, Z:94.69 [[ 6.33174487e-01 -3.88258637e-01 -6.69585917e-01 1.86286474e+02] [ 2.57997376e-01 9.21483682e-01 -2.90353541e-01 -5.05907091e+01] [ 7.29744765e-01 1.10930446e-02 6.83629667e-01 9.46931382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.30, Y:-50.58, Z:94.71 [[ 6.32508129e-01 -3.88325685e-01 -6.70176566e-01 1.86304843e+02] [ 2.57486889e-01 9.21451176e-01 -2.90909320e-01 -5.05831963e+01] [ 7.30502546e-01 1.14408306e-02 6.82814131e-01 9.47131781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.32, Y:-50.58, Z:94.73 [[ 6.30136651e-01 -3.88853363e-01 -6.72101825e-01 1.86324196e+02] [ 2.56957218e-01 9.21229784e-01 -2.92076486e-01 -5.05769094e+01] [ 7.32735142e-01 1.13466839e-02 6.80419329e-01 9.47325099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.34, Y:-50.57, Z:94.75 [[ 6.28583868e-01 -3.89925101e-01 -6.72934422e-01 1.86342549e+02] [ 2.57755849e-01 9.20785806e-01 -2.92771960e-01 -5.05703470e+01] [ 7.33787601e-01 1.05789477e-02 6.79296580e-01 9.47521419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.36, Y:-50.56, Z:94.77 [[ 6.27086546e-01 -3.91530897e-01 -6.73398857e-01 1.86361328e+02] [ 2.59517120e-01 9.20119239e-01 -2.93311184e-01 -5.05639402e+01] [ 7.34447635e-01 9.17296496e-03 6.78603366e-01 9.47722618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.38, Y:-50.56, Z:94.79 [[ 6.25216268e-01 -3.93652076e-01 -6.73901077e-01 1.86379271e+02] [ 2.62024143e-01 9.19231697e-01 -2.93864657e-01 -5.05585846e+01] [ 7.35151663e-01 7.15061189e-03 6.77864958e-01 9.47920846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.40, Y:-50.56, Z:94.81 [[ 6.21868278e-01 -3.99161279e-01 -6.73758205e-01 1.86398465e+02] [ 2.69955490e-01 9.16880223e-01 -2.94031784e-01 -5.05564381e+01] [ 7.35121676e-01 9.64313183e-04 6.77934504e-01 9.48131905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.42, Y:-50.55, Z:94.83 [[ 6.20561543e-01 -4.02653865e-01 -6.72884267e-01 1.86416276e+02] [ 2.75161148e-01 9.15348278e-01 -2.93979373e-01 -5.05514924e+01] [ 7.34295386e-01 -2.71931408e-03 6.78824639e-01 9.48330627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.44, Y:-50.52, Z:94.83 [[ 6.23235197e-01 -4.30970909e-01 -6.52565678e-01 1.86440784e+02] [ 2.88724654e-01 9.02297320e-01 -3.20152495e-01 -5.05212353e+01] [ 7.26784675e-01 1.11185043e-02 6.86775375e-01 9.48313984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.45, Y:-50.55, Z:94.88 [[ 6.19374301e-01 -3.99718881e-01 -6.75722052e-01 1.86449537e+02] [ 2.84720552e-01 9.16455930e-01 -2.81145399e-01 -5.05468004e+01] [ 7.31648606e-01 -1.82577207e-02 6.81437432e-01 9.48788362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.47, Y:-50.53, Z:94.90 [[ 6.19669259e-01 -4.10684505e-01 -6.68840973e-01 1.86468744e+02] [ 2.88366859e-01 9.11704605e-01 -2.92641876e-01 -5.05325897e+01] [ 7.29968879e-01 -1.15303959e-02 6.83383117e-01 9.48955284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:-50.52, Z:94.92 [[ 6.18765904e-01 -4.14574671e-01 -6.67275504e-01 1.86485627e+02] [ 2.94426244e-01 9.09881421e-01 -2.92282375e-01 -5.05244253e+01] [ 7.28314454e-01 -1.56090520e-02 6.85065263e-01 9.49158921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.50, Y:-50.52, Z:94.94 [[ 6.17732507e-01 -4.16754235e-01 -6.66875143e-01 1.86503262e+02] [ 2.97458338e-01 9.08846422e-01 -2.92432418e-01 -5.05161423e+01] [ 7.27959537e-01 -1.77225605e-02 6.85391001e-01 9.49367381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.52, Y:-50.51, Z:94.96 [[ 6.16446853e-01 -4.18875650e-01 -6.66735681e-01 1.86520541e+02] [ 3.00296851e-01 9.07827973e-01 -2.92694675e-01 -5.05079657e+01] [ 7.27883974e-01 -1.97879142e-02 6.85414735e-01 9.49567345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:-50.50, Z:94.98 [[ 6.14518157e-01 -4.21048034e-01 -6.67147651e-01 1.86538221e+02] [ 3.02982157e-01 9.06772518e-01 -2.93198589e-01 -5.04993440e+01] [ 7.28401845e-01 -2.19579778e-02 6.84798218e-01 9.49774565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.55, Y:-50.49, Z:95.00 [[ 6.11250763e-01 -4.24683928e-01 -6.67844343e-01 1.86554899e+02] [ 3.07721373e-01 9.04970930e-01 -2.93828475e-01 -5.04891212e+01] [ 7.29163947e-01 -2.59070985e-02 6.83848493e-01 9.49966792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:-50.48, Z:95.02 [[ 6.09542905e-01 -4.26476681e-01 -6.68262738e-01 1.86572403e+02] [ 3.09969797e-01 9.04071448e-01 -2.94233823e-01 -5.04789643e+01] [ 7.29641126e-01 -2.77931260e-02 6.83265227e-01 9.50167404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:-50.47, Z:95.04 [[ 6.07733111e-01 -4.28109374e-01 -6.68866825e-01 1.86589340e+02] [ 3.11796176e-01 9.03249451e-01 -2.94828043e-01 -5.04683694e+01] [ 7.30372241e-01 -2.93733545e-02 6.82417464e-01 9.50368573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.61, Y:-50.46, Z:95.06 [[ 6.06273143e-01 -4.29526937e-01 -6.69282815e-01 1.86605261e+02] [ 3.13383427e-01 9.02532559e-01 -2.95340156e-01 -5.04581499e+01] [ 7.30906084e-01 -3.06853370e-02 6.81787875e-01 9.50562880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.62, Y:-50.45, Z:95.08 [[ 6.05374391e-01 -4.30749645e-01 -6.69310533e-01 1.86620921e+02] [ 3.14877194e-01 9.01911963e-01 -2.95647025e-01 -5.04477410e+01] [ 7.31009028e-01 -3.17734847e-02 6.81627645e-01 9.50756306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:-50.44, Z:95.10 [[ 6.04952171e-01 -4.31623589e-01 -6.69129247e-01 1.86637329e+02] [ 3.16017125e-01 9.01467443e-01 -2.95786454e-01 -5.04373564e+01] [ 7.30866642e-01 -3.25196431e-02 6.81745132e-01 9.50960317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.65, Y:-50.42, Z:95.11 [[ 6.04159857e-01 -4.33745343e-01 -6.68472770e-01 1.86649935e+02] [ 3.18873094e-01 9.00382024e-01 -2.96027297e-01 -5.04228148e+01] [ 7.30281327e-01 -3.43101708e-02 6.82284395e-01 9.51134230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.67, Y:-50.41, Z:95.13 [[ 6.04507952e-01 -4.39522893e-01 -6.64371705e-01 1.86667418e+02] [ 3.18124940e-01 8.97817044e-01 -3.04501361e-01 -5.04080201e+01] [ 7.30319559e-01 -2.72797140e-02 6.82560736e-01 9.51317950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:-50.40, Z:95.15 [[ 6.05428305e-01 -4.38356538e-01 -6.64304233e-01 1.86684324e+02] [ 3.17074526e-01 8.98405455e-01 -3.03860794e-01 -5.03981662e+01] [ 7.30013913e-01 -2.66680246e-02 6.82911783e-01 9.51533298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:-50.40, Z:95.18 [[ 6.05407746e-01 -4.25156014e-01 -6.72847549e-01 1.86697362e+02] [ 3.13431138e-01 9.04417826e-01 -2.89463846e-01 -5.03984739e+01] [ 7.31602613e-01 -3.56477183e-02 6.80798691e-01 9.51831268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:-50.38, Z:95.20 [[ 6.09439265e-01 -4.29262029e-01 -6.66571746e-01 1.86713876e+02] [ 3.08192247e-01 9.02892160e-01 -2.99671963e-01 -5.03777221e+01] [ 7.30480199e-01 -2.28003834e-02 6.82553164e-01 9.51994402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.73, Y:-50.37, Z:95.22 [[ 6.12219024e-01 -4.26817377e-01 -6.65593565e-01 1.86730624e+02] [ 3.05500832e-01 9.04107028e-01 -2.98763659e-01 -5.03660569e+01] [ 7.29285341e-01 -2.04305924e-02 6.83904586e-01 9.52188235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:186.75, Y:-50.36, Z:95.24 [[ 6.14122473e-01 -4.23286192e-01 -6.66094879e-01 1.86746651e+02] [ 3.00924376e-01 9.05830446e-01 -2.98187397e-01 -5.03563632e+01] [ 7.29587629e-01 -1.73206040e-02 6.83667967e-01 9.52397143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.76, Y:-50.34, Z:95.26 [[ 6.16580516e-01 -4.21738736e-01 -6.64804412e-01 1.86763753e+02] [ 2.97162146e-01 9.06626129e-01 -2.99539180e-01 -5.03444623e+01] [ 7.29056326e-01 -1.28646835e-02 6.84332794e-01 9.52588126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:-50.33, Z:95.27 [[ 6.19560817e-01 -4.22858418e-01 -6.61313203e-01 1.86781719e+02] [ 2.94352420e-01 9.06172275e-01 -3.03658460e-01 -5.03299530e+01] [ 7.27668225e-01 -6.52425807e-03 6.85898234e-01 9.52748466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:-50.32, Z:95.30 [[ 6.22594550e-01 -4.14084841e-01 -6.64010370e-01 1.86797930e+02] [ 2.85017189e-01 9.10235556e-01 -3.00393799e-01 -5.03191210e+01] [ 7.28794367e-01 -2.23082717e-03 6.84728994e-01 9.52967058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.81, Y:-50.31, Z:95.32 [[ 6.24214173e-01 -4.10447949e-01 -6.64747432e-01 1.86814349e+02] [ 2.81103693e-01 9.11884012e-01 -2.99079024e-01 -5.03089477e+01] [ 7.28928927e-01 -1.73592138e-04 6.84589358e-01 9.53163126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:-50.29, Z:95.33 [[ 6.27011700e-01 -4.16737552e-01 -6.58168779e-01 1.86833952e+02] [ 2.79107105e-01 9.08966782e-01 -3.09642720e-01 -5.02899074e+01] [ 7.27293306e-01 1.04500261e-02 6.86247218e-01 9.53294286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:-50.29, Z:95.35 [[ 6.27543344e-01 -4.06689225e-01 -6.63922605e-01 1.86850965e+02] [ 2.74552698e-01 9.13546620e-01 -3.00088967e-01 -5.02858191e+01] [ 7.28567202e-01 6.03709112e-03 6.84947725e-01 9.53546796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.87, Y:-50.27, Z:95.37 [[ 6.29662681e-01 -4.09605434e-01 -6.60112336e-01 1.86868532e+02] [ 2.70886548e-01 9.12141600e-01 -3.07600683e-01 -5.02683183e+01] [ 7.28110834e-01 1.48691189e-02 6.85298127e-01 9.53685279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.89, Y:-50.26, Z:95.39 [[ 6.29738928e-01 -4.09680077e-01 -6.59993271e-01 1.86887666e+02] [ 2.69815735e-01 9.12083051e-01 -3.08713423e-01 -5.02585951e+01] [ 7.28442415e-01 1.63322907e-02 6.84912334e-01 9.53895453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:-50.24, Z:95.40 [[ 6.31592014e-01 -4.17590766e-01 -6.53230036e-01 1.86907168e+02] [ 2.72532173e-01 9.08361409e-01 -3.17184118e-01 -5.02420810e+01] [ 7.25822115e-01 2.23047548e-02 6.87520731e-01 9.54020805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:-50.26, Z:95.44 [[ 6.27097409e-01 -3.88121651e-01 -6.75359477e-01 1.86918655e+02] [ 2.66184217e-01 9.21604394e-01 -2.82473546e-01 -5.02617184e+01] [ 7.32048360e-01 -2.63160414e-03 6.81247586e-01 9.54438881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:-50.23, Z:95.45 [[ 6.29334200e-01 -4.12171590e-01 -6.58827022e-01 1.86940706e+02] [ 2.70405625e-01 9.10929530e-01 -3.11589777e-01 -5.02344616e+01] [ 7.28573444e-01 1.79435704e-02 6.84732623e-01 9.54501766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:-50.24, Z:95.48 [[ 6.26704100e-01 -3.94581206e-01 -6.71972948e-01 1.86954370e+02] [ 2.68314268e-01 9.18860513e-01 -2.89314382e-01 -5.02437100e+01] [ 7.31607425e-01 1.01457996e-03 6.81725418e-01 9.54831636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.98, Y:-50.22, Z:95.49 [[ 6.29377451e-01 -4.19296832e-01 -6.54273789e-01 1.86977880e+02] [ 2.75863705e-01 9.07658832e-01 -3.16314180e-01 -5.02161080e+01] [ 7.26486917e-01 1.85906206e-02 6.86928779e-01 9.54879282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:-50.21, Z:95.51 [[ 6.29077978e-01 -4.10374251e-01 -6.60192299e-01 1.86995389e+02] [ 2.75791189e-01 9.11870995e-01 -3.04023863e-01 -5.02147628e+01] [ 7.26773774e-01 9.17949796e-03 6.86815564e-01 9.55129138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:-50.22, Z:95.55 [[ 6.25369238e-01 -3.94562181e-01 -6.73226560e-01 1.87007695e+02] [ 2.72764937e-01 9.18853885e-01 -2.85143521e-01 -5.02236272e+01] [ 7.31103690e-01 -5.31261385e-03 6.82245682e-01 9.55459318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:-50.19, Z:95.54 [[ 6.28461591e-01 -4.29374682e-01 -6.48593410e-01 1.87034553e+02] [ 2.79603622e-01 9.02807617e-01 -3.26741828e-01 -5.01862253e+01] [ 7.25849739e-01 2.39956226e-02 6.87434627e-01 9.55449743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:-50.20, Z:95.58 [[ 6.26217537e-01 -4.07423379e-01 -6.64723842e-01 1.87049970e+02] [ 2.79003752e-01 9.13239275e-01 -2.96902227e-01 -5.01986298e+01] [ 7.28016828e-01 4.64935309e-04 6.85559101e-01 9.55772413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.07, Y:-50.17, Z:95.58 [[ 6.25399452e-01 -4.32555136e-01 -6.49439436e-01 1.87073126e+02] [ 2.85467690e-01 9.01424462e-01 -3.25487538e-01 -5.01717152e+01] [ 7.26211900e-01 1.81657523e-02 6.87230880e-01 9.55831188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.09, Y:-50.18, Z:95.61 [[ 6.23515671e-01 -4.17160338e-01 -6.61215139e-01 1.87088779e+02] [ 2.84522201e-01 9.08830498e-01 -3.05080714e-01 -5.01796640e+01] [ 7.28200058e-01 2.09221927e-03 6.85361436e-01 9.56130092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.10, Y:-50.20, Z:95.66 [[ 6.17044202e-01 -3.88917579e-01 -6.84104940e-01 1.87097644e+02] [ 2.78138394e-01 9.21010032e-01 -2.72726153e-01 -5.02010867e+01] [ 7.36135508e-01 -2.19917586e-02 6.76476811e-01 9.56587126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.13, Y:-50.16, Z:95.65 [[ 6.19749232e-01 -4.38580964e-01 -6.50813051e-01 1.87128775e+02] [ 2.86293259e-01 8.98470022e-01 -3.32847998e-01 -5.01553074e+01] [ 7.30716812e-01 1.99589019e-02 6.82388880e-01 9.56528323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.14, Y:-50.17, Z:95.69 [[ 6.16397222e-01 -4.10633031e-01 -6.71889111e-01 1.87140134e+02] [ 2.87729578e-01 9.11714042e-01 -2.93239144e-01 -5.01738786e+01] [ 7.32984416e-01 -1.25705769e-02 6.80129272e-01 9.56889267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:-50.18, Z:95.72 [[ 6.11683367e-01 -4.01360129e-01 -6.81728323e-01 1.87152342e+02] [ 2.84926801e-01 9.15682683e-01 -2.83446541e-01 -5.01804802e+01] [ 7.38010960e-01 -2.08631353e-02 6.74466124e-01 9.57218576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:187.18, Y:-50.16, Z:95.74 [[ 6.12366305e-01 -4.23059311e-01 -6.67853523e-01 1.87179116e+02] [ 2.87597400e-01 9.06099626e-01 -3.10276011e-01 -5.01592317e+01] [ 7.36406983e-01 -2.07036200e-03 6.76535638e-01 9.57352882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:-50.17, Z:95.77 [[ 6.09907509e-01 -4.02091695e-01 -6.82887325e-01 1.87187840e+02] [ 2.91526717e-01 9.15132400e-01 -2.78468785e-01 -5.01713690e+01] [ 7.36902302e-01 -2.92396971e-02 6.75366594e-01 9.57653332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:-50.16, Z:95.78 [[ 6.08236375e-01 -4.22701521e-01 -6.71842196e-01 1.87208300e+02] [ 2.98395590e-01 9.06089346e-01 -2.99936940e-01 -5.01556892e+01] [ 7.35532857e-01 -1.80421913e-02 6.77248769e-01 9.57801866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:-50.15, Z:95.80 [[ 6.07655882e-01 -4.25239053e-01 -6.70765292e-01 1.87225730e+02] [ 3.02289283e-01 9.04846692e-01 -2.99789349e-01 -5.01491403e+01] [ 7.34421894e-01 -2.05963980e-02 6.78380623e-01 9.58007179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.24, Y:-50.14, Z:95.82 [[ 6.06990573e-01 -4.27403030e-01 -6.69991861e-01 1.87243148e+02] [ 3.05488049e-01 9.03775848e-01 -2.99777030e-01 -5.01424307e+01] [ 7.33648074e-01 -2.27126758e-02 6.79149938e-01 9.58213737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:-50.13, Z:95.84 [[ 6.06677668e-01 -4.29199333e-01 -6.69126400e-01 1.87261042e+02] [ 3.08175800e-01 9.02880873e-01 -2.99722882e-01 -5.01348357e+01] [ 7.32782289e-01 -2.43733841e-02 6.80026511e-01 9.58420393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:-50.13, Z:95.86 [[ 6.06650484e-01 -4.30838345e-01 -6.68096932e-01 1.87278130e+02] [ 3.10694712e-01 9.02059541e-01 -2.99595362e-01 -5.01276191e+01] [ 7.31740382e-01 -2.58245127e-02 6.81094053e-01 9.58623101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.30, Y:-50.12, Z:95.88 [[ 6.06654819e-01 -4.31298045e-01 -6.67796321e-01 1.87295999e+02] [ 3.11183991e-01 9.01836048e-01 -2.99760347e-01 -5.01192649e+01] [ 7.31528847e-01 -2.59564651e-02 6.81316232e-01 9.58828807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.32, Y:-50.08, Z:95.87 [[ 6.11373933e-01 -4.65695953e-01 -6.39804027e-01 1.87322554e+02] [ 3.20685322e-01 8.84943863e-01 -3.37691106e-01 -5.00768517e+01] [ 7.23452029e-01 1.27977926e-03 6.90373467e-01 9.58745877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:-50.09, Z:95.91 [[ 6.10167049e-01 -4.36022844e-01 -6.61498490e-01 1.87335744e+02] [ 3.15607327e-01 8.99599436e-01 -3.01849084e-01 -5.00935155e+01] [ 7.26696765e-01 -2.45954056e-02 6.86517937e-01 9.59135351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.36, Y:-50.07, Z:95.92 [[ 6.10753988e-01 -4.49774105e-01 -6.51676929e-01 1.87355765e+02] [ 3.16233755e-01 8.93079026e-01 -3.20009476e-01 -5.00716915e+01] [ 7.25930973e-01 -1.06351780e-02 6.87685331e-01 9.59244900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:-50.08, Z:95.96 [[ 6.09383123e-01 -4.34427164e-01 -6.63268610e-01 1.87370993e+02] [ 3.10757393e-01 9.00469214e-01 -3.04277894e-01 -5.00759949e+01] [ 7.29439547e-01 -2.06938109e-02 6.83732195e-01 9.59558666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.38, Y:-50.08, Z:95.99 [[ 6.07353597e-01 -4.18921660e-01 -6.75000927e-01 1.87383963e+02] [ 3.01754814e-01 9.07636578e-01 -2.91787377e-01 -5.00782398e+01] [ 7.34891584e-01 -2.64666663e-02 6.77667968e-01 9.59879627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.40, Y:-50.06, Z:96.00 [[ 6.07677640e-01 -4.27260705e-01 -6.69459614e-01 1.87402721e+02] [ 2.99707755e-01 9.03997947e-01 -3.04898301e-01 -5.00612828e+01] [ 7.35461180e-01 -1.53623579e-02 6.77392686e-01 9.60040139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:-50.05, Z:96.02 [[ 6.08403244e-01 -4.26808014e-01 -6.69089241e-01 1.87420192e+02] [ 2.97495051e-01 9.04253168e-01 -3.06305246e-01 -5.00513826e+01] [ 7.35759599e-01 -1.26936325e-02 6.77123832e-01 9.60242263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:-50.04, Z:96.05 [[ 6.09926318e-01 -4.21885599e-01 -6.70822203e-01 1.87437231e+02] [ 2.91103114e-01 9.06604900e-01 -3.05493915e-01 -5.00437324e+01] [ 7.37054179e-01 -8.94965330e-03 6.75774400e-01 9.60469502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:-50.05, Z:96.08 [[ 6.07927980e-01 -4.05245737e-01 -6.82788008e-01 1.87448509e+02] [ 2.88197868e-01 9.13917998e-01 -2.85824916e-01 -5.00484859e+01] [ 7.39841578e-01 -2.30170847e-02 6.72387279e-01 9.60782148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.47, Y:-50.03, Z:96.09 [[ 6.09490856e-01 -4.21262366e-01 -6.71609199e-01 1.87468671e+02] [ 2.87911813e-01 9.06919634e-01 -3.07576926e-01 -5.00267661e+01] [ 7.38666152e-01 -5.89889793e-03 6.74045636e-01 9.60905607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:-50.02, Z:96.11 [[ 6.09749896e-01 -4.17017647e-01 -6.74018802e-01 1.87485038e+02] [ 2.86742692e-01 9.08857992e-01 -3.02912165e-01 -5.00220835e+01] [ 7.38907093e-01 -8.56930511e-03 6.73752829e-01 9.61137051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.51, Y:-50.00, Z:96.12 [[ 6.13621751e-01 -4.29041640e-01 -6.62866214e-01 1.87507256e+02] [ 2.88327455e-01 9.03276509e-01 -3.17740189e-01 -5.00026631e+01] [ 7.35075251e-01 3.84976259e-03 6.77974597e-01 9.61245326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.52, Y:-50.02, Z:96.16 [[ 6.12130348e-01 -4.05331465e-01 -6.78971900e-01 1.87516550e+02] [ 2.87938776e-01 9.13941552e-01 -2.86010666e-01 -5.00151436e+01] [ 7.36469754e-01 -2.04265291e-02 6.76162006e-01 9.61589346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.54, Y:-50.00, Z:96.18 [[ 6.10441489e-01 -4.18077455e-01 -6.72735037e-01 1.87535297e+02] [ 2.86348807e-01 9.08387114e-01 -3.04691995e-01 -4.99991078e+01] [ 7.38488692e-01 -6.64023934e-03 6.74233163e-01 9.61763819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:-49.98, Z:96.19 [[ 6.15420586e-01 -4.29407695e-01 -6.60958799e-01 1.87559501e+02] [ 2.89298505e-01 9.03101481e-01 -3.17354834e-01 -4.99791203e+01] [ 7.33187478e-01 4.09230512e-03 6.80014247e-01 9.61854948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:-49.98, Z:96.21 [[ 6.15401104e-01 -4.18372801e-01 -6.68016228e-01 1.87575563e+02] [ 2.89111584e-01 9.08248580e-01 -3.02488033e-01 -4.99796067e+01] [ 7.33277556e-01 -6.97976054e-03 6.79893601e-01 9.62099665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:-49.97, Z:96.23 [[ 6.15166321e-01 -4.18121872e-01 -6.68389480e-01 1.87592542e+02] [ 2.88198785e-01 9.08369532e-01 -3.02995468e-01 -4.99718510e+01] [ 7.33833672e-01 -6.23642878e-03 6.79300559e-01 9.62290368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:-49.96, Z:96.25 [[ 6.15254894e-01 -4.16275068e-01 -6.69459844e-01 1.87610783e+02] [ 2.84626468e-01 9.09231443e-01 -3.03786038e-01 -4.99643795e+01] [ 7.35152494e-01 -3.64014410e-03 6.77891997e-01 9.62484375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:-49.96, Z:96.27 [[ 6.15006321e-01 -4.15298801e-01 -6.70294063e-01 1.87629050e+02] [ 2.82411876e-01 9.09682796e-01 -3.04500809e-01 -4.99563039e+01] [ 7.36213798e-01 -2.02908144e-03 6.76745983e-01 9.62688567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.65, Y:-49.95, Z:96.29 [[ 6.14897352e-01 -4.14145145e-01 -6.71107328e-01 1.87646173e+02] [ 2.79937978e-01 9.10210833e-01 -3.05206436e-01 -4.99488997e+01] [ 7.37248923e-01 -1.97798969e-04 6.75621186e-01 9.62880247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:-49.94, Z:96.31 [[ 6.14807640e-01 -4.12816107e-01 -6.72007758e-01 1.87664329e+02] [ 2.77189602e-01 9.10812601e-01 -3.05918830e-01 -4.99413254e+01] [ 7.38361355e-01 1.80767093e-03 6.74402878e-01 9.63083928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.68, Y:-49.93, Z:96.33 [[ 6.14742233e-01 -4.11630405e-01 -6.72794468e-01 1.87681853e+02] [ 2.74662954e-01 9.11343367e-01 -3.06616258e-01 -4.99341175e+01] [ 7.39359350e-01 3.69824728e-03 6.73300879e-01 9.63281227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:-49.93, Z:96.35 [[ 6.14910787e-01 -4.10513368e-01 -6.73322730e-01 1.87700019e+02] [ 2.72481218e-01 9.11838797e-01 -3.07089553e-01 -4.99271081e+01] [ 7.40026155e-01 5.36488101e-03 6.72556695e-01 9.63488428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:-49.92, Z:96.37 [[ 6.15627131e-01 -4.08717645e-01 -6.73760434e-01 1.87718238e+02] [ 2.69221765e-01 9.12625892e-01 -3.07625784e-01 -4.99222496e+01] [ 7.40623303e-01 7.99180534e-03 6.71872945e-01 9.63695341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:187.73, Y:-49.94, Z:96.41 [[ 6.12265375e-01 -3.80427498e-01 -6.93113287e-01 1.87729199e+02] [ 2.63760705e-01 9.24693517e-01 -2.74539960e-01 -4.99415591e+01] [ 7.45359914e-01 -1.47247375e-02 6.66499648e-01 9.64125894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.76, Y:-49.90, Z:96.41 [[ 6.16490051e-01 -4.24322417e-01 -6.63242417e-01 1.87756523e+02] [ 2.67707973e-01 9.05136803e-01 -3.30242047e-01 -4.98973453e+01] [ 7.40454224e-01 2.60356535e-02 6.71602328e-01 9.64054213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.77, Y:-49.91, Z:96.43 [[ 6.17381940e-01 -4.07957208e-01 -6.72614642e-01 1.87771962e+02] [ 2.67754646e-01 9.12945943e-01 -3.07956418e-01 -4.99065638e+01] [ 7.39693849e-01 1.00310357e-02 6.72868775e-01 9.64325538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.79, Y:-49.90, Z:96.45 [[ 6.18067701e-01 -4.08159198e-01 -6.71861880e-01 1.87789838e+02] [ 2.68109642e-01 9.12853974e-01 -3.07920187e-01 -4.99012188e+01] [ 7.38992244e-01 1.01828743e-02 6.73636974e-01 9.64530826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:-49.90, Z:96.47 [[ 6.18329096e-01 -4.08510379e-01 -6.71407774e-01 1.87808194e+02] [ 2.68495013e-01 9.12696600e-01 -3.08050880e-01 -4.98956630e+01] [ 7.38633574e-01 1.02071832e-02 6.74029863e-01 9.64744199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:-49.89, Z:96.50 [[ 6.18484387e-01 -4.08635158e-01 -6.71188774e-01 1.87825848e+02] [ 2.68421119e-01 9.12637282e-01 -3.08290926e-01 -4.98902379e+01] [ 7.38530410e-01 1.05118825e-02 6.74138216e-01 9.64950204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:-49.89, Z:96.52 [[ 6.18939463e-01 -4.08233210e-01 -6.71013850e-01 1.87844652e+02] [ 2.67584527e-01 9.12806482e-01 -3.08517175e-01 -4.98860497e+01] [ 7.38452749e-01 1.14005309e-02 6.74208844e-01 9.65165039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.86, Y:-49.88, Z:96.54 [[ 6.19355550e-01 -4.07888787e-01 -6.70839355e-01 1.87862581e+02] [ 2.66791451e-01 9.12949148e-01 -3.08781758e-01 -4.98798206e+01] [ 7.38390834e-01 1.22714903e-02 6.74261363e-01 9.65368366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:-49.87, Z:96.56 [[ 6.19427962e-01 -4.07583053e-01 -6.70958311e-01 1.87879674e+02] [ 2.65900781e-01 9.13074078e-01 -3.09180373e-01 -4.98735965e+01] [ 7.38651321e-01 1.31066297e-02 6.73960267e-01 9.65563019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.90, Y:-49.87, Z:96.58 [[ 6.19135135e-01 -4.07182383e-01 -6.71471661e-01 1.87897856e+02] [ 2.64695043e-01 9.13239143e-01 -3.09726979e-01 -4.98670026e+01] [ 7.39329574e-01 1.40276353e-02 6.73197599e-01 9.65770742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:-49.86, Z:96.60 [[ 6.18742528e-01 -4.07342328e-01 -6.71736490e-01 1.87915991e+02] [ 2.64408984e-01 9.13163315e-01 -3.10194534e-01 -4.98602349e+01] [ 7.39760483e-01 1.43173872e-02 6.72717950e-01 9.65968387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.93, Y:-49.86, Z:96.62 [[ 6.16125089e-01 -4.08950430e-01 -6.73163739e-01 1.87934827e+02] [ 2.65636912e-01 9.12465134e-01 -3.11198347e-01 -4.98559379e+01] [ 7.41503139e-01 1.29199718e-02 6.70824991e-01 9.66171024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:-49.85, Z:96.64 [[ 6.14706063e-01 -4.10321462e-01 -6.73626569e-01 1.87952692e+02] [ 2.67038167e-01 9.11865186e-01 -3.11757116e-01 -4.98498542e+01] [ 7.42177252e-01 1.17549857e-02 6.70100550e-01 9.66370902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.97, Y:-49.84, Z:96.66 [[ 6.13385740e-01 -4.11922493e-01 -6.73852947e-01 1.87971025e+02] [ 2.68949358e-01 9.11161240e-01 -3.12172128e-01 -4.98432616e+01] [ 7.42579408e-01 1.02496140e-02 6.69679602e-01 9.66575530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:-49.84, Z:96.68 [[ 6.12145673e-01 -4.13649221e-01 -6.73922842e-01 1.87989195e+02] [ 2.71099582e-01 9.10395495e-01 -3.12546093e-01 -4.98364135e+01] [ 7.42820767e-01 8.62353789e-03 6.69434794e-01 9.66781562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:-49.83, Z:96.70 [[ 6.11991388e-01 -4.15426556e-01 -6.72969032e-01 1.88005783e+02] [ 2.73873190e-01 9.09600523e-01 -3.12442577e-01 -4.98288122e+01] [ 7.41929927e-01 6.90399086e-03 6.70441883e-01 9.66990181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.02, Y:-49.82, Z:96.72 [[ 6.11851404e-01 -4.16648281e-01 -6.72340739e-01 1.88022455e+02] [ 2.75644162e-01 9.09048810e-01 -3.12490891e-01 -4.98201371e+01] [ 7.41389341e-01 5.87119055e-03 6.71049457e-01 9.67198622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.04, Y:-49.81, Z:96.74 [[ 6.11708750e-01 -4.18114231e-01 -6.71560045e-01 1.88039272e+02] [ 2.77852453e-01 9.08383078e-01 -3.12471114e-01 -4.98114657e+01] [ 7.40682401e-01 4.54670879e-03 6.71839943e-01 9.67400701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:-49.80, Z:96.76 [[ 6.11242249e-01 -4.19796662e-01 -6.70934927e-01 1.88056439e+02] [ 2.80299945e-01 9.07613343e-01 -3.12521938e-01 -4.98025313e+01] [ 7.40145158e-01 2.96358897e-03 6.72440602e-01 9.67607836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:-49.79, Z:96.78 [[ 6.10400028e-01 -4.21806832e-01 -6.70440753e-01 1.88072629e+02] [ 2.83163704e-01 9.06685183e-01 -3.12634443e-01 -4.97945008e+01] [ 7.39750041e-01 9.87586101e-04 6.72881046e-01 9.67806252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:-49.79, Z:96.80 [[ 6.09768922e-01 -4.24023008e-01 -6.69616570e-01 1.88089787e+02] [ 2.86540057e-01 9.05650506e-01 -3.12557126e-01 -4.97866146e+01] [ 7.38969998e-01 -1.28434837e-03 6.73737109e-01 9.68010930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:-49.78, Z:96.82 [[ 6.09694702e-01 -4.24335274e-01 -6.69486330e-01 1.88107441e+02] [ 2.86697681e-01 9.05504346e-01 -3.12835929e-01 -4.97781364e+01] [ 7.38970101e-01 -1.20577006e-03 6.73737141e-01 9.68218941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.13, Y:-49.77, Z:96.84 [[ 6.07137561e-01 -4.29075655e-01 -6.68788505e-01 1.88125189e+02] [ 2.93861466e-01 9.03243963e-01 -3.12723170e-01 -4.97721420e+01] [ 7.38261079e-01 -6.66518789e-03 6.74482138e-01 9.68431213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.14, Y:-49.76, Z:96.86 [[ 6.05157090e-01 -4.31827466e-01 -6.68812332e-01 1.88142160e+02] [ 2.97575142e-01 9.01905533e-01 -3.13074183e-01 -4.97649172e+01] [ 7.38399575e-01 -9.56286336e-03 6.74295647e-01 9.68634822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.16, Y:-49.73, Z:96.86 [[ 6.06507675e-01 -4.57717138e-01 -6.50110346e-01 1.88164428e+02] [ 3.08443116e-01 8.89085930e-01 -3.38214507e-01 -4.97329983e+01] [ 7.32810538e-01 4.60763361e-03 6.80417141e-01 9.68629232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:-49.74, Z:96.90 [[ 6.00776128e-01 -4.40622541e-01 -6.67023104e-01 1.88177303e+02] [ 3.10185500e-01 8.97500547e-01 -3.13492782e-01 -4.97414590e+01] [ 7.36785586e-01 -1.85619150e-02 6.75871626e-01 9.68992413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.19, Y:-49.74, Z:96.93 [[ 5.97694578e-01 -4.36296383e-01 -6.72611817e-01 1.88192278e+02] [ 3.09668559e-01 8.99482121e-01 -3.08281199e-01 -4.97394434e+01] [ 7.39504276e-01 -2.40287316e-02 6.72722860e-01 9.69268586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:-49.72, Z:96.93 [[ 5.96688708e-01 -4.54863767e-01 -6.61106299e-01 1.88212341e+02] [ 3.17497380e-01 8.90429108e-01 -3.26084985e-01 -4.97153911e+01] [ 7.36992537e-01 -1.53282898e-02 6.75727048e-01 9.69345489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.23, Y:-49.72, Z:96.97 [[ 5.93349491e-01 -4.41766249e-01 -6.72888522e-01 1.88225610e+02] [ 3.16420872e-01 8.96655456e-01 -3.09655979e-01 -4.97216009e+01] [ 7.40144725e-01 -2.91817552e-02 6.71814120e-01 9.69674771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:-49.71, Z:96.99 [[ 5.91707169e-01 -4.47441598e-01 -6.70580825e-01 1.88243315e+02] [ 3.19679204e-01 8.93863073e-01 -3.14346963e-01 -4.97104475e+01] [ 7.40059344e-01 -2.83693929e-02 6.71942962e-01 9.69863968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.26, Y:-49.70, Z:97.01 [[ 5.89869682e-01 -4.49665721e-01 -6.70711934e-01 1.88260143e+02] [ 3.22607170e-01 8.92668647e-01 -3.14749584e-01 -4.97019418e+01] [ 7.40255613e-01 -3.07152423e-02 6.71623556e-01 9.70072957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73999999999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:188.29, Y:-49.66, Z:97.00 [[ 5.92816909e-01 -4.88081765e-01 -6.40581223e-01 1.88286677e+02] [ 3.35459877e-01 8.72785253e-01 -3.54559689e-01 -4.96556609e+01] [ 7.32143963e-01 -4.70031950e-03 6.81133705e-01 9.69969167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.29, Y:-49.70, Z:97.06 [[ 5.88676532e-01 -4.35321631e-01 -6.81142436e-01 1.88290534e+02] [ 3.25756906e-01 8.98917338e-01 -2.92967674e-01 -4.96953328e+01] [ 7.39825911e-01 -4.94236578e-02 6.70980569e-01 9.70559289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.31, Y:-49.67, Z:97.07 [[ 5.88463971e-01 -4.50948227e-01 -6.71085577e-01 1.88310062e+02] [ 3.23908354e-01 8.91983607e-01 -3.15354759e-01 -4.96729614e+01] [ 7.40806002e-01 -3.17953108e-02 6.70966113e-01 9.70689395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.33, Y:-49.64, Z:97.07 [[ 5.92982500e-01 -4.76115203e-01 -6.49373596e-01 1.88334294e+02] [ 3.29038928e-01 8.79331239e-01 -3.44252749e-01 -4.96362526e+01] [ 7.34918457e-01 -9.53333642e-03 6.78088473e-01 9.70669976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.35, Y:-49.65, Z:97.10 [[ 5.93541581e-01 -4.52249348e-01 -6.65716846e-01 1.88347373e+02] [ 3.23119449e-01 8.91493838e-01 -3.17541428e-01 -4.96453850e+01] [ 7.37090370e-01 -2.66320195e-02 6.75269222e-01 9.71022171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:-49.63, Z:97.12 [[ 5.98529683e-01 -4.53189397e-01 -6.60591848e-01 1.88363870e+02] [ 3.15687522e-01 8.91308122e-01 -3.25440041e-01 -4.96279242e+01] [ 7.36276855e-01 -1.37550792e-02 6.76540605e-01 9.71184316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.37, Y:-49.64, Z:97.16 [[ 5.97774045e-01 -4.29659142e-01 -6.76800719e-01 1.88373648e+02] [ 3.04520536e-01 9.02663397e-01 -3.04082283e-01 -4.96382870e+01] [ 7.41574969e-01 -2.43272213e-02 6.70428782e-01 9.71569121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:-49.60, Z:97.16 [[ 6.03197805e-01 -4.53931269e-01 -6.55819191e-01 1.88396839e+02] [ 3.05047769e-01 8.91032556e-01 -3.36164903e-01 -4.96028584e+01] [ 7.36952011e-01 2.71775083e-03 6.75939603e-01 9.71571526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:-49.62, Z:97.20 [[ 6.02672259e-01 -4.23934541e-01 -6.76066308e-01 1.88406530e+02] [ 2.94128539e-01 9.05574463e-01 -3.05652243e-01 -4.96173273e+01] [ 7.41804928e-01 -1.46422681e-02 6.70455855e-01 9.71975391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.42, Y:-49.60, Z:97.21 [[ 6.05004879e-01 -4.28347078e-01 -6.71183937e-01 1.88424454e+02] [ 2.88655898e-01 9.03611449e-01 -3.16487159e-01 -4.96015869e+01] [ 7.42055840e-01 -2.26492636e-03 6.70334245e-01 9.72145697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:-49.59, Z:97.23 [[ 6.09474704e-01 -4.22514151e-01 -6.70837072e-01 1.88440419e+02] [ 2.79763856e-01 9.06340683e-01 -3.16668204e-01 -4.95901902e+01] [ 7.41803727e-01 5.32529404e-03 6.70595908e-01 9.72343435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:-49.58, Z:97.26 [[ 6.11589971e-01 -4.20187251e-01 -6.70373315e-01 1.88457260e+02] [ 2.76175909e-01 9.07396603e-01 -3.16793738e-01 -4.95808366e+01] [ 7.41407159e-01 8.60691262e-03 6.71000258e-01 9.72551766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:-49.56, Z:97.26 [[ 6.16259785e-01 -4.34072054e-01 -6.57118962e-01 1.88479451e+02] [ 2.78298199e-01 9.00587116e-01 -3.33905614e-01 -4.95560857e+01] [ 7.36731966e-01 2.28975786e-02 6.75797093e-01 9.72627737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.49, Y:-49.57, Z:97.30 [[ 6.15485218e-01 -4.07887741e-01 -6.74392718e-01 1.88490183e+02] [ 2.69229211e-01 9.13004668e-01 -3.06493244e-01 -4.95688341e+01] [ 7.40738536e-01 7.07584134e-03 6.71756172e-01 9.72995211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.51, Y:-49.55, Z:97.32 [[ 6.16069048e-01 -4.14910326e-01 -6.69558324e-01 1.88508712e+02] [ 2.67959870e-01 9.09721782e-01 -3.17181001e-01 -4.95545382e+01] [ 7.40713464e-01 1.59906354e-02 6.71630749e-01 9.73170785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.53, Y:-49.54, Z:97.33 [[ 6.18474820e-01 -4.25861203e-01 -6.60402250e-01 1.88528526e+02] [ 2.71204130e-01 9.04455890e-01 -3.29253494e-01 -4.95350291e+01] [ 7.37520994e-01 2.45311780e-02 6.74878511e-01 9.73268876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:-49.54, Z:97.36 [[ 6.16782388e-01 -4.10514564e-01 -6.71607980e-01 1.88542380e+02] [ 2.66134610e-01 9.11742778e-01 -3.12885723e-01 -4.95411715e+01] [ 7.40777871e-01 1.42442759e-02 6.71599022e-01 9.73583922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.56, Y:-49.53, Z:97.38 [[ 6.16969195e-01 -4.13941227e-01 -6.69329272e-01 1.88560545e+02] [ 2.65706640e-01 9.10119429e-01 -3.17934909e-01 -4.95304853e+01] [ 7.40775941e-01 1.83108131e-02 6.71502584e-01 9.73772490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.58, Y:-49.51, Z:97.39 [[ 6.18182019e-01 -4.23659683e-01 -6.62090223e-01 1.88580094e+02] [ 2.69448560e-01 9.05496498e-01 -3.27831611e-01 -4.95139831e+01] [ 7.38409415e-01 2.42603502e-02 6.73916145e-01 9.73886891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.60, Y:-49.51, Z:97.41 [[ 6.17736937e-01 -4.22341876e-01 -6.63346377e-01 1.88597479e+02] [ 2.69393883e-01 9.06151871e-01 -3.26060918e-01 -4.95079215e+01] [ 7.38801741e-01 2.27184166e-02 6.73539800e-01 9.74096076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:-49.51, Z:97.44 [[ 6.15359650e-01 -4.14310221e-01 -6.70581495e-01 1.88613831e+02] [ 2.65753477e-01 9.09963897e-01 -3.18340691e-01 -4.95099527e+01] [ 7.42096753e-01 1.76846525e-02 6.70059447e-01 9.74386268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.63, Y:-49.50, Z:97.46 [[ 6.14539970e-01 -4.15561875e-01 -6.70558688e-01 1.88631516e+02] [ 2.66766658e-01 9.09401970e-01 -3.19098115e-01 -4.95031029e+01] [ 7.42412402e-01 1.72158457e-02 6.69721912e-01 9.74592829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:-49.50, Z:97.48 [[ 6.13492748e-01 -4.16665217e-01 -6.70832874e-01 1.88649460e+02] [ 2.67862413e-01 9.08912687e-01 -3.19573865e-01 -4.94968470e+01] [ 7.42883824e-01 1.63653358e-02 6.69220293e-01 9.74797021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.67, Y:-49.49, Z:97.50 [[ 6.11161928e-01 -4.18700472e-01 -6.71692648e-01 1.88668064e+02] [ 2.70015017e-01 9.08010144e-01 -3.20327129e-01 -4.94923203e+01] [ 7.44024857e-01 1.44046441e-02 6.67996645e-01 9.74999944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:-49.49, Z:97.52 [[ 6.09858749e-01 -4.19997679e-01 -6.72067151e-01 1.88685983e+02] [ 2.71349509e-01 9.07427599e-01 -3.20849804e-01 -4.94858050e+01] [ 7.44608454e-01 1.33079691e-02 6.67368825e-01 9.75203903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.70, Y:-49.48, Z:97.54 [[ 6.08741718e-01 -4.21253994e-01 -6.72293532e-01 1.88704215e+02] [ 2.72710249e-01 9.06860004e-01 -3.21300567e-01 -4.94792919e+01] [ 7.45025262e-01 1.22477222e-02 6.66923798e-01 9.75407017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.72, Y:-49.48, Z:97.56 [[ 6.07053494e-01 -4.23835144e-01 -6.72197759e-01 1.88722718e+02] [ 2.76231242e-01 9.05689069e-01 -3.21595414e-01 -4.94751552e+01] [ 7.45105601e-01 9.54359798e-03 6.66878222e-01 9.75612750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:-49.47, Z:97.58 [[ 6.06303976e-01 -4.25383537e-01 -6.71896074e-01 1.88739956e+02] [ 2.78321372e-01 9.04976886e-01 -3.21798151e-01 -4.94692378e+01] [ 7.44938053e-01 8.10446133e-03 6.67084414e-01 9.75809357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:-49.46, Z:97.60 [[ 6.05400556e-01 -4.27066416e-01 -6.71643092e-01 1.88757894e+02] [ 2.80624862e-01 9.04197235e-01 -3.21989204e-01 -4.94630041e+01] [ 7.44808602e-01 6.45269352e-03 6.67246963e-01 9.76018965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.77, Y:-49.46, Z:97.63 [[ 6.06096760e-01 -4.22524329e-01 -6.73884195e-01 1.88774810e+02] [ 2.83292090e-01 9.06351132e-01 -3.13485593e-01 -4.94612368e+01] [ 7.43230994e-01 -9.03459626e-04 6.69034285e-01 9.76258631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.79, Y:-49.45, Z:97.64 [[ 6.04300658e-01 -4.35743478e-01 -6.67044478e-01 1.88794175e+02] [ 2.85081701e-01 9.00025317e-01 -3.29670824e-01 -4.94463965e+01] [ 7.44008830e-01 9.05812116e-03 6.68108383e-01 9.76409407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.81, Y:-49.44, Z:97.66 [[ 6.03588109e-01 -4.31803988e-01 -6.70243770e-01 1.88810513e+02] [ 2.87585938e-01 9.01965931e-01 -3.22105244e-01 -4.94445140e+01] [ 7.43623375e-01 1.66621158e-03 6.68596665e-01 9.76641799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.83, Y:-49.42, Z:97.67 [[ 6.05418676e-01 -4.54167616e-01 -6.53605388e-01 1.88832654e+02] [ 2.97056368e-01 8.90806157e-01 -3.43834123e-01 -4.94179803e+01] [ 7.38394028e-01 1.40059566e-02 6.74224067e-01 9.76671856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:-49.42, Z:97.69 [[ 6.05228277e-01 -4.45517468e-01 -6.59706692e-01 1.88847789e+02] [ 2.97158409e-01 8.95259933e-01 -3.31973693e-01 -4.94185511e+01] [ 7.38509047e-01 4.88247501e-03 6.74225888e-01 9.76918587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.86, Y:-49.43, Z:97.73 [[ 6.02859085e-01 -4.29502184e-01 -6.72375489e-01 1.88862014e+02] [ 2.91425608e-01 9.03047759e-01 -3.15556431e-01 -4.94282581e+01] [ 7.42719354e-01 -5.71137469e-03 6.69578480e-01 9.77286835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:-49.41, Z:97.74 [[ 6.04576304e-01 -4.38157276e-01 -6.65211015e-01 1.88877719e+02] [ 2.95172208e-01 8.98898139e-01 -3.23813997e-01 -4.94111412e+01] [ 7.39838402e-01 -5.81534755e-04 6.72784364e-01 9.77410199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.90, Y:-49.40, Z:97.76 [[ 6.04778284e-01 -4.38750165e-01 -6.64636382e-01 1.88897060e+02] [ 2.91094896e-01 8.98594694e-01 -3.28315910e-01 -4.94034701e+01] [ 7.41287386e-01 5.08607437e-03 6.71168491e-01 9.77648599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:-49.40, Z:97.79 [[ 6.04957802e-01 -4.32557467e-01 -6.68520827e-01 1.88913359e+02] [ 2.90221579e-01 9.01606365e-01 -3.20745067e-01 -4.93991420e+01] [ 7.41483306e-01 1.80607499e-05 6.70971316e-01 9.77879395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.94, Y:-49.36, Z:97.78 [[ 6.09334809e-01 -4.61641337e-01 -6.44669191e-01 1.88936181e+02] [ 2.97645728e-01 8.86752252e-01 -3.53662925e-01 -4.93610624e+01] [ 7.34927283e-01 2.36160999e-02 6.77734586e-01 9.77832638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.94, Y:-49.39, Z:97.83 [[ 6.04909566e-01 -4.20037682e-01 -6.76500379e-01 1.88944700e+02] [ 2.87463811e-01 9.07460772e-01 -3.06397626e-01 -4.93904653e+01] [ 7.42596105e-01 -9.12652253e-03 6.69677334e-01 9.78335802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:-49.37, Z:97.85 [[ 6.04930260e-01 -4.30445200e-01 -6.69907688e-01 1.88963787e+02] [ 2.85534085e-01 9.02609600e-01 -3.22127609e-01 -4.93729765e+01] [ 7.43323393e-01 3.58325957e-03 6.68922636e-01 9.78487028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:-49.36, Z:97.87 [[ 6.05737398e-01 -4.28539110e-01 -6.70400206e-01 1.88980820e+02] [ 2.82039972e-01 9.03500591e-01 -3.22707509e-01 -4.93632156e+01] [ 7.43999771e-01 6.39635139e-03 6.68149256e-01 9.78695125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:-49.35, Z:97.89 [[ 6.06052923e-01 -4.27837474e-01 -6.70563159e-01 1.88997661e+02] [ 2.80518203e-01 9.03822629e-01 -3.23131850e-01 -4.93543060e+01] [ 7.44318072e-01 7.72982972e-03 6.67780546e-01 9.78900448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.01, Y:-49.34, Z:97.91 [[ 6.06589371e-01 -4.27324242e-01 -6.70405346e-01 1.89014368e+02] [ 2.79452865e-01 9.04055354e-01 -3.23403792e-01 -4.93448596e+01] [ 7.44281823e-01 8.82660792e-03 6.67807352e-01 9.79106733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:-49.34, Z:97.93 [[ 6.07284664e-01 -4.26830477e-01 -6.70090352e-01 1.89031486e+02] [ 2.78501358e-01 9.04277483e-01 -3.23603504e-01 -4.93356567e+01] [ 7.44071455e-01 9.89837221e-03 6.68026715e-01 9.79316816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:-49.33, Z:97.95 [[ 6.08534349e-01 -4.26008408e-01 -6.69479486e-01 1.89047828e+02] [ 2.77230890e-01 9.04647914e-01 -3.23659056e-01 -4.93267781e+01] [ 7.43524700e-01 1.13572594e-02 6.68612020e-01 9.79530944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:-49.32, Z:97.97 [[ 6.08727490e-01 -4.26339814e-01 -6.69092823e-01 1.89064185e+02] [ 2.77551429e-01 9.04491088e-01 -3.23822600e-01 -4.93182958e+01] [ 7.43246962e-01 1.14120493e-02 6.68919814e-01 9.79733212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:-49.31, Z:97.99 [[ 6.09020934e-01 -4.26690541e-01 -6.68602038e-01 1.89081191e+02] [ 2.77998174e-01 9.04325938e-01 -3.23900622e-01 -4.93099764e+01] [ 7.42839497e-01 1.13921141e-02 6.69372618e-01 9.79940446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:-49.30, Z:98.01 [[ 6.09158076e-01 -4.27422166e-01 -6.68009529e-01 1.89097674e+02] [ 2.79028618e-01 9.03985817e-01 -3.23964000e-01 -4.93018141e+01] [ 7.42340535e-01 1.09515112e-02 6.69933277e-01 9.80139147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:-49.29, Z:98.03 [[ 6.08772849e-01 -4.28207431e-01 -6.67857780e-01 1.89114541e+02] [ 2.79930077e-01 9.03620465e-01 -3.24205502e-01 -4.92938620e+01] [ 7.42317163e-01 1.04140272e-02 6.69967744e-01 9.80342900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.13, Y:-49.29, Z:98.06 [[ 6.08300737e-01 -4.29374805e-01 -6.67538381e-01 1.89131902e+02] [ 2.81459082e-01 9.03076995e-01 -3.24395942e-01 -4.92867357e+01] [ 7.42125999e-01 9.44555084e-03 6.70193840e-01 9.80550102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.15, Y:-49.28, Z:98.08 [[ 6.08242471e-01 -4.29805932e-01 -6.67313987e-01 1.89148579e+02] [ 2.81838879e-01 9.02872550e-01 -3.24635188e-01 -4.92794377e+01] [ 7.42029611e-01 9.38188309e-03 6.70301452e-01 9.80750202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.17, Y:-49.27, Z:98.10 [[ 6.07733449e-01 -4.30437226e-01 -6.67370849e-01 1.89165815e+02] [ 2.82396338e-01 9.02575281e-01 -3.24977184e-01 -4.92714509e+01] [ 7.42234709e-01 9.03642084e-03 6.70079085e-01 9.80961181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:-49.26, Z:98.12 [[ 6.07487281e-01 -4.30912892e-01 -6.67288006e-01 1.89182212e+02] [ 2.82759172e-01 9.02349371e-01 -3.25288892e-01 -4.92635634e+01] [ 7.42298089e-01 8.92706040e-03 6.70010339e-01 9.81156793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:-49.25, Z:98.14 [[ 6.07378599e-01 -4.31212393e-01 -6.67193457e-01 1.89199579e+02] [ 2.82991151e-01 9.02206735e-01 -3.25482743e-01 -4.92548992e+01] [ 7.42298623e-01 8.88140812e-03 6.70010354e-01 9.81366866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.22, Y:-49.23, Z:98.15 [[ 6.10020122e-01 -4.44345048e-01 -6.56073874e-01 1.89222874e+02] [ 2.87452281e-01 8.95666429e-01 -3.39341766e-01 -4.92334510e+01] [ 7.38408178e-01 1.84153744e-02 6.74102542e-01 9.81475333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:-49.24, Z:98.18 [[ 6.06638855e-01 -4.22558250e-01 -6.73374951e-01 1.89232812e+02] [ 2.83777260e-01 9.06335034e-01 -3.13093074e-01 -4.92446921e+01] [ 7.42603371e-01 -1.15407457e-03 6.69730470e-01 9.81819592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:-49.23, Z:98.20 [[ 6.06231344e-01 -4.32487498e-01 -6.67411508e-01 1.89251914e+02] [ 2.83841797e-01 9.01600359e-01 -3.26420935e-01 -4.92289665e+01] [ 7.42911429e-01 8.44732005e-03 6.69336426e-01 9.81981883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.27, Y:-49.22, Z:98.22 [[ 6.05710199e-01 -4.33166036e-01 -6.67444634e-01 1.89269437e+02] [ 2.84444018e-01 9.01277857e-01 -3.26787126e-01 -4.92204945e+01] [ 7.43106153e-01 8.08766204e-03 6.69124678e-01 9.82178311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:-49.21, Z:98.24 [[ 6.03779827e-01 -4.35013597e-01 -6.67991835e-01 1.89286918e+02] [ 2.86499051e-01 9.00401828e-01 -3.27406234e-01 -4.92121033e+01] [ 7.43887232e-01 6.30225238e-03 6.68275442e-01 9.82382100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.30, Y:-49.20, Z:98.26 [[ 6.01580194e-01 -4.37117038e-01 -6.68602995e-01 1.89304521e+02] [ 2.88903976e-01 8.99394863e-01 -3.28060015e-01 -4.92036042e+01] [ 7.44738721e-01 4.19234405e-03 6.67342986e-01 9.82584495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.32, Y:-49.20, Z:98.28 [[ 5.99229414e-01 -4.40025078e-01 -6.68806430e-01 1.89322524e+02] [ 2.92752544e-01 8.97984861e-01 -3.28510482e-01 -4.91966842e+01] [ 7.45130900e-01 1.05835980e-03 6.66917403e-01 9.82784029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:-49.19, Z:98.30 [[ 5.98293942e-01 -4.41016938e-01 -6.68990598e-01 1.89339519e+02] [ 2.93747238e-01 8.97498732e-01 -3.28950737e-01 -4.91891293e+01] [ 7.45491059e-01 2.95092823e-04 6.66515561e-01 9.82989375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.36, Y:-49.18, Z:98.32 [[ 5.97309669e-01 -4.41951205e-01 -6.69253534e-01 1.89355785e+02] [ 2.94615240e-01 8.97039002e-01 -3.29428124e-01 -4.91817740e+01] [ 7.45937678e-01 -4.01686779e-04 6.66015630e-01 9.83186951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:-49.13, Z:98.31 [[ 6.02326601e-01 -4.80824283e-01 -6.37189670e-01 1.89382222e+02] [ 3.06956102e-01 8.76370942e-01 -3.71149464e-01 -4.91336380e+01] [ 7.36872185e-01 2.79639375e-02 6.75453478e-01 9.83058377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:-49.18, Z:98.37 [[ 5.95545224e-01 -4.28479016e-01 -6.79508366e-01 1.89387024e+02] [ 2.97816667e-01 9.03360812e-01 -3.08617037e-01 -4.91767287e+01] [ 7.46077154e-01 -1.85735148e-02 6.65600410e-01 9.83678356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:-49.16, Z:98.38 [[ 5.95728718e-01 -4.45101040e-01 -6.68574871e-01 1.89406279e+02] [ 2.98987817e-01 8.95473685e-01 -3.29747122e-01 -4.91558357e+01] [ 7.45461991e-01 -3.45591112e-03 6.66539179e-01 9.83804831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:-49.12, Z:98.38 [[ 5.99503076e-01 -4.71807759e-01 -6.46524168e-01 1.89428585e+02] [ 3.08253924e-01 8.81573327e-01 -3.57502430e-01 -4.91197941e+01] [ 7.38630883e-01 1.50301946e-02 6.73942514e-01 9.83764425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:-49.15, Z:98.43 [[ 5.96293637e-01 -4.37290876e-01 -6.73209171e-01 1.89437464e+02] [ 3.00714094e-01 8.99226545e-01 -3.17746210e-01 -4.91463585e+01] [ 7.44315076e-01 -1.29734428e-02 6.67702597e-01 9.84266892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:-49.13, Z:98.44 [[ 5.97181137e-01 -4.46196166e-01 -6.66546076e-01 1.89455429e+02] [ 3.01165268e-01 8.94925714e-01 -3.29252864e-01 -4.91320645e+01] [ 7.43420588e-01 -4.11692730e-03 6.68811543e-01 9.84437524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.47, Y:-49.12, Z:98.46 [[ 5.97206282e-01 -4.46537745e-01 -6.66294754e-01 1.89471613e+02] [ 3.01432127e-01 8.94755493e-01 -3.29471213e-01 -4.91236782e+01] [ 7.43292223e-01 -4.08036645e-03 6.68954424e-01 9.84637991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.49, Y:-49.09, Z:98.46 [[ 6.00012505e-01 -4.68524914e-01 -6.48436118e-01 1.89493065e+02] [ 3.08217082e-01 8.83368918e-01 -3.53074476e-01 -4.90914872e+01] [ 7.38232500e-01 1.19900121e-02 6.74439779e-01 9.84623284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:-49.11, Z:98.51 [[ 5.97014575e-01 -4.38253535e-01 -6.71943030e-01 1.89503215e+02] [ 3.00581999e-01 8.98778529e-01 -3.19135736e-01 -4.91119492e+01] [ 7.43790333e-01 -1.14452935e-02 6.68315005e-01 9.85081279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:-49.07, Z:98.50 [[ 6.00447041e-01 -4.68734066e-01 -6.47882494e-01 1.89525581e+02] [ 3.07161178e-01 8.83232237e-01 -3.54334343e-01 -4.90703830e+01] [ 7.38319282e-01 1.37546576e-02 6.74311091e-01 9.85021900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.54, Y:-49.07, Z:98.53 [[ 5.99449334e-01 -4.57181720e-01 -6.56997238e-01 1.89539883e+02] [ 3.03306857e-01 8.89354270e-01 -3.42131456e-01 -4.90709628e+01] [ 7.40719547e-01 5.81870645e-03 6.71789175e-01 9.85295486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:-49.06, Z:98.55 [[ 5.99562935e-01 -4.60094789e-01 -6.54856528e-01 1.89557288e+02] [ 3.02682433e-01 8.87817660e-01 -3.46645565e-01 -4.90589679e+01] [ 7.40883008e-01 9.62226451e-03 6.71565172e-01 9.85487337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.57, Y:-49.08, Z:98.59 [[ 5.96141772e-01 -4.34545062e-01 -6.75118935e-01 1.89568765e+02] [ 2.93880789e-01 9.00618637e-01 -3.20187682e-01 -4.90754312e+01] [ 7.47160672e-01 -7.52723319e-03 6.64600836e-01 9.85917553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:-49.06, Z:98.61 [[ 5.96354671e-01 -4.41165158e-01 -6.70622404e-01 1.89586875e+02] [ 2.93390872e-01 8.97425890e-01 -3.29467099e-01 -4.90612632e+01] [ 7.47183312e-01 -2.75248766e-04 6.64617952e-01 9.86098086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.60, Y:-49.05, Z:98.63 [[ 5.96103228e-01 -4.40888219e-01 -6.71027957e-01 1.89603221e+02] [ 2.92376872e-01 8.97561869e-01 -3.29997661e-01 -4.90519419e+01] [ 7.47781189e-01 5.19616341e-04 6.63945046e-01 9.86307669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.62, Y:-49.04, Z:98.65 [[ 5.96554188e-01 -4.40902711e-01 -6.70617552e-01 1.89619262e+02] [ 2.92229594e-01 8.97554369e-01 -3.30148481e-01 -4.90431532e+01] [ 7.47479074e-01 9.77164321e-04 6.64284638e-01 9.86504789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.64, Y:-49.03, Z:98.67 [[ 5.96830771e-01 -4.40889753e-01 -6.70379935e-01 1.89635666e+02] [ 2.92070971e-01 8.97560298e-01 -3.30272705e-01 -4.90342657e+01] [ 7.47320265e-01 1.31839466e-03 6.64462703e-01 9.86709122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.65, Y:-49.03, Z:98.69 [[ 5.97267829e-01 -4.41023750e-01 -6.69902375e-01 1.89651971e+02] [ 2.92146753e-01 8.97493972e-01 -3.30385903e-01 -4.90255992e+01] [ 7.46941373e-01 1.61906750e-03 6.64887933e-01 9.86914061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.67, Y:-49.02, Z:98.71 [[ 5.97906400e-01 -4.41056440e-01 -6.69310955e-01 1.89667743e+02] [ 2.92173733e-01 8.97477145e-01 -3.30407754e-01 -4.90169573e+01] [ 7.46419752e-01 1.99783052e-03 6.65472436e-01 9.87129134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:-49.01, Z:98.73 [[ 5.98333166e-01 -4.41373494e-01 -6.68720316e-01 1.89683596e+02] [ 2.92580035e-01 8.97321080e-01 -3.30472091e-01 -4.90083562e+01] [ 7.45918458e-01 2.07819876e-03 6.66034035e-01 9.87328390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.70, Y:-48.98, Z:98.74 [[ 6.01227846e-01 -4.58236351e-01 -6.54633121e-01 1.89702762e+02] [ 2.98952354e-01 8.88731673e-01 -3.47539212e-01 -4.89829289e+01] [ 7.41048289e-01 1.32461397e-02 6.71321065e-01 9.87380301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:-48.99, Z:98.78 [[ 5.98871127e-01 -4.38263010e-01 -6.70282707e-01 1.89715355e+02] [ 2.92678173e-01 8.98846408e-01 -3.26212540e-01 -4.89935496e+01] [ 7.45448094e-01 -8.17846937e-04 6.66563179e-01 9.87756897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.73, Y:-48.97, Z:98.78 [[ 6.00823085e-01 -4.52449844e-01 -6.59014991e-01 1.89734208e+02] [ 2.97272325e-01 8.91743435e-01 -3.41207872e-01 -4.89705084e+01] [ 7.42051740e-01 9.09864771e-03 6.70280859e-01 9.87845338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:-48.97, Z:98.82 [[ 5.99627140e-01 -4.40279876e-01 -6.68282069e-01 1.89747689e+02] [ 2.91757446e-01 8.97856381e-01 -3.29744615e-01 -4.89722485e+01] [ 7.45201239e-01 2.74755072e-03 6.66833986e-01 9.88154338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.76, Y:-48.96, Z:98.83 [[ 5.99712233e-01 -4.42478840e-01 -6.66751613e-01 1.89763082e+02] [ 2.93661829e-01 8.96774874e-01 -3.30994797e-01 -4.89601933e+01] [ 7.44384288e-01 2.70213065e-03 6.67746007e-01 9.88328910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.78, Y:-48.95, Z:98.85 [[ 5.99862247e-01 -4.48038846e-01 -6.62892508e-01 1.89781343e+02] [ 2.92599580e-01 8.93961971e-01 -3.39437005e-01 -4.89463380e+01] [ 7.44681657e-01 9.65337524e-03 6.67350015e-01 9.88512671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:189.80, Y:-48.94, Z:98.87 [[ 5.98351110e-01 -4.45405076e-01 -6.66025726e-01 1.89798135e+02] [ 2.89418415e-01 8.95274386e-01 -3.38704524e-01 -4.89385213e+01] [ 7.47136487e-01 9.90411776e-03 6.64596854e-01 9.88749659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:-48.93, Z:98.90 [[ 5.98721950e-01 -4.41294168e-01 -6.68424629e-01 1.89814578e+02] [ 2.89053086e-01 8.97339167e-01 -3.33512717e-01 -4.89318730e+01] [ 7.46980817e-01 6.47118231e-03 6.64814097e-01 9.88974221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.83, Y:-48.92, Z:98.92 [[ 5.98500604e-01 -4.41299609e-01 -6.68619235e-01 1.89831212e+02] [ 2.88464573e-01 8.97332125e-01 -3.34040786e-01 -4.89225687e+01] [ 7.47385588e-01 7.05064990e-03 6.64353123e-01 9.89174489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.85, Y:-48.91, Z:98.94 [[ 5.98638178e-01 -4.41283541e-01 -6.68506670e-01 1.89847365e+02] [ 2.88107599e-01 8.97336000e-01 -3.34338324e-01 -4.89137528e+01] [ 7.47413101e-01 7.54583345e-03 6.64316730e-01 9.89368044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.86, Y:-48.90, Z:98.96 [[ 5.98880026e-01 -4.40856879e-01 -6.68571557e-01 1.89864291e+02] [ 2.87070738e-01 8.97537051e-01 -3.34690355e-01 -4.89047790e+01] [ 7.47618289e-01 8.51203849e-03 6.64074122e-01 9.89572780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.88, Y:-48.90, Z:98.98 [[ 5.98915948e-01 -4.41026263e-01 -6.68427650e-01 1.89881456e+02] [ 2.87016066e-01 8.97451372e-01 -3.34966883e-01 -4.88961422e+01] [ 7.47610504e-01 8.76753382e-03 6.64079562e-01 9.89780377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.90, Y:-48.89, Z:99.00 [[ 5.99006721e-01 -4.41152533e-01 -6.68262965e-01 1.89897769e+02] [ 2.86906017e-01 8.97386205e-01 -3.35235642e-01 -4.88882993e+01] [ 7.47580019e-01 9.07973718e-03 6.64109685e-01 9.89979042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.91, Y:-48.88, Z:99.02 [[ 5.99204366e-01 -4.41431088e-01 -6.67901732e-01 1.89914192e+02] [ 2.87180282e-01 8.97248536e-01 -3.35369274e-01 -4.88805958e+01] [ 7.47316274e-01 9.14652495e-03 6.64405544e-01 9.90178967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.94, Y:-48.85, Z:99.02 [[ 6.03325901e-01 -4.65116326e-01 -6.47815298e-01 1.89936397e+02] [ 2.94224548e-01 8.84826719e-01 -3.61266650e-01 -4.88496284e+01] [ 7.41235301e-01 2.73583642e-02 6.70687519e-01 9.90190664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:-48.87, Z:99.06 [[ 5.99469821e-01 -4.31693900e-01 -6.74000230e-01 1.89946389e+02] [ 2.87292398e-01 9.02020038e-01 -3.22215656e-01 -4.88727152e+01] [ 7.47060247e-01 -4.76581017e-04 6.64756166e-01 9.90639118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.97, Y:-48.84, Z:99.06 [[ 6.04228383e-01 -4.62701186e-01 -6.48703070e-01 1.89971112e+02] [ 2.92842021e-01 8.86099683e-01 -3.59264392e-01 -4.88370609e+01] [ 7.41047645e-01 2.71102244e-02 6.70904929e-01 9.90632088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:-48.83, Z:99.09 [[ 6.04942480e-01 -4.55439534e-01 -6.53161102e-01 1.89987479e+02] [ 2.93280316e-01 8.90051819e-01 -3.48990568e-01 -4.88342575e+01] [ 7.40291329e-01 1.95599257e-02 6.72001605e-01 9.90861366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:-48.85, Z:99.13 [[ 6.00955738e-01 -4.27777531e-01 -6.75173004e-01 1.89997331e+02] [ 2.86086283e-01 9.03881782e-01 -3.18044593e-01 -4.88521407e+01] [ 7.46328909e-01 -2.02701249e-03 6.65574227e-01 9.91283874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:-48.78, Z:99.10 [[ 6.09351906e-01 -4.91146980e-01 -6.22466785e-01 1.90027221e+02] [ 3.00212783e-01 8.69516688e-01 -3.92190024e-01 -4.87832293e+01] [ 7.33868203e-01 5.21092525e-02 6.77290253e-01 9.91024884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:-48.84, Z:99.18 [[ 6.02276390e-01 -4.15424342e-01 -6.81678638e-01 1.90029172e+02] [ 2.82995332e-01 9.09576511e-01 -3.04276540e-01 -4.88446174e+01] [ 7.46442759e-01 -9.65329629e-03 6.65379607e-01 9.91752268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.05, Y:-48.82, Z:99.18 [[ 6.02593903e-01 -4.38908699e-01 -6.66513122e-01 1.90049122e+02] [ 2.82240170e-01 8.98412670e-01 -3.36444884e-01 -4.88187807e+01] [ 7.46472420e-01 1.46228587e-02 6.65255663e-01 9.91846538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.07, Y:-48.81, Z:99.21 [[ 6.02371166e-01 -4.39100046e-01 -6.66588425e-01 1.90066449e+02] [ 2.82120840e-01 8.98315900e-01 -3.36803169e-01 -4.88096730e+01] [ 7.46697268e-01 1.48220311e-02 6.64998870e-01 9.92053404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:-48.80, Z:99.23 [[ 6.01781164e-01 -4.39233197e-01 -6.67033455e-01 1.90082802e+02] [ 2.81657441e-01 8.98245276e-01 -3.37378883e-01 -4.88010571e+01] [ 7.47347655e-01 1.51533206e-02 6.64260386e-01 9.92256358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:-48.79, Z:99.24 [[ 6.02062616e-01 -4.45584192e-01 -6.62552136e-01 1.90099638e+02] [ 2.84532506e-01 8.95054481e-01 -3.43392966e-01 -4.87857921e+01] [ 7.46030736e-01 1.82264482e-02 6.65662029e-01 9.92394170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:190.12, Y:-48.78, Z:99.26 [[ 6.01160250e-01 -4.43768408e-01 -6.64587056e-01 1.90116494e+02] [ 2.82772332e-01 8.95961543e-01 -3.42480251e-01 -4.87795289e+01] [ 7.47426359e-01 1.79586812e-02 6.64101892e-01 9.92640136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.14, Y:-48.76, Z:99.27 [[ 6.02434515e-01 -4.61579336e-01 -6.51166010e-01 1.90136272e+02] [ 2.84530686e-01 8.86421031e-01 -3.65102787e-01 -4.87557496e+01] [ 7.45731148e-01 3.46738091e-02 6.65344108e-01 9.92715796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:-48.78, Z:99.32 [[ 5.97173657e-01 -4.26751101e-01 -6.79166490e-01 1.90145785e+02] [ 2.74324323e-01 9.04324562e-01 -3.27021793e-01 -4.87820928e+01] [ 7.53743849e-01 8.97691249e-03 6.57107012e-01 9.93203125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:-48.75, Z:99.32 [[ 6.00476545e-01 -4.57515970e-01 -6.55825476e-01 1.90168438e+02] [ 2.81837633e-01 8.88609058e-01 -3.61858384e-01 -4.87451315e+01] [ 7.48328449e-01 3.24511722e-02 6.62534116e-01 9.93180125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:-48.76, Z:99.36 [[ 5.95294164e-01 -4.28816017e-01 -6.79515770e-01 1.90179456e+02] [ 2.73159248e-01 9.03321463e-01 -3.30748182e-01 -4.87648072e+01] [ 7.55651298e-01 1.12764455e-02 6.54877055e-01 9.93614511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:-48.77, Z:99.39 [[ 5.90141087e-01 -4.16034927e-01 -6.91844229e-01 1.90187818e+02] [ 2.73551550e-01 9.09338681e-01 -3.13484790e-01 -4.87685082e+01] [ 7.59541340e-01 -4.25480616e-03 6.50445116e-01 9.93931481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.22, Y:-48.71, Z:99.37 [[ 6.00208665e-01 -4.75075742e-01 -6.43469190e-01 1.90219519e+02] [ 2.80900590e-01 8.78450684e-01 -3.86547867e-01 -4.87077619e+01] [ 7.48895465e-01 5.12585041e-02 6.60702769e-01 9.93735590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:-48.74, Z:99.42 [[ 5.96047772e-01 -4.32582053e-01 -6.76461249e-01 1.90228929e+02] [ 2.73457847e-01 9.01469752e-01 -3.35519138e-01 -4.87389662e+01] [ 7.54948912e-01 1.50017976e-02 6.55611994e-01 9.94222890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.25, Y:-48.73, Z:99.44 [[ 5.96075405e-01 -4.35706637e-01 -6.74428527e-01 1.90246430e+02] [ 2.73588095e-01 8.99910812e-01 -3.39573386e-01 -4.87279946e+01] [ 7.54879901e-01 1.78957278e-02 6.55618851e-01 9.94422197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:-48.72, Z:99.46 [[ 5.96122775e-01 -4.36082004e-01 -6.74143993e-01 1.90262688e+02] [ 2.74073243e-01 8.99732634e-01 -3.39654303e-01 -4.87205127e+01] [ 7.54666479e-01 1.77108352e-02 6.55869523e-01 9.94640285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.28, Y:-48.71, Z:99.48 [[ 5.96196501e-01 -4.36642389e-01 -6.73715932e-01 1.90278668e+02] [ 2.74764105e-01 8.99465386e-01 -3.39803924e-01 -4.87127682e+01] [ 7.54356958e-01 1.74769553e-02 6.56231771e-01 9.94843603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:-48.70, Z:99.51 [[ 5.95931298e-01 -4.37179069e-01 -6.73602517e-01 1.90295409e+02] [ 2.75266196e-01 8.99209202e-01 -3.40075481e-01 -4.87047336e+01] [ 7.54383464e-01 1.72416206e-02 6.56207525e-01 9.95055510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.31, Y:-48.69, Z:99.52 [[ 5.96335992e-01 -4.43514929e-01 -6.69087358e-01 1.90310231e+02] [ 2.80675511e-01 8.96101041e-01 -3.43837434e-01 -4.86894412e+01] [ 7.52066913e-01 1.72462013e-02 6.58861083e-01 9.95189696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.33, Y:-48.67, Z:99.54 [[ 5.96414826e-01 -4.52312902e-01 -6.63100591e-01 1.90328362e+02] [ 2.81368802e-01 8.91503948e-01 -3.55038460e-01 -4.86747033e+01] [ 7.51745271e-01 2.51743820e-02 6.58972912e-01 9.95365848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:-48.67, Z:99.57 [[ 5.95126208e-01 -4.48991922e-01 -6.66506602e-01 1.90347886e+02] [ 2.77918095e-01 8.93181379e-01 -3.53537207e-01 -4.86733389e+01] [ 7.54046636e-01 2.51650127e-02 6.56338627e-01 9.95655398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.36, Y:-48.67, Z:99.59 [[ 5.94320096e-01 -4.39735564e-01 -6.73361907e-01 1.90363312e+02] [ 2.78754102e-01 8.98008480e-01 -3.40406991e-01 -4.86730024e+01] [ 7.54373763e-01 1.46083219e-02 6.56282579e-01 9.95914438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48999999999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:190.38, Y:-48.66, Z:99.61 [[ 5.93880959e-01 -4.40252234e-01 -6.73411744e-01 1.90380073e+02] [ 2.79088179e-01 8.97757858e-01 -3.40794098e-01 -4.86648849e+01] [ 7.54596047e-01 1.44498687e-02 6.56030492e-01 9.96123575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:-48.66, Z:99.63 [[ 5.93493058e-01 -4.40575578e-01 -6.73542241e-01 1.90396908e+02] [ 2.79082184e-01 8.97597793e-01 -3.41220363e-01 -4.86559193e+01] [ 7.54903388e-01 1.45382767e-02 6.55674854e-01 9.96334382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:-48.65, Z:99.65 [[ 5.93270265e-01 -4.40663150e-01 -6.73681216e-01 1.90413046e+02] [ 2.78705151e-01 8.97548250e-01 -3.41658569e-01 -4.86469682e+01] [ 7.55217737e-01 1.49374448e-02 6.55303778e-01 9.96537523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:-48.64, Z:99.67 [[ 5.92939503e-01 -4.40666051e-01 -6.73970457e-01 1.90429776e+02] [ 2.78148474e-01 8.97538970e-01 -3.42136266e-01 -4.86374234e+01] [ 7.55682586e-01 1.54022531e-02 6.54756901e-01 9.96749202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.45, Y:-48.63, Z:99.70 [[ 5.92806541e-01 -4.40560744e-01 -6.74156240e-01 1.90446249e+02] [ 2.77454514e-01 8.97579426e-01 -3.42593297e-01 -4.86277175e+01] [ 7.56041929e-01 1.60438546e-02 6.54326522e-01 9.96956962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:-48.62, Z:99.72 [[ 5.92709736e-01 -4.40480578e-01 -6.74293726e-01 1.90462783e+02] [ 2.76827360e-01 8.97607692e-01 -3.43026302e-01 -4.86181979e+01] [ 7.56347659e-01 1.66520768e-02 6.53957894e-01 9.97167482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.47, Y:-48.61, Z:99.74 [[ 5.90960779e-01 -4.31914057e-01 -6.81333696e-01 1.90472329e+02] [ 2.76929072e-01 9.01885704e-01 -3.31530490e-01 -4.86147452e+01] [ 7.57677799e-01 7.24040874e-03 6.52588637e-01 9.97413751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:-48.59, Z:99.75 [[ 5.91553079e-01 -4.50303486e-01 -6.68798718e-01 1.90492986e+02] [ 2.77180015e-01 8.92523251e-01 -3.55771675e-01 -4.85916065e+01] [ 7.57123632e-01 2.50801910e-02 6.52790004e-01 9.97547348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:-48.58, Z:99.77 [[ 5.93467277e-01 -4.52946178e-01 -6.65309214e-01 1.90509844e+02] [ 2.77723356e-01 8.91090537e-01 -3.58925330e-01 -4.85800432e+01] [ 7.55424602e-01 2.82385305e-02 6.54626807e-01 9.97713549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:-48.57, Z:99.80 [[ 5.93531939e-01 -4.51119765e-01 -6.66491407e-01 1.90530144e+02] [ 2.75541467e-01 8.91990205e-01 -3.58371838e-01 -4.85735484e+01] [ 7.56172426e-01 2.90591118e-02 6.53726877e-01 9.97957164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:-48.57, Z:99.82 [[ 5.93414695e-01 -4.40366566e-01 -6.73747940e-01 1.90544195e+02] [ 2.76072352e-01 8.97640335e-01 -3.43548955e-01 -4.85736342e+01] [ 7.56070801e-01 1.78638201e-02 6.54246000e-01 9.98205581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:-48.56, Z:99.84 [[ 5.93496303e-01 -4.40981815e-01 -6.73273479e-01 1.90560273e+02] [ 2.76924144e-01 8.97345417e-01 -3.43633847e-01 -4.85647435e+01] [ 7.55695148e-01 1.74997358e-02 6.54689699e-01 9.98411269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.58, Y:-48.56, Z:99.86 [[ 5.92967894e-01 -4.41909000e-01 -6.73131126e-01 1.90576847e+02] [ 2.78043398e-01 8.96903447e-01 -3.43883812e-01 -4.85559614e+01] [ 7.55698978e-01 1.67523939e-02 6.54704828e-01 9.98622377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:-48.55, Z:99.88 [[ 5.92937773e-01 -4.42210649e-01 -6.72959538e-01 1.90593289e+02] [ 2.78186755e-01 8.96752792e-01 -3.44160660e-01 -4.85471850e+01] [ 7.55669853e-01 1.68574256e-02 6.54735748e-01 9.98831451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.61, Y:-48.54, Z:99.90 [[ 5.92686491e-01 -4.42365585e-01 -6.73079054e-01 1.90609160e+02] [ 2.77919212e-01 8.96670384e-01 -3.44591255e-01 -4.85388741e+01] [ 7.55965366e-01 1.71729817e-02 6.54386319e-01 9.99041364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:-48.53, Z:99.93 [[ 5.92541348e-01 -4.42589495e-01 -6.73059648e-01 1.90625263e+02] [ 2.77885712e-01 8.96556628e-01 -3.44914111e-01 -4.85302893e+01] [ 7.56091451e-01 1.73422124e-02 6.54236170e-01 9.99251580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.64, Y:-48.52, Z:99.95 [[ 5.92830961e-01 -4.42712051e-01 -6.72723934e-01 1.90642146e+02] [ 2.77863403e-01 8.96489835e-01 -3.45105643e-01 -4.85213794e+01] [ 7.55872596e-01 1.76639480e-02 6.54480408e-01 9.99463530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:-48.51, Z:99.97 [[ 5.92923358e-01 -4.43076303e-01 -6.72402618e-01 1.90659065e+02] [ 2.78196433e-01 8.96309554e-01 -3.45305557e-01 -4.85119987e+01] [ 7.55677601e-01 1.76797208e-02 6.54705118e-01 9.99673097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:-48.50, Z:99.99 [[ 5.92985657e-01 -4.43668616e-01 -6.71956970e-01 1.90675499e+02] [ 2.78954329e-01 8.96022068e-01 -3.45440208e-01 -4.85029444e+01] [ 7.55349252e-01 1.73957831e-02 6.55091516e-01 9.99877008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:-48.45, Z:99.97 [[ 5.99966022e-01 -4.84410857e-01 -6.36700003e-01 1.90701765e+02] [ 2.90782823e-01 8.73458002e-01 -3.90533570e-01 -4.84526680e+01] [ 7.45309414e-01 4.91654486e-02 6.64903479e-01 9.99748424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:-48.46, Z:100.00 [[ 5.98420070e-01 -4.67843691e-01 -6.50396571e-01 1.90717343e+02] [ 2.88674661e-01 8.83177153e-01 -3.69682373e-01 -4.84578077e+01] [ 7.47368958e-01 3.34723421e-02 6.63565553e-01 1.00004705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:-48.49, Z:100.06 [[ 5.90549689e-01 -4.21428536e-01 -6.88221660e-01 1.90722134e+02] [ 2.77668947e-01 9.06853368e-01 -3.17044042e-01 -4.84940043e+01] [ 7.57727537e-01 -3.86752334e-03 6.52559592e-01 1.00061506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:-48.43, Z:100.04 [[ 5.97294539e-01 -4.79964755e-01 -6.42551996e-01 1.90752834e+02] [ 2.87349079e-01 8.76045229e-01 -3.87266400e-01 -4.84316686e+01] [ 7.48778833e-01 4.66753811e-02 6.61174461e-01 1.00042920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:-48.43, Z:100.07 [[ 5.95625433e-01 -4.67947639e-01 -6.52882341e-01 1.90769778e+02] [ 2.87997964e-01 8.83158234e-01 -3.70254921e-01 -4.84324454e+01] [ 7.49858331e-01 3.25044625e-02 6.60799473e-01 1.00068409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:-48.43, Z:100.09 [[ 5.94207186e-01 -4.59360593e-01 -6.60231524e-01 1.90784447e+02] [ 2.88410973e-01 8.87966121e-01 -3.58239137e-01 -4.84323920e+01] [ 7.50824168e-01 2.24502529e-02 6.60120485e-01 1.00094558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.79, Y:-48.46, Z:100.15 [[ 5.86890574e-01 -4.22626044e-01 -6.90613265e-01 1.90789013e+02] [ 2.78634079e-01 9.06284942e-01 -3.17821733e-01 -4.84625389e+01] [ 7.60212144e-01 -5.90181199e-03 6.49648108e-01 1.00147999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:-48.44, Z:100.16 [[ 5.87161672e-01 -4.44136538e-01 -6.76745083e-01 1.90809276e+02] [ 2.79588552e-01 8.95856339e-01 -3.45357295e-01 -4.84390582e+01] [ 7.59652166e-01 1.35703886e-02 6.50187997e-01 1.00159354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:-48.43, Z:100.18 [[ 5.86770614e-01 -4.45220943e-01 -6.76371613e-01 1.90825348e+02] [ 2.81093624e-01 8.95332053e-01 -3.45495136e-01 -4.84313214e+01] [ 7.59398855e-01 1.26026449e-02 6.50503307e-01 1.00179687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.84, Y:-48.42, Z:100.20 [[ 5.86256789e-01 -4.47391959e-01 -6.75383900e-01 1.90842055e+02] [ 2.84641509e-01 8.94279804e-01 -3.45315570e-01 -4.84228602e+01] [ 7.58473592e-01 1.02013049e-02 6.51623929e-01 1.00200950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:-48.41, Z:100.22 [[ 5.86340154e-01 -4.48508261e-01 -6.74570651e-01 1.90857882e+02] [ 2.86416959e-01 8.93730961e-01 -3.45268439e-01 -4.84147793e+01] [ 7.57740424e-01 9.23627505e-03 6.52490721e-01 1.00221022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:-48.41, Z:100.24 [[ 5.86189131e-01 -4.49694751e-01 -6.73911666e-01 1.90874604e+02] [ 2.88245519e-01 8.93145240e-01 -3.45262365e-01 -4.84062934e+01] [ 7.57163670e-01 8.13702758e-03 6.53174529e-01 1.00242416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:-48.40, Z:100.26 [[ 5.85500927e-01 -4.51923919e-01 -6.73018154e-01 1.90891278e+02] [ 2.91769729e-01 8.92038096e-01 -3.45164397e-01 -4.83983494e+01] [ 7.56345880e-01 5.72774968e-03 6.54146852e-01 1.00263513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:-48.39, Z:100.28 [[ 5.84967124e-01 -4.53296952e-01 -6.72558798e-01 1.90907985e+02] [ 2.93717326e-01 8.91348489e-01 -3.45294083e-01 -4.83897794e+01] [ 7.56005024e-01 4.44351524e-03 6.54550731e-01 1.00284410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:-48.38, Z:100.31 [[ 5.84486521e-01 -4.54593912e-01 -6.72101095e-01 1.90924906e+02] [ 2.95548512e-01 8.90692859e-01 -3.45423376e-01 -4.83809475e+01] [ 7.55663009e-01 3.25682927e-03 6.54952525e-01 1.00305483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:-48.37, Z:100.33 [[ 5.83967848e-01 -4.55814109e-01 -6.71725427e-01 1.90941072e+02] [ 2.97215174e-01 8.90072355e-01 -3.45592741e-01 -4.83725382e+01] [ 7.55410281e-01 2.16805954e-03 6.55248508e-01 1.00325638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.96, Y:-48.36, Z:100.35 [[ 5.83274001e-01 -4.56924403e-01 -6.71573920e-01 1.90957834e+02] [ 2.98622174e-01 8.89504757e-01 -3.45841125e-01 -4.83640045e+01] [ 7.55391447e-01 1.17327274e-03 6.55272757e-01 1.00346420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:-48.36, Z:100.37 [[ 5.82559085e-01 -4.58072960e-01 -6.71412002e-01 1.90974545e+02] [ 3.00054291e-01 8.88914582e-01 -3.46118895e-01 -4.83550697e+01] [ 7.55375625e-01 1.74654456e-04 6.55292022e-01 1.00367045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.99, Y:-48.35, Z:100.39 [[ 5.81110473e-01 -4.59540752e-01 -6.71664287e-01 1.90991609e+02] [ 3.01723357e-01 8.88155826e-01 -3.46615412e-01 -4.83459975e+01] [ 7.55826457e-01 -1.23495753e-03 6.54770831e-01 1.00388111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.01, Y:-48.34, Z:100.41 [[ 5.80806294e-01 -4.60245324e-01 -6.71444927e-01 1.91007677e+02] [ 3.02508647e-01 8.87790235e-01 -3.46867434e-01 -4.83374522e+01] [ 7.55746365e-01 -1.65510727e-03 6.54862347e-01 1.00408052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.02, Y:-48.33, Z:100.43 [[ 5.80607695e-01 -4.60732520e-01 -6.71282541e-01 1.91024219e+02] [ 3.02969949e-01 8.87537127e-01 -3.47112458e-01 -4.83292279e+01] [ 7.55714175e-01 -1.84227322e-03 6.54898994e-01 1.00428968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.04, Y:-48.32, Z:100.45 [[ 5.79908583e-01 -4.60863200e-01 -6.71796954e-01 1.91040497e+02] [ 3.02445227e-01 8.87469881e-01 -3.47741419e-01 -4.83219983e+01] [ 7.56460786e-01 -1.52354871e-03 6.54037276e-01 1.00448869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.06, Y:-48.31, Z:100.47 [[ 5.80100983e-01 -4.60726432e-01 -6.71724649e-01 1.91057235e+02] [ 3.01992424e-01 8.87541626e-01 -3.47951776e-01 -4.83140299e+01] [ 7.56494168e-01 -1.00858769e-03 6.53999661e-01 1.00469695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:-48.31, Z:100.49 [[ 5.80219207e-01 -4.60406277e-01 -6.71842044e-01 1.91073688e+02] [ 3.01009695e-01 8.87708314e-01 -3.48377830e-01 -4.83057704e+01] [ 7.56795108e-01 -9.54605002e-05 6.53652168e-01 1.00490724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.09, Y:-48.30, Z:100.51 [[ 5.80896776e-01 -4.59741247e-01 -6.71711934e-01 1.91090520e+02] [ 2.99648439e-01 8.88052015e-01 -3.48675253e-01 -4.82973123e+01] [ 7.56815532e-01 1.26689817e-03 6.53627299e-01 1.00512011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:-48.29, Z:100.53 [[ 5.81960706e-01 -4.59113944e-01 -6.71219877e-01 1.91107156e+02] [ 2.98565861e-01 8.88373656e-01 -3.48784567e-01 -4.82885187e+01] [ 7.56425914e-01 2.57557231e-03 6.54074310e-01 1.00533176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:-48.28, Z:100.55 [[ 5.83053946e-01 -4.58415367e-01 -6.70748423e-01 1.91123054e+02] [ 2.97359248e-01 8.88729155e-01 -3.48909681e-01 -4.82797847e+01] [ 7.56059239e-01 3.97991957e-03 6.54491090e-01 1.00553725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:191.15, Y:-48.25, Z:100.56 [[ 5.88868241e-01 -4.77501238e-01 -6.52094136e-01 1.91148595e+02] [ 2.97381763e-01 8.78227293e-01 -3.74540931e-01 -4.82498763e+01] [ 7.51530626e-01 2.66343554e-02 6.59160322e-01 1.00560156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.15, Y:-48.28, Z:100.60 [[ 5.86585222e-01 -4.35680242e-01 -6.82715537e-01 1.91152100e+02] [ 2.93538620e-01 9.00028899e-01 -3.22153783e-01 -4.82769904e+01] [ 7.54819751e-01 -1.14327280e-02 6.55832628e-01 1.00603885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:-48.22, Z:100.59 [[ 5.92900693e-01 -4.88744671e-01 -6.39997981e-01 1.91180498e+02] [ 3.03015060e-01 8.71750628e-01 -3.85010020e-01 -4.82179904e+01] [ 7.46090237e-01 3.43436810e-02 6.64958547e-01 1.00586395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:-48.26, Z:100.64 [[ 5.89345178e-01 -4.38679441e-01 -6.78404458e-01 1.91185389e+02] [ 2.89047487e-01 8.98642169e-01 -3.29990611e-01 -4.82558482e+01] [ 7.54402950e-01 -1.61272829e-03 6.56409619e-01 1.00643513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:-48.24, Z:100.66 [[ 5.90347795e-01 -4.52200133e-01 -6.68583967e-01 1.91203353e+02] [ 2.87810454e-01 8.91812262e-01 -3.49050185e-01 -4.82364279e+01] [ 7.54091920e-01 1.36355524e-02 6.56627328e-01 1.00657549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:-48.23, Z:100.68 [[ 5.90844632e-01 -4.51662326e-01 -6.68508612e-01 1.91219440e+02] [ 2.86761247e-01 8.92068589e-01 -3.49258673e-01 -4.82272336e+01] [ 7.54102519e-01 1.46552485e-02 6.56593188e-01 1.00678157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.24, Y:-48.22, Z:100.70 [[ 5.91171048e-01 -4.51101579e-01 -6.68598652e-01 1.91235949e+02] [ 2.85428198e-01 8.92331263e-01 -3.49679369e-01 -4.82176041e+01] [ 7.54352395e-01 1.58834110e-02 6.56277518e-01 1.00699243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:-48.21, Z:100.72 [[ 5.91495192e-01 -4.50409081e-01 -6.68778810e-01 1.91252240e+02] [ 2.83840818e-01 8.92655019e-01 -3.50144838e-01 -4.82083181e+01] [ 7.54697176e-01 1.72822636e-02 6.55845634e-01 1.00719979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.27, Y:-48.18, Z:100.72 [[ 5.94079506e-01 -4.66048552e-01 -6.55643415e-01 1.91271484e+02] [ 2.88539114e-01 8.84286220e-01 -3.67128126e-01 -4.81806358e+01] [ 7.50875968e-01 2.89245257e-02 6.59809558e-01 1.00724593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:-48.19, Z:100.76 [[ 5.91370779e-01 -4.47855112e-01 -6.70601521e-01 1.91284687e+02] [ 2.80831503e-01 8.93919544e-01 -3.49344410e-01 -4.81903146e+01] [ 7.55919485e-01 1.82660430e-02 6.54409721e-01 1.00761385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.30, Y:-48.18, Z:100.78 [[ 5.91297240e-01 -4.49419588e-01 -6.69619002e-01 1.91301640e+02] [ 2.81070324e-01 8.93108674e-01 -3.51221254e-01 -4.81803699e+01] [ 7.55888251e-01 1.94661283e-02 6.54411203e-01 1.00782208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:-48.16, Z:100.79 [[ 5.92085318e-01 -4.62416105e-01 -6.60004790e-01 1.91318702e+02] [ 2.86932676e-01 8.86285411e-01 -3.63548911e-01 -4.81578738e+01] [ 7.53063487e-01 2.58750322e-02 6.57438869e-01 1.00789551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.33, Y:-48.16, Z:100.82 [[ 5.89780890e-01 -4.52569121e-01 -6.68834578e-01 1.91334797e+02] [ 2.81641468e-01 8.91483767e-01 -3.54872903e-01 -4.81616162e+01] [ 7.56859686e-01 2.09257043e-02 6.53242321e-01 1.00822883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.35, Y:-48.14, Z:100.83 [[ 5.90654930e-01 -4.63584897e-01 -6.60466348e-01 1.91351185e+02] [ 2.88630370e-01 8.85724278e-01 -3.63572570e-01 -4.81419672e+01] [ 7.53537831e-01 2.41152850e-02 6.56962092e-01 1.00831787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:-48.14, Z:100.86 [[ 5.89180454e-01 -4.55935198e-01 -6.67075324e-01 1.91368538e+02] [ 2.83655820e-01 8.89753956e-01 -3.57599320e-01 -4.81448087e+01] [ 7.56575025e-01 2.14707319e-02 6.53554312e-01 1.00864571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.38, Y:-48.14, Z:100.89 [[ 5.88280011e-01 -4.54138905e-01 -6.69092283e-01 1.91384957e+02] [ 2.87582828e-01 8.90812470e-01 -3.51780130e-01 -4.81415847e+01] [ 7.55792793e-01 1.45257682e-02 6.54649720e-01 1.00888248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:-48.13, Z:100.91 [[ 5.87476680e-01 -4.55819339e-01 -6.68655278e-01 1.91401378e+02] [ 2.89983362e-01 8.89979636e-01 -3.51917459e-01 -4.81344781e+01] [ 7.55500364e-01 1.28443947e-02 6.55022306e-01 1.00909196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:-48.13, Z:100.93 [[ 5.86470805e-01 -4.57665056e-01 -6.68277406e-01 1.91418282e+02] [ 2.92639578e-01 8.89057842e-01 -3.52048620e-01 -4.81269957e+01] [ 7.55257620e-01 1.09018201e-02 6.55337377e-01 1.00930264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:-48.09, Z:100.93 [[ 5.87302870e-01 -4.87543996e-01 -6.46046585e-01 1.91438485e+02] [ 3.08231982e-01 8.72791859e-01 -3.78453982e-01 -4.80934523e+01] [ 7.48377167e-01 2.31348906e-02 6.62869816e-01 1.00926882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:-48.09, Z:100.95 [[ 5.85364704e-01 -4.85389361e-01 -6.49419226e-01 1.91454549e+02] [ 3.10149782e-01 8.74125320e-01 -3.73780734e-01 -4.80895419e+01] [ 7.49102981e-01 1.73808175e-02 6.62225514e-01 1.00950423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:-48.07, Z:100.97 [[ 5.84381368e-01 -4.95160607e-01 -6.42895318e-01 1.91473178e+02] [ 3.14033344e-01 8.68517507e-01 -3.83484549e-01 -4.80741982e+01] [ 7.48252281e-01 2.22106587e-02 6.63042390e-01 1.00965718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:-48.10, Z:101.02 [[ 5.77092418e-01 -4.60311992e-01 -6.74594108e-01 1.91483080e+02] [ 3.07215588e-01 8.87707973e-01 -3.42918558e-01 -4.81038649e+01] [ 7.56692093e-01 -9.35012574e-03 6.53704560e-01 1.01019057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:-48.04, Z:100.99 [[ 5.82240308e-01 -5.18703858e-01 -6.26053138e-01 1.91509320e+02] [ 3.25160638e-01 8.54336237e-01 -4.05438224e-01 -4.80370572e+01] [ 7.45162253e-01 3.24946389e-02 6.66091071e-01 1.00993471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:-48.09, Z:101.07 [[ 5.74081834e-01 -4.53414267e-01 -6.81795828e-01 1.91513157e+02] [ 3.09797684e-01 8.91057598e-01 -3.31725416e-01 -4.80935729e+01] [ 7.57928389e-01 -2.07812332e-02 6.52006670e-01 1.01066217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:-48.07, Z:101.08 [[ 5.72292910e-01 -4.70533423e-01 -6.71624243e-01 1.91531759e+02] [ 3.11624405e-01 8.82350410e-01 -3.52630096e-01 -4.80728034e+01] [ 7.58532172e-01 -7.48680107e-03 6.51592581e-01 1.01079888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:-48.06, Z:101.10 [[ 5.70438314e-01 -4.72432220e-01 -6.71868982e-01 1.91548247e+02] [ 3.14023485e-01 8.81315088e-01 -3.53090591e-01 -4.80636068e+01] [ 7.58939643e-01 -9.56623762e-03 6.51090705e-01 1.01101040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:-48.05, Z:101.12 [[ 5.68546340e-01 -4.74494948e-01 -6.72019050e-01 1.91563909e+02] [ 3.16690393e-01 8.80178908e-01 -3.53542479e-01 -4.80549098e+01] [ 7.59251114e-01 -1.18166943e-02 6.50690489e-01 1.01121672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.58, Y:-48.05, Z:101.14 [[ 5.65731044e-01 -4.78279937e-01 -6.71711759e-01 1.91579640e+02] [ 3.22344477e-01 8.78054026e-01 -3.53716223e-01 -4.80467762e+01] [ 7.58974587e-01 -1.64143278e-02 6.50913317e-01 1.01143611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:-47.98, Z:101.12 [[ 5.70131319e-01 -5.33511413e-01 -6.24752633e-01 1.91604600e+02] [ 3.43071214e-01 8.45582635e-01 -4.09013631e-01 -4.79822828e+01] [ 7.46493417e-01 1.88568370e-02 6.65125550e-01 1.01117678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:-48.04, Z:101.19 [[ 5.63328166e-01 -4.66810484e-01 -6.81725274e-01 1.91608066e+02] [ 3.27722768e-01 8.83660222e-01 -3.34278923e-01 -4.80413460e+01] [ 7.58458413e-01 -3.51081613e-02 6.50775117e-01 1.01193633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:-47.98, Z:101.17 [[ 5.66211556e-01 -5.22865709e-01 -6.37193788e-01 1.91632549e+02] [ 3.43323609e-01 8.52402976e-01 -3.94383147e-01 -4.79785536e+01] [ 7.49355305e-01 4.54062404e-03 6.62152558e-01 1.01171588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:-48.02, Z:101.23 [[ 5.60823826e-01 -4.76017094e-01 -6.77410040e-01 1.91639623e+02] [ 3.31340177e-01 8.78855624e-01 -3.43258618e-01 -4.80171316e+01] [ 7.58742593e-01 -3.19455511e-02 6.50606762e-01 1.01233367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:-48.00, Z:101.25 [[ 5.60215978e-01 -4.84183894e-01 -6.72104169e-01 1.91656215e+02] [ 3.31389787e-01 8.74623399e-01 -3.53856918e-01 -4.80020672e+01] [ 7.59169854e-01 -2.44921574e-02 6.50431601e-01 1.01249911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.68, Y:-47.95, Z:101.24 [[ 5.63953827e-01 -5.22693776e-01 -6.39333479e-01 1.91678134e+02] [ 3.44371643e-01 8.52519029e-01 -3.93216831e-01 -4.79516531e+01] [ 7.50575948e-01 1.58781613e-03 6.60782283e-01 1.01235336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:-47.96, Z:101.27 [[ 5.63011696e-01 -5.04345597e-01 -6.54716235e-01 1.91689567e+02] [ 3.39601142e-01 8.63414350e-01 -3.73077370e-01 -4.79572544e+01] [ 7.53451322e-01 -1.22954584e-02 6.57388718e-01 1.01268955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:-47.95, Z:101.30 [[ 5.62134941e-01 -5.00476471e-01 -6.58428136e-01 1.91703916e+02] [ 3.35978345e-01 8.65658731e-01 -3.71151605e-01 -4.79508562e+01] [ 7.55726710e-01 -1.25803104e-02 6.54766276e-01 1.01295276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.72, Y:-47.94, Z:101.32 [[ 5.61550145e-01 -4.97200242e-01 -6.61402566e-01 1.91718124e+02] [ 3.34132086e-01 8.67521449e-01 -3.68459339e-01 -4.79441962e+01] [ 7.56978985e-01 -1.40874239e-02 6.53287349e-01 1.01320081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:-47.94, Z:101.35 [[ 5.60589640e-01 -4.90425707e-01 -6.67249490e-01 1.91730412e+02] [ 3.30391811e-01 8.71316161e-01 -3.62835224e-01 -4.79408689e+01] [ 7.59328985e-01 -1.70520996e-02 6.50483450e-01 1.01347160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-47.93, Z:101.37 [[ 5.62366075e-01 -4.88976855e-01 -6.66817841e-01 1.91748193e+02] [ 3.21898209e-01 8.72263565e-01 -3.68154609e-01 -4.79314553e+01] [ 7.61659990e-01 -7.60980649e-03 6.47932211e-01 1.01374182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:-47.93, Z:101.40 [[ 5.63630512e-01 -4.77330361e-01 -6.74148628e-01 1.91761016e+02] [ 3.20259774e-01 8.78574596e-01 -3.54316746e-01 -4.79293953e+01] [ 7.61415999e-01 -1.61989587e-02 6.48061163e-01 1.01399422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.77, Y:-47.92, Z:101.42 [[ 5.64710986e-01 -4.76077497e-01 -6.74130343e-01 1.91772508e+02] [ 3.22031222e-01 8.79202383e-01 -3.51139661e-01 -4.79174083e+01] [ 7.59866695e-01 -1.87985935e-02 6.49807063e-01 1.01417311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.79, Y:-47.89, Z:101.43 [[ 5.66897806e-01 -4.91149960e-01 -6.61361168e-01 1.91789348e+02] [ 3.20821748e-01 8.71073982e-01 -3.71891816e-01 -4.78934326e+01] [ 7.58749157e-01 -1.35439136e-03 6.51381518e-01 1.01429014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:-47.87, Z:101.44 [[ 5.70951989e-01 -4.97567588e-01 -6.53023983e-01 1.91808043e+02] [ 3.20258579e-01 8.67385179e-01 -3.80890265e-01 -4.78739891e+01] [ 7.55941974e-01 8.33352142e-03 6.54585582e-01 1.01443453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:-47.84, Z:101.45 [[ 5.75248027e-01 -5.15803675e-01 -6.34851382e-01 1.91827630e+02] [ 3.23339126e-01 8.56299792e-01 -4.02743686e-01 -4.78420979e+01] [ 7.51359779e-01 2.64052200e-02 6.59364275e-01 1.01449335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:-47.86, Z:101.49 [[ 5.76759449e-01 -4.72910443e-01 -6.66111290e-01 1.91835965e+02] [ 3.12986395e-01 8.81101427e-01 -3.54541664e-01 -4.78637476e+01] [ 7.54578064e-01 -3.99851680e-03 6.56198109e-01 1.01493882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:-47.84, Z:101.51 [[ 5.77529155e-01 -4.82509224e-01 -6.58517216e-01 1.91852811e+02] [ 3.10039944e-01 8.75840180e-01 -3.69836738e-01 -4.78446011e+01] [ 7.55205474e-01 9.42485759e-03 6.55420372e-01 1.01511393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:-47.85, Z:101.55 [[ 5.75256266e-01 -4.62768453e-01 -6.74481717e-01 1.91865710e+02] [ 3.00484481e-01 8.86479167e-01 -3.51942841e-01 -4.78525562e+01] [ 7.60782035e-01 -2.13963727e-04 6.49007434e-01 1.01548823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:-47.84, Z:101.57 [[ 5.76113362e-01 -4.62195823e-01 -6.74142726e-01 1.91880572e+02] [ 2.96798182e-01 8.86768630e-01 -3.54333510e-01 -4.78385462e+01] [ 7.61580090e-01 4.05193474e-03 6.48058137e-01 1.01568804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:-47.83, Z:101.59 [[ 5.76391972e-01 -4.61736271e-01 -6.74219483e-01 1.91896641e+02] [ 2.95602586e-01 8.87002174e-01 -3.54748156e-01 -4.78276701e+01] [ 7.61834238e-01 5.17296662e-03 6.47751368e-01 1.01589925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.91, Y:-47.82, Z:101.61 [[ 5.76639452e-01 -4.61413415e-01 -6.74228895e-01 1.91912246e+02] [ 2.94659019e-01 8.87164185e-01 -3.55127825e-01 -4.78171595e+01] [ 7.62012470e-01 6.11309002e-03 6.47533493e-01 1.01610960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:-47.81, Z:101.63 [[ 5.76578824e-01 -4.61346900e-01 -6.74326254e-01 1.91928166e+02] [ 2.94053811e-01 8.87194413e-01 -3.55553695e-01 -4.78067653e+01] [ 7.62292080e-01 6.71652625e-03 6.47198326e-01 1.01632080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:-47.80, Z:101.65 [[ 5.76103782e-01 -4.61210771e-01 -6.74825204e-01 1.91943674e+02] [ 2.93081529e-01 8.87259537e-01 -3.56193391e-01 -4.77961051e+01] [ 7.63025327e-01 7.42555697e-03 6.46325933e-01 1.01652464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:-47.79, Z:101.67 [[ 5.75848617e-01 -4.61467600e-01 -6.74867412e-01 1.91958659e+02] [ 2.93003741e-01 8.87124464e-01 -3.56593597e-01 -4.77871761e+01] [ 7.63247783e-01 7.60525320e-03 6.46061129e-01 1.01672622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:-47.78, Z:101.69 [[ 5.75678414e-01 -4.61747598e-01 -6.74821102e-01 1.91974575e+02] [ 2.93062941e-01 8.86977941e-01 -3.56909296e-01 -4.77781587e+01] [ 7.63353441e-01 7.69992062e-03 6.45935163e-01 1.01693686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:-47.77, Z:101.71 [[ 5.75359311e-01 -4.62090505e-01 -6.74858525e-01 1.91990322e+02] [ 2.93129829e-01 8.86798871e-01 -3.57299127e-01 -4.77692947e+01] [ 7.63568311e-01 7.75421518e-03 6.45680498e-01 1.01714300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:-47.76, Z:101.74 [[ 5.75213657e-01 -4.62385835e-01 -6.74780400e-01 1.92006672e+02] [ 2.93241322e-01 8.86644361e-01 -3.57590973e-01 -4.77602641e+01] [ 7.63635237e-01 7.81771508e-03 6.45600579e-01 1.01735894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:-47.75, Z:101.76 [[ 5.75349898e-01 -4.62769986e-01 -6.74400797e-01 1.92022538e+02] [ 2.93634658e-01 8.86443965e-01 -3.57764984e-01 -4.77514740e+01] [ 7.63381413e-01 7.81260008e-03 6.45900752e-01 1.01756993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:-47.74, Z:101.78 [[ 5.75638030e-01 -4.63148265e-01 -6.73895053e-01 1.92038722e+02] [ 2.94099197e-01 8.86246375e-01 -3.57872917e-01 -4.77425226e+01] [ 7.62985269e-01 7.81326669e-03 6.46368651e-01 1.01778266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:-47.73, Z:101.80 [[ 5.75823353e-01 -4.63622228e-01 -6.73410644e-01 1.92054052e+02] [ 2.94693504e-01 8.85999583e-01 -3.57995082e-01 -4.77339224e+01] [ 7.62616027e-01 7.69218594e-03 6.46805709e-01 1.01798539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-47.69, Z:101.79 [[ 5.81529780e-01 -4.98512691e-01 -6.42890514e-01 1.92077299e+02] [ 3.05756126e-01 8.66245851e-01 -3.95134555e-01 -4.76910263e+01] [ 7.53880830e-01 3.32147980e-02 6.56171068e-01 1.01792573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-47.73, Z:101.85 [[ 5.75181245e-01 -4.49710823e-01 -6.83320358e-01 1.92083854e+02] [ 2.96391091e-01 8.93138928e-01 -3.38312247e-01 -4.77282385e+01] [ 7.62442691e-01 -7.93920658e-03 6.47007042e-01 1.01847355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.11, Y:-47.69, Z:101.85 [[ 5.76972123e-01 -4.81733275e-01 -6.59572756e-01 1.92105599e+02] [ 3.02461980e-01 8.76151800e-01 -3.75332885e-01 -4.76928928e+01] [ 7.58696197e-01 1.70609298e-02 6.51221165e-01 1.01849466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:-47.69, Z:101.87 [[ 5.76285355e-01 -4.77447649e-01 -6.63278925e-01 1.92122075e+02] [ 3.03720867e-01 8.78592106e-01 -3.68550603e-01 -4.76881216e+01] [ 7.58715246e-01 1.09386648e-02 6.51330577e-01 1.01872902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:-47.68, Z:101.90 [[ 5.74611714e-01 -4.73195647e-01 -6.67762875e-01 1.92136504e+02] [ 3.04292086e-01 8.80942868e-01 -3.62416872e-01 -4.76848155e+01] [ 7.59755029e-01 5.05402170e-03 6.50189782e-01 1.01896681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:-47.67, Z:101.92 [[ 5.72451032e-01 -4.79685306e-01 -6.64982573e-01 1.92153716e+02] [ 3.07624836e-01 8.77418990e-01 -3.68107153e-01 -4.76729711e+01] [ 7.60043930e-01 6.15816475e-03 6.49842520e-01 1.01916217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:-47.67, Z:101.94 [[ 5.70599602e-01 -4.77034222e-01 -6.68471723e-01 1.92169465e+02] [ 3.08043214e-01 8.78882622e-01 -3.64245404e-01 -4.76680030e+01] [ 7.61265704e-01 1.92010492e-03 6.48437230e-01 1.01940994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:-47.66, Z:101.96 [[ 5.69570057e-01 -4.81425068e-01 -6.66198059e-01 1.92185663e+02] [ 3.10600218e-01 8.76483432e-01 -3.67837325e-01 -4.76571911e+01] [ 7.60997670e-01 2.58786409e-03 6.48749450e-01 1.01960246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:-47.66, Z:101.99 [[ 5.67071276e-01 -4.68780920e-01 -6.77255208e-01 1.92199052e+02] [ 3.08121385e-01 8.83275670e-01 -3.53391146e-01 -4.76626054e+01] [ 7.63866075e-01 -8.27884475e-03 6.45321688e-01 1.01993150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:-47.64, Z:102.01 [[ 5.67261771e-01 -4.83986441e-01 -6.66311644e-01 1.92217472e+02] [ 3.14585696e-01 8.75074958e-01 -3.67803831e-01 -4.76417878e+01] [ 7.61084702e-01 -9.71059224e-04 6.48651782e-01 1.02005178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.23, Y:-47.64, Z:102.03 [[ 5.65155660e-01 -4.76512450e-01 -6.73450047e-01 1.92231583e+02] [ 3.14921933e-01 8.79111995e-01 -3.57751697e-01 -4.76445615e+01] [ 7.62511151e-01 -9.89879399e-03 6.46899341e-01 1.02034850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:-47.64, Z:102.06 [[ 5.64473493e-01 -4.78949267e-01 -6.72292552e-01 1.92247893e+02] [ 3.16886043e-01 8.77782886e-01 -3.59277665e-01 -4.76354233e+01] [ 7.62202671e-01 -1.02374076e-02 6.47257509e-01 1.02055834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:-47.63, Z:102.08 [[ 5.63761817e-01 -4.80073447e-01 -6.72087866e-01 1.92263752e+02] [ 3.18319650e-01 8.77156241e-01 -3.59540720e-01 -4.76272595e+01] [ 7.62132019e-01 -1.12434445e-02 6.47324007e-01 1.02077189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:-47.62, Z:102.10 [[ 5.63468066e-01 -4.80983091e-01 -6.71683709e-01 1.92280405e+02] [ 3.19534512e-01 8.76648483e-01 -3.59701450e-01 -4.76183320e+01] [ 7.61840820e-01 -1.19458453e-02 6.47654123e-01 1.02098368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:-47.61, Z:102.12 [[ 5.63337532e-01 -4.81354646e-01 -6.71527014e-01 1.92296841e+02] [ 3.19764151e-01 8.76444709e-01 -3.59993834e-01 -4.76092916e+01] [ 7.61841003e-01 -1.19322281e-02 6.47654158e-01 1.02119947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.31, Y:-47.60, Z:102.14 [[ 5.62729217e-01 -4.83563434e-01 -6.70449278e-01 1.92311796e+02] [ 3.21858592e-01 8.75218860e-01 -3.61108009e-01 -4.75975875e+01] [ 7.61408482e-01 -1.25838329e-02 6.48150269e-01 1.02137908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:-47.59, Z:102.16 [[ 5.62886907e-01 -4.86764047e-01 -6.67996327e-01 1.92328490e+02] [ 3.20931764e-01 8.73493850e-01 -3.66075536e-01 -4.75857503e+01] [ 7.61683092e-01 -8.32211343e-03 6.47896295e-01 1.02157740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:-47.58, Z:102.18 [[ 5.62470782e-01 -4.79983315e-01 -6.73232974e-01 1.92343508e+02] [ 3.17949297e-01 8.77199620e-01 -3.59762521e-01 -4.75824890e+01] [ 7.63239716e-01 -1.16980446e-02 6.46009513e-01 1.02184237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:-47.57, Z:102.20 [[ 5.64967198e-01 -4.85409631e-01 -6.67225265e-01 1.92361975e+02] [ 3.13773817e-01 8.74286839e-01 -3.70362681e-01 -4.75670825e+01] [ 7.63123880e-01 -1.15052294e-04 6.46252219e-01 1.02201561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:-47.56, Z:102.23 [[ 5.65875088e-01 -4.77821580e-01 -6.71916604e-01 1.92377064e+02] [ 3.12545680e-01 8.78439943e-01 -3.61467101e-01 -4.75630744e+01] [ 7.62955164e-01 -5.45940401e-03 6.46428351e-01 1.02225018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23999999999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:192.39, Y:-47.55, Z:102.25 [[ 5.66864261e-01 -4.76845050e-01 -6.71776531e-01 1.92392789e+02] [ 3.10678940e-01 8.78979851e-01 -3.61763759e-01 -4.75542687e+01] [ 7.62983294e-01 -3.63587480e-03 6.46407978e-01 1.02245933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:-47.54, Z:102.27 [[ 5.67796348e-01 -4.76089491e-01 -6.71525208e-01 1.92408788e+02] [ 3.09230536e-01 8.79394293e-01 -3.61997449e-01 -4.75449534e+01] [ 7.62878616e-01 -2.11527070e-03 6.46538276e-01 1.02267503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.42, Y:-47.54, Z:102.29 [[ 5.69034019e-01 -4.75767000e-01 -6.70705634e-01 1.92424580e+02] [ 3.06539081e-01 8.79570159e-01 -3.63854540e-01 -4.75352655e+01] [ 7.63042644e-01 1.44812255e-03 6.46346521e-01 1.02287007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:-47.53, Z:102.31 [[ 5.72259048e-01 -4.71654190e-01 -6.70866535e-01 1.92440459e+02] [ 3.02875217e-01 8.81775728e-01 -3.61577334e-01 -4.75265652e+01] [ 7.62093291e-01 3.72705366e-03 6.47456504e-01 1.02309390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:-47.52, Z:102.33 [[ 5.73782168e-01 -4.70712232e-01 -6.70226841e-01 1.92456781e+02] [ 3.00817427e-01 8.82265358e-01 -3.62100420e-01 -4.75173174e+01] [ 7.61763021e-01 6.15085001e-03 6.47826572e-01 1.02330855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:-47.51, Z:102.35 [[ 5.74822614e-01 -4.69457275e-01 -6.70215510e-01 1.92472791e+02] [ 2.98448374e-01 8.82915856e-01 -3.62475046e-01 -4.75090327e+01] [ 7.61910448e-01 8.33412432e-03 6.47628761e-01 1.02352788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.49, Y:-47.50, Z:102.37 [[ 5.76131433e-01 -4.68347092e-01 -6.69868325e-01 1.92489292e+02] [ 2.96525498e-01 8.83484396e-01 -3.62667824e-01 -4.75004866e+01] [ 7.61672634e-01 1.03112941e-02 6.47879986e-01 1.02374073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:-47.49, Z:102.40 [[ 5.77426310e-01 -4.67134828e-01 -6.69599813e-01 1.92505682e+02] [ 2.94397233e-01 8.84098831e-01 -3.62904294e-01 -4.74920881e+01] [ 7.61517646e-01 1.24221552e-02 6.48025126e-01 1.02395379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:-47.48, Z:102.42 [[ 5.78783974e-01 -4.64989797e-01 -6.69920592e-01 1.92522265e+02] [ 2.90451766e-01 8.85175313e-01 -3.63458989e-01 -4.74844239e+01] [ 7.62001892e-01 1.57846189e-02 6.47382393e-01 1.02416539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.54, Y:-47.46, Z:102.42 [[ 5.81200560e-01 -4.80655604e-01 -6.56640007e-01 1.92540374e+02] [ 2.95568359e-01 8.76500958e-01 -3.79980809e-01 -4.74604569e+01] [ 7.58185501e-01 2.67630496e-02 6.51489436e-01 1.02423932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:-47.45, Z:102.44 [[ 5.81633890e-01 -4.81674325e-01 -6.55508858e-01 1.92558271e+02] [ 2.94827381e-01 8.75872923e-01 -3.81999265e-01 -4.74503109e+01] [ 7.58141697e-01 2.89217594e-02 6.51448155e-01 1.02443761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.57, Y:-47.46, Z:102.48 [[ 5.77853164e-01 -4.59739501e-01 -6.74333235e-01 1.92573041e+02] [ 2.85539341e-01 8.87912137e-01 -3.60665110e-01 -4.74641864e+01] [ 7.64560662e-01 1.58628074e-02 6.44356552e-01 1.02481580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.60, Y:-47.38, Z:102.44 [[ 5.88133056e-01 -5.38024919e-01 -6.03844926e-01 1.92599588e+02] [ 3.07985280e-01 8.39363319e-01 -4.47899861e-01 -4.73794716e+01] [ 7.47826568e-01 7.74493650e-02 6.59361070e-01 1.02444678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:-47.39, Z:102.48 [[ 5.87599995e-01 -5.13154484e-01 -6.25618671e-01 1.92615719e+02] [ 3.06705455e-01 8.56733461e-01 -4.14655931e-01 -4.73940391e+01] [ 7.48770999e-01 5.17711636e-02 6.60803857e-01 1.02476141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:-47.47, Z:102.56 [[ 5.74885835e-01 -4.26447822e-01 -6.98318359e-01 1.92616873e+02] [ 2.85416039e-01 9.04354299e-01 -3.17302674e-01 -4.74702314e+01] [ 7.66840245e-01 -1.68984474e-02 6.41615525e-01 1.02559312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.64, Y:-47.44, Z:102.56 [[ 5.75173427e-01 -4.65302921e-01 -6.72806600e-01 1.92639778e+02] [ 2.87160919e-01 8.84976041e-01 -3.66546058e-01 -4.74380764e+01] [ 7.65972673e-01 1.76237911e-02 6.42631517e-01 1.02564112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:-47.43, Z:102.59 [[ 5.74175028e-01 -4.66583224e-01 -6.72772720e-01 1.92656816e+02] [ 2.88743540e-01 8.84325419e-01 -3.66872895e-01 -4.74310248e+01] [ 7.66126756e-01 1.63904778e-02 6.42480464e-01 1.02585555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.68, Y:-47.36, Z:102.56 [[ 5.82170661e-01 -5.30782330e-01 -6.15911877e-01 1.92683372e+02] [ 3.09582902e-01 8.45164083e-01 -4.35724798e-01 -4.73610976e+01] [ 7.51821620e-01 6.29904075e-02 6.56350866e-01 1.02557365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:-47.44, Z:102.64 [[ 5.71475931e-01 -4.43381215e-01 -6.90527594e-01 1.92686655e+02] [ 2.92335361e-01 8.96262517e-01 -3.33546903e-01 -4.74391935e+01] [ 7.66782431e-01 -1.12516065e-02 6.41808464e-01 1.02638951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:-47.37, Z:102.61 [[ 5.76913182e-01 -5.14624705e-01 -6.34296929e-01 1.92717671e+02] [ 3.10311784e-01 8.56424741e-01 -4.12605452e-01 -4.73735527e+01] [ 7.55564542e-01 4.12077124e-02 6.53776833e-01 1.02614819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:-47.42, Z:102.68 [[ 5.68515763e-01 -4.57091053e-01 -6.84001168e-01 1.92723729e+02] [ 2.98794663e-01 8.89386816e-01 -3.45995433e-01 -4.74243256e+01] [ 7.66493038e-01 -7.67204082e-03 6.42206791e-01 1.02678677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.75, Y:-47.36, Z:102.66 [[ 5.74433267e-01 -5.20590894e-01 -6.31673605e-01 1.92752483e+02] [ 3.15235322e-01 8.52870422e-01 -4.16219575e-01 -4.73588748e+01] [ 7.55415855e-01 3.99645382e-02 6.54025781e-01 1.02655077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:-47.36, Z:102.68 [[ 5.72546054e-01 -5.11413743e-01 -6.40817446e-01 1.92771725e+02] [ 3.19404445e-01 8.58987418e-01 -4.00151740e-01 -4.73637976e+01] [ 7.55097223e-01 2.44253589e-02 6.55157680e-01 1.02680737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:-47.37, Z:102.71 [[ 5.70391979e-01 -5.03944613e-01 -6.48608370e-01 1.92787897e+02] [ 3.19450075e-01 8.63600659e-01 -3.90058394e-01 -4.73661257e+01] [ 7.56706442e-01 1.52881865e-02 6.53576033e-01 1.02707469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:-47.36, Z:102.73 [[ 5.68870137e-01 -5.07831687e-01 -6.46910925e-01 1.92805637e+02] [ 3.21115108e-01 8.61302802e-01 -3.93754456e-01 -4.73578322e+01] [ 7.57147182e-01 1.62622797e-02 6.53041870e-01 1.02727756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:-47.40, Z:102.79 [[ 5.60488020e-01 -4.59467334e-01 -6.89015928e-01 1.92810535e+02] [ 3.08280041e-01 8.87944281e-01 -3.41347873e-01 -4.74019182e+01] [ 7.68645949e-01 -2.10884655e-02 6.39326741e-01 1.02789774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.84, Y:-47.33, Z:102.77 [[ 5.65956406e-01 -5.24448371e-01 -6.36118898e-01 1.92841119e+02] [ 3.22912329e-01 8.50946649e-01 -4.14267339e-01 -4.73336063e+01] [ 7.58565076e-01 2.90466191e-02 6.50949552e-01 1.02765889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:-47.34, Z:102.79 [[ 5.67389592e-01 -5.07745229e-01 -6.48277590e-01 1.92855097e+02] [ 3.20946395e-01 8.61370625e-01 -3.93743645e-01 -4.73380707e+01] [ 7.58328730e-01 1.53436911e-02 6.51691728e-01 1.02794325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.87, Y:-47.33, Z:102.82 [[ 5.67649890e-01 -5.02987737e-01 -6.51749138e-01 1.92871004e+02] [ 3.17193566e-01 8.64162954e-01 -3.90654105e-01 -4.73322261e+01] [ 7.59711685e-01 1.50241267e-02 6.50086480e-01 1.02819573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.89, Y:-47.33, Z:102.84 [[ 5.67367717e-01 -4.97454465e-01 -6.56226279e-01 1.92885664e+02] [ 3.14538954e-01 8.67402002e-01 -3.85589177e-01 -4.73276582e+01] [ 7.61025045e-01 1.23621238e-02 6.48604701e-01 1.02844543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:-47.32, Z:102.87 [[ 5.67090799e-01 -4.98063783e-01 -6.56003425e-01 1.92901471e+02] [ 3.12606096e-01 8.67011012e-01 -3.88032644e-01 -4.73180640e+01] [ 7.62027200e-01 1.49790727e-02 6.47371743e-01 1.02865890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:-47.32, Z:102.90 [[ 5.66408815e-01 -4.85127962e-01 -6.66207111e-01 1.92913650e+02] [ 3.10786317e-01 8.74434229e-01 -3.72527374e-01 -4.73217054e+01] [ 7.63277748e-01 3.95473410e-03 6.46058388e-01 1.02896306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:-47.31, Z:102.92 [[ 5.65507385e-01 -4.92257822e-01 -6.61727764e-01 1.92929504e+02] [ 3.07317675e-01 8.70332782e-01 -3.84807347e-01 -4.73081592e+01] [ 7.65347793e-01 1.42507588e-02 6.43459146e-01 1.02916167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.94, Y:-47.32, Z:102.96 [[ 5.63224736e-01 -4.70061714e-01 -6.79573309e-01 1.92940950e+02] [ 2.98106658e-01 8.82631010e-01 -3.63448650e-01 -4.73226603e+01] [ 7.70655771e-01 2.11794181e-03 6.37248144e-01 1.02958097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.96, Y:-47.29, Z:102.96 [[ 5.66638465e-01 -4.93933267e-01 -6.59507981e-01 1.92959834e+02] [ 3.06794001e-01 8.69329070e-01 -3.87484721e-01 -4.72890520e+01] [ 7.64721054e-01 1.72306554e-02 6.44131053e-01 1.02959107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:-47.28, Z:102.99 [[ 5.67552516e-01 -4.87228550e-01 -6.63696076e-01 1.92973059e+02] [ 3.04379584e-01 8.73161315e-01 -3.80712998e-01 -4.72836646e+01] [ 7.65007980e-01 1.40590842e-02 6.43867325e-01 1.02985221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:-47.27, Z:103.01 [[ 5.67670086e-01 -4.90233701e-01 -6.61378554e-01 1.92988708e+02] [ 3.03487520e-01 8.71403628e-01 -3.85423200e-01 -4.72716765e+01] [ 7.65275113e-01 1.80730837e-02 6.43449582e-01 1.03005666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:-47.28, Z:103.04 [[ 5.67564312e-01 -4.72994578e-01 -6.73904208e-01 1.93000148e+02] [ 2.99487137e-01 8.81044982e-01 -3.66151873e-01 -4.72770358e+01] [ 7.66927771e-01 5.98909379e-03 6.41705481e-01 1.03037684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.02, Y:-47.24, Z:103.04 [[ 5.67058637e-01 -5.08209948e-01 -6.48203016e-01 1.93024206e+02] [ 3.01144752e-01 8.60397474e-01 -4.11130181e-01 -4.72357032e+01] [ 7.66652686e-01 3.79319839e-02 6.40940578e-01 1.03039318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:-47.24, Z:103.07 [[ 5.66642031e-01 -4.85274391e-01 -6.65902075e-01 1.93036776e+02] [ 2.98500715e-01 8.74170885e-01 -3.83043846e-01 -4.72449035e+01] [ 7.67993575e-01 1.82764969e-02 6.40196719e-01 1.03069918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.05, Y:-47.25, Z:103.10 [[ 5.63719773e-01 -4.74415382e-01 -6.76128732e-01 1.93049985e+02] [ 2.93385978e-01 8.80220588e-01 -3.73009899e-01 -4.72461032e+01] [ 7.72104064e-01 1.19063662e-02 6.35384571e-01 1.03101070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.07, Y:-47.22, Z:103.11 [[ 5.65917243e-01 -4.93854837e-01 -6.60185637e-01 1.93071036e+02] [ 2.95993288e-01 8.69063737e-01 -3.96378852e-01 -4.72180678e+01] [ 7.69497010e-01 2.89071096e-02 6.37995871e-01 1.03108129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:-47.24, Z:103.15 [[ 5.62742865e-01 -4.66669914e-01 -6.82304668e-01 1.93083247e+02] [ 2.87860926e-01 8.84370710e-01 -3.67456847e-01 -4.72362431e+01] [ 7.74891319e-01 1.03748652e-02 6.32009340e-01 1.03150920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:-47.23, Z:103.17 [[ 5.62928419e-01 -4.67826175e-01 -6.81359131e-01 1.93098776e+02] [ 2.89331601e-01 8.83765239e-01 -3.67758381e-01 -4.72280796e+01] [ 7.74208512e-01 9.88291542e-03 6.32853465e-01 1.03172955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.11, Y:-47.22, Z:103.19 [[ 5.63439004e-01 -4.68455288e-01 -6.80504322e-01 1.93114850e+02] [ 2.90426000e-01 8.83435771e-01 -3.67687336e-01 -4.72197137e+01] [ 7.73426937e-01 9.53323794e-03 6.33813766e-01 1.03194573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:-47.19, Z:103.20 [[ 5.66765625e-01 -4.91327525e-01 -6.61342566e-01 1.93134598e+02] [ 2.99251507e-01 8.70661947e-01 -3.90379700e-01 -4.71893278e+01] [ 7.67610098e-01 2.33460351e-02 6.40491764e-01 1.03196817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:-47.18, Z:103.22 [[ 5.66823480e-01 -4.90879595e-01 -6.61625547e-01 1.93150399e+02] [ 3.00682941e-01 8.70966369e-01 -3.88596645e-01 -4.71818341e+01] [ 7.67007765e-01 2.13261877e-02 6.41283309e-01 1.03217092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:-47.18, Z:103.24 [[ 5.66384451e-01 -4.89412418e-01 -6.63086826e-01 1.93166577e+02] [ 3.01160812e-01 8.71843893e-01 -3.86251720e-01 -4.71755506e+01] [ 7.67144589e-01 1.90712017e-02 6.41190666e-01 1.03240509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:-47.17, Z:103.26 [[ 5.66497429e-01 -4.90963376e-01 -6.61842600e-01 1.93183262e+02] [ 3.01833099e-01 8.70953266e-01 -3.87733399e-01 -4.71663899e+01] [ 7.66796872e-01 1.98839708e-02 6.41581783e-01 1.03260937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:-47.16, Z:103.28 [[ 5.65973921e-01 -4.87808961e-01 -6.64617137e-01 1.93198945e+02] [ 3.02127344e-01 8.72800958e-01 -3.83324349e-01 -4.71622956e+01] [ 7.67067526e-01 1.61525746e-02 6.41363006e-01 1.03284175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:-47.18, Z:103.33 [[ 5.61576860e-01 -4.63515197e-01 -6.85408704e-01 1.93208594e+02] [ 2.93738957e-01 8.86088969e-01 -3.58557895e-01 -4.71797207e+01] [ 7.73530126e-01 2.65792039e-05 6.33759532e-01 1.03327206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:-47.14, Z:103.33 [[ 5.64849248e-01 -4.94235894e-01 -6.60814806e-01 1.93230892e+02] [ 3.01085804e-01 8.69028820e-01 -3.92601895e-01 -4.71421015e+01] [ 7.68305060e-01 2.27989279e-02 6.39677688e-01 1.03325563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:-47.14, Z:103.35 [[ 5.65145136e-01 -4.90899795e-01 -6.63044769e-01 1.93247257e+02] [ 3.00061488e-01 8.70964524e-01 -3.89080841e-01 -4.71351375e+01] [ 7.68488177e-01 2.09329449e-02 6.39521488e-01 1.03347805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.26, Y:-47.13, Z:103.37 [[ 5.65406686e-01 -4.86652142e-01 -6.65946674e-01 1.93262511e+02] [ 2.98741149e-01 8.73399575e-01 -3.84612674e-01 -4.71289156e+01] [ 7.68810123e-01 1.85169031e-02 6.39208979e-01 1.03370602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:-47.11, Z:103.38 [[ 5.67175135e-01 -4.96116829e-01 -6.57404333e-01 1.93279999e+02] [ 2.98971567e-01 8.67784868e-01 -3.96945115e-01 -4.71082212e+01] [ 7.67416685e-01 2.85921957e-02 6.40510826e-01 1.03382248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:-47.14, Z:103.44 [[ 5.60957293e-01 -4.50847157e-01 -6.94308114e-01 1.93284647e+02] [ 2.86756127e-01 8.92592524e-01 -3.47921702e-01 -4.71431902e+01] [ 7.76593742e-01 -3.92789027e-03 6.29989470e-01 1.03437606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:-47.12, Z:103.45 [[ 5.60996366e-01 -4.67566697e-01 -6.83128437e-01 1.93303267e+02] [ 2.86136482e-01 8.83875063e-01 -3.69987550e-01 -4.71217177e+01] [ 7.76794047e-01 1.20937034e-02 6.29638588e-01 1.03451930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:-47.11, Z:103.47 [[ 5.60674441e-01 -4.67848691e-01 -6.83199659e-01 1.93318250e+02] [ 2.86043480e-01 8.83723528e-01 -3.70421185e-01 -4.71134287e+01] [ 7.77060679e-01 1.22608829e-02 6.29306263e-01 1.03472547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:-47.10, Z:103.49 [[ 5.60554877e-01 -4.68157275e-01 -6.83086375e-01 1.93334266e+02] [ 2.86275479e-01 8.83560830e-01 -3.70630017e-01 -4.71045404e+01] [ 7.77061503e-01 1.22075848e-02 6.29306281e-01 1.03494516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:-47.05, Z:103.48 [[ 5.66450272e-01 -5.10957935e-01 -6.46572562e-01 1.93360380e+02] [ 2.98164536e-01 8.58501860e-01 -4.17219924e-01 -4.70524118e+01] [ 7.68265579e-01 4.35493316e-02 6.38648148e-01 1.03481230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:-47.10, Z:103.55 [[ 5.59085728e-01 -4.50504185e-01 -6.96038166e-01 1.93362176e+02] [ 2.86250285e-01 8.92761770e-01 -3.47904004e-01 -4.71031011e+01] [ 7.78128475e-01 -4.73296040e-03 6.28087315e-01 1.03545991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:-47.08, Z:103.56 [[ 5.58538410e-01 -4.69968653e-01 -6.83494191e-01 1.93381855e+02] [ 2.88067771e-01 8.82619517e-01 -3.71483173e-01 -4.70823967e+01] [ 7.77850759e-01 1.05949733e-02 6.28359724e-01 1.03560626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.1 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:193.40, Y:-47.08, Z:103.58 [[ 5.61023620e-01 -4.60744324e-01 -6.87726083e-01 1.93396159e+02] [ 2.89390087e-01 8.87530373e-01 -3.58529237e-01 -4.70825616e+01] [ 7.75568098e-01 2.12225921e-03 6.31260344e-01 1.03583521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:-47.06, Z:103.60 [[ 5.57672977e-01 -4.86976556e-01 -6.72201372e-01 1.93415904e+02] [ 2.91973321e-01 8.73152574e-01 -3.90328275e-01 -4.70558897e+01] [ 7.77015077e-01 2.14106643e-02 6.29117758e-01 1.03597418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:-47.06, Z:103.62 [[ 5.56726248e-01 -4.74481511e-01 -6.81852756e-01 1.93429516e+02] [ 2.94805511e-01 8.80245060e-01 -3.71831071e-01 -4.70594348e+01] [ 7.76624488e-01 5.99416738e-03 6.29935294e-01 1.03624797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:-47.05, Z:103.65 [[ 5.55651072e-01 -4.77650765e-01 -6.80515712e-01 1.93445688e+02] [ 3.00247013e-01 8.78547295e-01 -3.71492103e-01 -4.70525630e+01] [ 7.75308724e-01 2.09717531e-03 6.31578961e-01 1.03647041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.46, Y:-47.04, Z:103.67 [[ 5.55437844e-01 -4.79122108e-01 -6.79654917e-01 1.93461305e+02] [ 3.02665797e-01 8.77748059e-01 -3.71418578e-01 -4.70438321e+01] [ 7.74520636e-01 5.91636823e-04 6.32548365e-01 1.03669183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:-47.00, Z:103.66 [[ 5.59725828e-01 -5.15617688e-01 -6.48725981e-01 1.93485131e+02] [ 3.16112549e-01 8.56501710e-01 -4.08016761e-01 -4.69988767e+01] [ 7.66015570e-01 2.33070955e-02 6.42399350e-01 1.03661636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:-47.00, Z:103.69 [[ 5.58588560e-01 -5.03390883e-01 -6.59224120e-01 1.93498837e+02] [ 3.16340997e-01 8.63997833e-01 -3.91709226e-01 -4.70015061e+01] [ 7.66751064e-01 1.02646775e-02 6.41862479e-01 1.03690164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:-47.03, Z:103.74 [[ 5.52701722e-01 -4.68738662e-01 -6.89060863e-01 1.93504114e+02] [ 3.07121360e-01 8.83197065e-01 -3.54456506e-01 -4.70285854e+01] [ 7.74724000e-01 -1.57165882e-02 6.32104194e-01 1.03740600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:-46.98, Z:103.74 [[ 5.53556262e-01 -5.08837943e-01 -6.59287048e-01 1.93528179e+02] [ 3.18315248e-01 8.60804736e-01 -3.97102769e-01 -4.69828444e+01] [ 7.69578370e-01 9.95760452e-03 6.38474728e-01 1.03735865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:-46.98, Z:103.76 [[ 5.52677645e-01 -5.05127471e-01 -6.62867754e-01 1.93543617e+02] [ 3.20521527e-01 8.63038382e-01 -3.90423748e-01 -4.69763867e+01] [ 7.69294074e-01 3.31509318e-03 6.38886248e-01 1.03758551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:-47.00, Z:103.81 [[ 5.47762626e-01 -4.75716130e-01 -6.88222544e-01 1.93551305e+02] [ 3.12293159e-01 8.79412448e-01 -3.59314248e-01 -4.69976112e+01] [ 7.76163056e-01 -1.81082762e-02 6.30272164e-01 1.03805158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.57, Y:-46.98, Z:103.82 [[ 5.46478420e-01 -4.86654531e-01 -6.81563426e-01 1.93568072e+02] [ 3.13387162e-01 8.73536642e-01 -3.72454322e-01 -4.69807976e+01] [ 7.76627210e-01 -1.00549781e-02 6.29880206e-01 1.03821908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:-46.97, Z:103.84 [[ 5.45466923e-01 -4.87698124e-01 -6.81627740e-01 1.93583346e+02] [ 3.14678382e-01 8.72940950e-01 -3.72762140e-01 -4.69708015e+01] [ 7.76816164e-01 -1.11640965e-02 6.29628470e-01 1.03842815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.60, Y:-46.96, Z:103.86 [[ 5.44522694e-01 -4.88678092e-01 -6.81680833e-01 1.93598453e+02] [ 3.15728770e-01 8.72381373e-01 -3.73183713e-01 -4.69609212e+01] [ 7.77052366e-01 -1.20192498e-02 6.29321189e-01 1.03863569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:-46.95, Z:103.89 [[ 5.43594076e-01 -4.89730485e-01 -6.81666731e-01 1.93613582e+02] [ 3.16989148e-01 8.71776458e-01 -3.73528696e-01 -4.69506596e+01] [ 7.77189398e-01 -1.30329705e-02 6.29131767e-01 1.03885271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:-46.94, Z:103.91 [[ 5.43125817e-01 -4.90070955e-01 -6.81795282e-01 1.93628606e+02] [ 3.16966235e-01 8.71585883e-01 -3.73992586e-01 -4.69414719e+01] [ 7.77526046e-01 -1.29810550e-02 6.28716741e-01 1.03906907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.64, Y:-46.93, Z:103.93 [[ 5.42826236e-01 -4.90377454e-01 -6.81813486e-01 1.93643600e+02] [ 3.16958006e-01 8.71415071e-01 -3.74397379e-01 -4.69324369e+01] [ 7.77738581e-01 -1.28735226e-02 6.28456023e-01 1.03928450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:-46.88, Z:103.92 [[ 5.48452367e-01 -5.29930563e-01 -6.46818058e-01 1.93669975e+02] [ 3.28494125e-01 8.47894714e-01 -4.16132388e-01 -4.68814360e+01] [ 7.68954882e-01 1.57528615e-02 6.39108939e-01 1.03918103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:-46.93, Z:103.98 [[ 5.44163127e-01 -4.72098374e-01 -6.93548569e-01 1.93671041e+02] [ 3.15011990e-01 8.81144904e-01 -3.52634520e-01 -4.69265691e+01] [ 7.77594970e-01 -2.65854116e-02 6.28203214e-01 1.03980125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:-46.90, Z:103.99 [[ 5.44919428e-01 -4.88743328e-01 -6.81316943e-01 1.93689537e+02] [ 3.13820250e-01 8.72375104e-01 -3.74804653e-01 -4.69035936e+01] [ 7.77547213e-01 -9.57271591e-03 6.28751696e-01 1.03994640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:-46.89, Z:104.02 [[ 5.45724695e-01 -4.88102062e-01 -6.81132098e-01 1.93705039e+02] [ 3.12425092e-01 8.72748957e-01 -3.75099747e-01 -4.68933598e+01] [ 7.77544288e-01 -8.10156309e-03 6.28775989e-01 1.04016359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:-46.85, Z:104.01 [[ 5.52414926e-01 -5.24212322e-01 -6.48104306e-01 1.93730727e+02] [ 3.21871458e-01 8.51347182e-01 -4.14254439e-01 -4.68450001e+01] [ 7.68919056e-01 2.02340577e-02 6.39025875e-01 1.04008590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:-46.89, Z:104.07 [[ 5.47651735e-01 -4.69020269e-01 -6.92890731e-01 1.93732320e+02] [ 3.08374016e-01 8.82964763e-01 -3.53947304e-01 -4.68867877e+01] [ 7.77806559e-01 -1.98296426e-02 6.28190848e-01 1.04066695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:-46.83, Z:104.05 [[ 5.54576121e-01 -5.19421755e-01 -6.50112580e-01 1.93760458e+02] [ 3.16206505e-01 8.54199550e-01 -4.12742746e-01 -4.68283938e+01] [ 7.69713435e-01 2.33274444e-02 6.37963211e-01 1.04054129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:-46.83, Z:104.08 [[ 5.58377680e-01 -5.04347676e-01 -6.58671230e-01 1.93774282e+02] [ 3.11555156e-01 8.63344239e-01 -3.96951017e-01 -4.68270789e+01] [ 7.68861334e-01 1.64361701e-02 6.39204272e-01 1.04079683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:-46.86, Z:104.13 [[ 5.53002565e-01 -4.58710148e-01 -6.95538039e-01 1.93776357e+02] [ 2.97118567e-01 8.88487080e-01 -3.49730277e-01 -4.68607288e+01] [ 7.78401388e-01 -1.32555249e-02 6.27626936e-01 1.04134009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.80, Y:-46.81, Z:104.12 [[ 5.60532039e-01 -5.05464654e-01 -6.55979662e-01 1.93803058e+02] [ 3.01533237e-01 8.62317788e-01 -4.06799384e-01 -4.68061387e+01] [ 7.71285641e-01 3.02244171e-02 6.35771142e-01 1.04124560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.82, Y:-46.81, Z:104.15 [[ 5.61677008e-01 -4.88675129e-01 -6.67619321e-01 1.93816106e+02] [ 3.00071611e-01 8.72309782e-01 -3.86047501e-01 -4.68098364e+01] [ 7.71022676e-01 1.65004006e-02 6.36593881e-01 1.04152688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:-46.80, Z:104.17 [[ 5.61869545e-01 -4.88558482e-01 -6.67542676e-01 1.93831287e+02] [ 2.98362015e-01 8.72336086e-01 -3.87311065e-01 -4.68003888e+01] [ 7.71545671e-01 1.84489146e-02 6.35906373e-01 1.04174278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:-46.79, Z:104.19 [[ 5.62689509e-01 -4.90423734e-01 -6.65481088e-01 1.93846920e+02] [ 2.98452788e-01 8.71239020e-01 -3.89703096e-01 -4.67896494e+01] [ 7.70912738e-01 2.06671582e-02 6.36605387e-01 1.04194047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:-46.78, Z:104.22 [[ 5.62730038e-01 -4.89401821e-01 -6.66198740e-01 1.93862563e+02] [ 2.97656234e-01 8.71814645e-01 -3.89024409e-01 -4.67817072e+01] [ 7.71191073e-01 2.06175119e-02 6.36269792e-01 1.04215985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-46.77, Z:104.23 [[ 5.63097087e-01 -4.94900252e-01 -6.61812218e-01 1.93879262e+02] [ 2.99209813e-01 8.68607693e-01 -3.94960965e-01 -4.67676820e+01] [ 7.70321465e-01 2.43806594e-02 6.37189473e-01 1.04234013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-46.80, Z:104.29 [[ 5.56728259e-01 -4.56171240e-01 -6.94234431e-01 1.93883962e+02] [ 2.88166017e-01 8.89886361e-01 -3.53641924e-01 -4.67987433e+01] [ 7.79111027e-01 -3.17231820e-03 6.26877934e-01 1.04285468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:-46.74, Z:104.27 [[ 5.62004634e-01 -5.10884335e-01 -6.50498262e-01 1.93911562e+02] [ 2.99621140e-01 8.58779388e-01 -4.15602137e-01 -4.67389058e+01] [ 7.70959120e-01 3.86672959e-02 6.35709742e-01 1.04270968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:-46.78, Z:104.33 [[ 5.55692908e-01 -4.59026239e-01 -6.93181292e-01 1.93915154e+02] [ 2.87811407e-01 8.88422354e-01 -3.57589589e-01 -4.67806651e+01] [ 7.79980760e-01 -7.95484537e-04 6.25802989e-01 1.04328435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.93, Y:-46.76, Z:104.34 [[ 5.55628578e-01 -4.74218320e-01 -6.82930354e-01 1.93933493e+02] [ 2.87723395e-01 8.80310110e-01 -3.77186105e-01 -4.67605831e+01] [ 7.80059056e-01 1.30803388e-02 6.25569160e-01 1.04343907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:-46.72, Z:104.34 [[ 5.59938267e-01 -5.08930572e-01 -6.53803342e-01 1.93957847e+02] [ 2.97166917e-01 8.59966901e-01 -4.14908125e-01 -4.67163103e+01] [ 7.73408664e-01 3.80342128e-02 6.32765705e-01 1.04337031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:-46.75, Z:104.39 [[ 5.53308974e-01 -4.59953989e-01 -6.94472107e-01 1.93962740e+02] [ 2.84111560e-01 8.87938211e-01 -3.61726907e-01 -4.67544543e+01] [ 7.83026054e-01 2.83919037e-03 6.21982426e-01 1.04392074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.98, Y:-46.74, Z:104.41 [[ 5.53421738e-01 -4.73135801e-01 -6.85468375e-01 1.93980384e+02] [ 2.83318577e-01 8.80849928e-01 -3.79254517e-01 -4.67360499e+01] [ 7.83233658e-01 1.56817694e-02 6.21529660e-01 1.04407921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:-46.73, Z:104.43 [[ 5.53476512e-01 -4.73107214e-01 -6.85443882e-01 1.93995659e+02] [ 2.82773685e-01 8.80854010e-01 -3.79651493e-01 -4.67279082e+01] [ 7.83391852e-01 1.63026918e-02 6.21314275e-01 1.04429091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:-46.70, Z:104.43 [[ 5.57095070e-01 -4.95300991e-01 -6.66574835e-01 1.94016381e+02] [ 2.90291030e-01 8.68177939e-01 -4.02489980e-01 -4.66969897e+01] [ 7.78059253e-01 3.07244881e-02 6.27439085e-01 1.04432514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.03, Y:-46.72, Z:104.48 [[ 5.53520285e-01 -4.66722995e-01 -6.89771657e-01 1.94025919e+02] [ 2.82434739e-01 8.84335853e-01 -3.71726669e-01 -4.67175087e+01] [ 7.83483192e-01 1.09427740e-02 6.21316621e-01 1.04475865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.04, Y:-46.71, Z:104.50 [[ 5.53880441e-01 -4.73993123e-01 -6.84504913e-01 1.94042742e+02] [ 2.84074058e-01 8.80385046e-01 -3.79768484e-01 -4.67064406e+01] [ 7.82635538e-01 1.58962470e-02 6.22277208e-01 1.04496392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.06, Y:-46.70, Z:104.52 [[ 5.53995213e-01 -4.74994145e-01 -6.83717680e-01 1.94058157e+02] [ 2.85734583e-01 8.79860917e-01 -3.79737428e-01 -4.66989380e+01] [ 7.81949520e-01 1.50109307e-02 6.23160991e-01 1.04517668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:-46.68, Z:104.53 [[ 5.55577906e-01 -4.87304376e-01 -6.73696991e-01 1.94074603e+02] [ 2.93027436e-01 8.73021747e-01 -3.89830669e-01 -4.66797282e+01] [ 7.78118315e-01 1.91696044e-02 6.27825146e-01 1.04527958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.09, Y:-46.68, Z:104.56 [[ 5.54089340e-01 -4.79745377e-01 -6.80315645e-01 1.94089366e+02] [ 2.88944130e-01 8.77265347e-01 -3.83297275e-01 -4.66823121e+01] [ 7.80702436e-01 1.58077220e-02 6.24702988e-01 1.04559396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.10, Y:-46.68, Z:104.58 [[ 5.53520829e-01 -4.77976617e-01 -6.82021294e-01 1.94104580e+02] [ 2.90670308e-01 8.78292137e-01 -3.79623095e-01 -4.66769352e+01] [ 7.80464902e-01 1.18859510e-02 6.25086602e-01 1.04583053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:-46.66, Z:104.60 [[ 5.53119614e-01 -4.86246268e-01 -6.76478573e-01 1.94119298e+02] [ 2.98553817e-01 8.73759938e-01 -3.83939044e-01 -4.66623511e+01] [ 7.77768803e-01 1.03989562e-02 6.28464439e-01 1.04596482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:-46.65, Z:104.62 [[ 5.52106380e-01 -4.89665664e-01 -6.74837820e-01 1.94137893e+02] [ 2.94798621e-01 8.71742012e-01 -3.91356151e-01 -4.66542855e+01] [ 7.79918149e-01 1.71289690e-02 6.25647089e-01 1.04622496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:-46.65, Z:104.65 [[ 5.51140307e-01 -4.81389370e-01 -6.81548705e-01 1.94151719e+02] [ 2.95646591e-01 8.76470989e-01 -3.79989078e-01 -4.66528281e+01] [ 7.80280370e-01 7.92974635e-03 6.25379616e-01 1.04647791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.17, Y:-46.64, Z:104.66 [[ 5.51103903e-01 -4.86645420e-01 -6.77835321e-01 1.94166563e+02] [ 2.99810334e-01 8.73562251e-01 -3.83409386e-01 -4.66383469e+01] [ 7.78715771e-01 8.07637532e-03 6.27324892e-01 1.04662971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:-46.62, Z:104.68 [[ 5.50543011e-01 -4.94288272e-01 -6.72741776e-01 1.94183986e+02] [ 2.99735318e-01 8.69170421e-01 -3.93321138e-01 -4.66241272e+01] [ 7.79141279e-01 1.48957329e-02 6.26671353e-01 1.04682626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.20, Y:-46.62, Z:104.70 [[ 5.50286056e-01 -4.94798963e-01 -6.72576570e-01 1.94199743e+02] [ 2.99789561e-01 8.68875519e-01 -3.93930896e-01 -4.66150094e+01] [ 7.79301916e-01 1.51432442e-02 6.26465647e-01 1.04704390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.21, Y:-46.61, Z:104.73 [[ 5.50058304e-01 -4.92840162e-01 -6.74199108e-01 1.94214942e+02] [ 2.99321494e-01 8.70012075e-01 -3.91772423e-01 -4.66082632e+01] [ 7.79642550e-01 1.36953902e-02 6.26075020e-01 1.04727599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:-46.60, Z:104.75 [[ 5.49876176e-01 -4.92428470e-01 -6.74648348e-01 1.94230165e+02] [ 2.99416366e-01 8.70254486e-01 -3.91161053e-01 -4.66003771e+01] [ 7.79734590e-01 1.30893871e-02 6.25973352e-01 1.04749960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:-46.59, Z:104.77 [[ 5.49766083e-01 -4.92940813e-01 -6.74363855e-01 1.94245419e+02] [ 2.99867386e-01 8.69965865e-01 -3.91457461e-01 -4.65913735e+01] [ 7.79638893e-01 1.29903087e-02 6.26094600e-01 1.04771618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:194.26, Y:-46.59, Z:104.80 [[ 5.48647058e-01 -4.90724970e-01 -6.76886556e-01 1.94260671e+02] [ 2.97826636e-01 8.71224937e-01 -3.90213281e-01 -4.65851991e+01] [ 7.81207847e-01 1.24945227e-02 6.24145966e-01 1.04796715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.28, Y:-46.58, Z:104.82 [[ 5.48666733e-01 -4.91509905e-01 -6.76300843e-01 1.94275490e+02] [ 3.00248006e-01 8.70808314e-01 -3.89286546e-01 -4.65760191e+01] [ 7.80266590e-01 1.05305976e-02 6.25358421e-01 1.04816162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.29, Y:-46.56, Z:104.84 [[ 5.48671516e-01 -4.94926479e-01 -6.73800673e-01 1.94291634e+02] [ 3.00872784e-01 8.68837561e-01 -3.93188073e-01 -4.65641460e+01] [ 7.80022522e-01 1.30028118e-02 6.25616329e-01 1.04836243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:-46.56, Z:104.86 [[ 5.48602488e-01 -4.95496937e-01 -6.73437522e-01 1.94307377e+02] [ 3.00926491e-01 8.68505888e-01 -3.93879131e-01 -4.65550034e+01] [ 7.80050356e-01 1.34278805e-02 6.25572645e-01 1.04858229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:-46.53, Z:104.87 [[ 5.51195483e-01 -5.08181021e-01 -6.61767021e-01 1.94327274e+02] [ 3.04455215e-01 8.60938897e-01 -4.07542927e-01 -4.65336803e+01] [ 7.76846550e-01 2.31574001e-02 6.29263993e-01 1.04871393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.34, Y:-46.53, Z:104.90 [[ 5.50818273e-01 -4.99933936e-01 -6.68330225e-01 1.94341414e+02] [ 3.05980127e-01 8.65959853e-01 -3.95587783e-01 -4.65314032e+01] [ 7.76514901e-01 1.34012123e-02 6.29956360e-01 1.04896620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:-46.52, Z:104.92 [[ 5.51203142e-01 -5.04019435e-01 -6.64935715e-01 1.94358227e+02] [ 3.06612884e-01 8.63528618e-01 -4.00383398e-01 -4.65187198e+01] [ 7.75992033e-01 1.68147295e-02 6.30518540e-01 1.04915480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.37, Y:-46.51, Z:104.94 [[ 5.50557313e-01 -5.00662162e-01 -6.68000034e-01 1.94373753e+02] [ 3.06644068e-01 8.65542497e-01 -3.95986871e-01 -4.65131204e+01] [ 7.76438060e-01 1.31752200e-02 6.30055833e-01 1.04939707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.39, Y:-46.50, Z:104.96 [[ 5.50623068e-01 -5.05797366e-01 -6.64065706e-01 1.94390557e+02] [ 3.07775898e-01 8.62488346e-01 -4.01731066e-01 -4.64996178e+01] [ 7.75943447e-01 1.68189731e-02 6.30578218e-01 1.04958660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:-46.50, Z:104.99 [[ 5.48851823e-01 -4.93058038e-01 -6.75022554e-01 1.94403348e+02] [ 3.05751584e-01 8.69976160e-01 -3.86855850e-01 -4.65030625e+01] [ 7.77995916e-01 5.93732322e-03 6.28241278e-01 1.04989613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.41, Y:-46.51, Z:105.02 [[ 5.44950454e-01 -4.80179997e-01 -6.87354475e-01 1.94414497e+02] [ 3.00186650e-01 8.77167478e-01 -3.74786861e-01 -4.65090670e+01] [ 7.82890144e-01 -2.09436686e-03 6.22156440e-01 1.05024197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:-46.50, Z:105.04 [[ 5.44175699e-01 -4.87012785e-01 -6.83148121e-01 1.94431019e+02] [ 3.01497325e-01 8.73392157e-01 -3.82472879e-01 -4.64953210e+01] [ 7.82925393e-01 2.16511502e-03 6.22111840e-01 1.05042931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.46, Y:-46.45, Z:105.04 [[ 5.49797035e-01 -5.24927467e-01 -6.49749471e-01 1.94457255e+02] [ 3.13200923e-01 8.50665113e-01 -4.22225113e-01 -4.64477123e+01] [ 7.74356767e-01 2.86359813e-02 6.32100924e-01 1.05035305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:-46.47, Z:105.07 [[ 5.47916189e-01 -4.96546536e-01 -6.73223133e-01 1.94468309e+02] [ 3.09999682e-01 8.68001596e-01 -3.87909044e-01 -4.64652798e+01] [ 7.76973646e-01 3.84268797e-03 6.29521395e-01 1.05074891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:-46.44, Z:105.09 [[ 5.48508866e-01 -5.13050055e-01 -6.60240612e-01 1.94487258e+02] [ 3.14300733e-01 8.58226511e-01 -4.05786035e-01 -4.64414472e+01] [ 7.74824544e-01 1.50631298e-02 6.31996858e-01 1.05086583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:-46.48, Z:105.14 [[ 5.41712458e-01 -4.67837081e-01 -6.98338083e-01 1.94488649e+02] [ 3.04056428e-01 8.83600975e-01 -3.56088479e-01 -4.64765419e+01] [ 7.83643606e-01 -1.94366175e-02 6.20906528e-01 1.05140930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:-46.41, Z:105.13 [[ 5.47590929e-01 -5.25680497e-01 -6.51002450e-01 1.94518697e+02] [ 3.15059917e-01 8.50292103e-01 -4.21592918e-01 -4.64146741e+01] [ 7.75165417e-01 2.57556800e-02 6.31233096e-01 1.05126418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:-46.46, Z:105.18 [[ 5.41094316e-01 -4.69300395e-01 -6.97835281e-01 1.94519464e+02] [ 3.04960827e-01 8.82823020e-01 -3.57242789e-01 -4.64584127e+01] [ 7.83719232e-01 -1.95103825e-02 6.20808755e-01 1.05184348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.54, Y:-46.43, Z:105.20 [[ 5.40390086e-01 -4.90137129e-01 -6.83918234e-01 1.94537870e+02] [ 3.05155442e-01 8.71644164e-01 -3.83557828e-01 -4.64341324e+01] [ 7.84129270e-01 -1.43052294e-03 6.20595877e-01 1.05197415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:-46.43, Z:105.22 [[ 5.39857793e-01 -4.90635744e-01 -6.83981089e-01 1.94553266e+02] [ 3.05406397e-01 8.71363324e-01 -3.83995952e-01 -4.64250783e+01] [ 7.84398175e-01 -1.58899271e-03 6.20255575e-01 1.05219064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:-46.39, Z:105.22 [[ 5.43374346e-01 -5.19856724e-01 -6.59161063e-01 1.94579080e+02] [ 3.12789553e-01 8.54026311e-01 -4.15694307e-01 -4.63857668e+01] [ 7.79042371e-01 1.96989278e-02 6.26661740e-01 1.05218569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:-46.39, Z:105.25 [[ 5.42645576e-01 -5.02307318e-01 -6.73218491e-01 1.94592565e+02] [ 3.11186882e-01 8.64677541e-01 -3.94329145e-01 -4.63912846e+01] [ 7.80191325e-01 4.48420291e-03 6.25524890e-01 1.05248791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:-46.38, Z:105.27 [[ 5.42195576e-01 -5.04791913e-01 -6.71720985e-01 1.94608321e+02] [ 3.11008155e-01 8.63215065e-01 -3.97660255e-01 -4.63796032e+01] [ 7.80575355e-01 6.69892658e-03 6.25025791e-01 1.05269215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.62, Y:-46.38, Z:105.30 [[ 5.41311349e-01 -4.97883668e-01 -6.77564666e-01 1.94622231e+02] [ 3.08634363e-01 8.67240601e-01 -3.90689864e-01 -4.63769557e+01] [ 7.82129691e-01 2.36511820e-03 6.23111188e-01 1.05297043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:-46.36, Z:105.31 [[ 5.42542245e-01 -5.05346323e-01 -6.71023850e-01 1.94638586e+02] [ 3.09777917e-01 8.62871724e-01 -3.99362029e-01 -4.63606548e+01] [ 7.80823639e-01 8.80240161e-03 6.24689493e-01 1.05313544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.65, Y:-46.35, Z:105.34 [[ 5.42927162e-01 -5.03393162e-01 -6.72179605e-01 1.94653182e+02] [ 3.08927446e-01 8.64018769e-01 -3.97536666e-01 -4.63528259e+01] [ 7.80893034e-01 8.17872534e-03 6.24611222e-01 1.05336229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.66, Y:-46.35, Z:105.36 [[ 5.45452818e-01 -4.93542327e-01 -6.77419512e-01 1.94664410e+02] [ 3.07199058e-01 8.69717892e-01 -3.86289435e-01 -4.63506402e+01] [ 7.79814056e-01 2.60002464e-03 6.26005813e-01 1.05361622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:-46.36, Z:105.40 [[ 5.39699746e-01 -4.77142758e-01 -6.93584149e-01 1.94671388e+02] [ 2.99266108e-01 8.78798199e-01 -3.71690088e-01 -4.63609891e+01] [ 7.86869735e-01 -6.96518258e-03 6.17079821e-01 1.05403067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:-46.30, Z:105.39 [[ 5.46685260e-01 -5.27668204e-01 -6.50154977e-01 1.94699883e+02] [ 3.09603937e-01 8.48809334e-01 -4.28565184e-01 -4.63028418e+01] [ 7.77997833e-01 3.29997286e-02 6.27399704e-01 1.05390732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.71, Y:-46.32, Z:105.43 [[ 5.45766978e-01 -5.01867169e-01 -6.71019933e-01 1.94711829e+02] [ 3.06651377e-01 8.64872949e-01 -3.97441461e-01 -4.63158802e+01] [ 7.79809809e-01 1.11412387e-02 6.25917355e-01 1.05426246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:-46.31, Z:105.45 [[ 5.45645590e-01 -4.98875035e-01 -6.73345817e-01 1.94725771e+02] [ 3.04541504e-01 8.66608870e-01 -3.95276534e-01 -4.63092043e+01] [ 7.80721053e-01 1.06191496e-02 6.24789462e-01 1.05451275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.74, Y:-46.29, Z:105.47 [[ 5.46359300e-01 -5.05355782e-01 -6.67912456e-01 1.94741942e+02] [ 3.06080826e-01 8.62773162e-01 -4.02413965e-01 -4.62930407e+01] [ 7.79619165e-01 1.54274157e-02 6.26063856e-01 1.05468563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:-46.29, Z:105.50 [[ 5.44980911e-01 -4.98011699e-01 -6.74522167e-01 1.94755181e+02] [ 3.04084092e-01 8.67113858e-01 -3.94520496e-01 -4.62909341e+01] [ 7.81363342e-01 9.89467822e-03 6.23997936e-01 1.05495397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.77, Y:-46.28, Z:105.52 [[ 5.44456593e-01 -5.03304690e-01 -6.71007755e-01 1.94771014e+02] [ 3.04508011e-01 8.63995760e-01 -4.00981542e-01 -4.62771991e+01] [ 7.81563746e-01 1.39898076e-02 6.23668499e-01 1.05515489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.77, Y:-46.31, Z:105.56 [[ 5.37867652e-01 -4.65850332e-01 -7.02624976e-01 1.94773642e+02] [ 2.94765995e-01 8.84768657e-01 -3.60967355e-01 -4.63051360e+01] [ 7.89817319e-01 -1.29572866e-02 6.13205277e-01 1.05564774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.80, Y:-46.25, Z:105.56 [[ 5.42657116e-01 -5.19236550e-01 -6.60239850e-01 1.94801982e+02] [ 3.03814691e-01 8.54157616e-01 -4.22032463e-01 -4.62478397e+01] [ 7.83083577e-01 2.84283528e-02 6.21266401e-01 1.05555128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:-46.26, Z:105.59 [[ 5.40374981e-01 -4.97646105e-01 -6.78485987e-01 1.94813537e+02] [ 3.01964156e-01 8.67334219e-01 -3.95662736e-01 -4.62579728e+01] [ 7.85374133e-01 8.92779472e-03 6.18956998e-01 1.05587995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:-46.27, Z:105.63 [[ 5.34647474e-01 -4.72693094e-01 -7.00509328e-01 1.94819546e+02] [ 2.94639674e-01 8.81183965e-01 -3.69732718e-01 -4.62748127e+01] [ 7.92047689e-01 -8.72117622e-03 6.10396920e-01 1.05629255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:-46.25, Z:105.64 [[ 5.34025905e-01 -4.88757418e-01 -6.89878626e-01 1.94836675e+02] [ 2.94964928e-01 8.72407371e-01 -3.89744879e-01 -4.62546417e+01] [ 7.92345899e-01 4.64386281e-03 6.10054432e-01 1.05644345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.86, Y:-46.23, Z:105.66 [[ 5.35582001e-01 -5.02833792e-01 -6.78461567e-01 1.94856303e+02] [ 3.00413711e-01 8.64296419e-01 -4.03414553e-01 -4.62318879e+01] [ 7.89242373e-01 1.22424166e-02 6.13959771e-01 1.05656117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.87, Y:-46.23, Z:105.68 [[ 5.33089109e-01 -4.93493571e-01 -6.87226380e-01 1.94868480e+02] [ 3.00325124e-01 8.69746233e-01 -3.91594574e-01 -4.62329495e+01] [ 7.90961960e-01 2.36345514e-03 6.11860762e-01 1.05683597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:-46.23, Z:105.71 [[ 5.31211903e-01 -4.89138772e-01 -6.91778271e-01 1.94881879e+02] [ 2.96211258e-01 8.72203983e-01 -3.89254549e-01 -4.62304886e+01] [ 7.93771255e-01 1.86413771e-03 6.08213548e-01 1.05711733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.90, Y:-46.22, Z:105.73 [[ 5.31720335e-01 -4.94654031e-01 -6.87452453e-01 1.94897240e+02] [ 2.99595082e-01 8.69083567e-01 -3.93619792e-01 -4.62167132e+01] [ 7.92159247e-01 3.33827332e-03 6.10305320e-01 1.05729347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:-46.21, Z:105.75 [[ 5.31741804e-01 -4.93527265e-01 -6.88245227e-01 1.94911858e+02] [ 2.97024469e-01 8.69714943e-01 -3.94173036e-01 -4.62101953e+01] [ 7.93112299e-01 5.17260879e-03 6.09053467e-01 1.05754432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:-46.20, Z:105.78 [[ 5.32209538e-01 -4.91287203e-01 -6.89485237e-01 1.94926276e+02] [ 2.97489823e-01 8.70992564e-01 -3.90988182e-01 -4.62032896e+01] [ 7.92624005e-01 2.97279906e-03 6.09703493e-01 1.05777655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:-46.20, Z:105.80 [[ 5.31127223e-01 -4.84252974e-01 -6.95271839e-01 1.94937109e+02] [ 2.98162163e-01 8.74915813e-01 -3.81604041e-01 -4.62010950e+01] [ 7.93097218e-01 -4.62346049e-03 6.09077520e-01 1.05803617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.95, Y:-46.19, Z:105.82 [[ 5.32475570e-01 -4.92206403e-01 -6.88623717e-01 1.94952146e+02] [ 2.97050372e-01 8.70467223e-01 -3.92489350e-01 -4.61867286e+01] [ 7.92610147e-01 4.43505922e-03 6.09712626e-01 1.05823335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:-46.17, Z:105.84 [[ 5.35137157e-01 -5.03100970e-01 -6.78614498e-01 1.94971921e+02] [ 2.96586669e-01 8.64072417e-01 -4.06712683e-01 -4.61676121e+01] [ 7.90989615e-01 1.63790553e-02 6.11610298e-01 1.05839235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.98, Y:-46.17, Z:105.87 [[ 5.37185906e-01 -4.90374945e-01 -6.86267962e-01 1.94984907e+02] [ 2.96378059e-01 8.71487330e-01 -3.90729933e-01 -4.61672279e+01] [ 7.89678003e-01 6.49984697e-03 6.13487085e-01 1.05865287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:-46.16, Z:105.89 [[ 5.36371584e-01 -4.89499692e-01 -6.87528600e-01 1.94999528e+02] [ 2.93433224e-01 8.71962476e-01 -3.91890781e-01 -4.61576245e+01] [ 7.91329557e-01 8.45534529e-03 6.11331367e-01 1.05887368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.01, Y:-46.15, Z:105.91 [[ 5.36738333e-01 -4.89108883e-01 -6.87520518e-01 1.95014497e+02] [ 2.92209043e-01 8.72168938e-01 -3.92345789e-01 -4.61478984e+01] [ 7.91533851e-01 9.68731208e-03 6.11048541e-01 1.05909159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:195.03, Y:-46.14, Z:105.93 [[ 5.36521321e-01 -4.88846789e-01 -6.87876216e-01 1.95029063e+02] [ 2.91641638e-01 8.72312988e-01 -3.92447711e-01 -4.61385739e+01] [ 7.91890161e-01 9.94321827e-03 6.10582595e-01 1.05930960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.04, Y:-46.13, Z:105.95 [[ 5.36680108e-01 -4.86700314e-01 -6.89272999e-01 1.95043663e+02] [ 2.90325981e-01 8.73516362e-01 -3.90742868e-01 -4.61312817e+01] [ 7.92265919e-01 9.59006496e-03 6.10100602e-01 1.05953280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.06, Y:-46.12, Z:105.98 [[ 5.36396158e-01 -4.88650302e-01 -6.88113395e-01 1.95059141e+02] [ 2.89570828e-01 8.72397613e-01 -3.93790732e-01 -4.61213777e+01] [ 7.92734443e-01 1.19702701e-02 6.09449600e-01 1.05975021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:-46.12, Z:106.00 [[ 5.34033679e-01 -4.78115170e-01 -6.97290409e-01 1.95068771e+02] [ 2.89597918e-01 8.78296289e-01 -3.80432220e-01 -4.61246535e+01] [ 7.94317994e-01 1.22976699e-03 6.07500956e-01 1.06004649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:-46.10, Z:106.01 [[ 5.36204790e-01 -5.03461538e-01 -6.77503434e-01 1.95091565e+02] [ 2.91425822e-01 8.63710422e-01 -4.11187666e-01 -4.60955534e+01] [ 7.92183952e-01 2.30388011e-02 6.09847358e-01 1.06013734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-46.10, Z:106.04 [[ 5.35535139e-01 -4.91127349e-01 -6.87019681e-01 1.95105151e+02] [ 2.93121513e-01 8.71033567e-01 -3.94183084e-01 -4.60979181e+01] [ 7.92011296e-01 9.71864435e-03 6.10429074e-01 1.06041652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:-46.09, Z:106.06 [[ 5.35325721e-01 -4.92367005e-01 -6.86295202e-01 1.95120684e+02] [ 2.95143457e-01 8.70346521e-01 -3.94191924e-01 -4.60897354e+01] [ 7.91401739e-01 8.46553719e-03 6.11237779e-01 1.06063802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:-46.09, Z:106.09 [[ 5.32951373e-01 -4.88341901e-01 -6.91002910e-01 1.95132646e+02] [ 2.97986838e-01 8.72652341e-01 -3.86887240e-01 -4.60878175e+01] [ 7.91938557e-01 2.82313298e-04 6.10600722e-01 1.06089490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:-46.07, Z:106.10 [[ 5.33552393e-01 -5.05484895e-01 -6.78090602e-01 1.95153407e+02] [ 2.99354507e-01 8.62714127e-01 -4.07567434e-01 -4.60658516e+01] [ 7.91017524e-01 1.44691019e-02 6.11622369e-01 1.06103895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-46.04, Z:106.11 [[ 5.35900761e-01 -5.18702797e-01 -6.66151471e-01 1.95171058e+02] [ 3.07034646e-01 8.54726186e-01 -4.18536586e-01 -4.60445478e+01] [ 7.86473204e-01 1.97624946e-02 6.17308143e-01 1.06113759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:-46.06, Z:106.15 [[ 5.32204481e-01 -4.93169465e-01 -6.88144076e-01 1.95179971e+02] [ 3.04546407e-01 8.69927658e-01 -3.87914109e-01 -4.60604825e+01] [ 7.89942958e-01 -3.12217858e-03 6.13172386e-01 1.06152325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-46.05, Z:106.17 [[ 5.31090828e-01 -5.02992206e-01 -6.81866096e-01 1.95198019e+02] [ 3.03767183e-01 8.64271405e-01 -4.00949421e-01 -4.60462896e+01] [ 7.90991802e-01 5.81201729e-03 6.11799141e-01 1.06172233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:-46.04, Z:106.20 [[ 5.29794747e-01 -4.99829176e-01 -6.85192178e-01 1.95212442e+02] [ 3.05689019e-01 8.66124005e-01 -3.95453451e-01 -4.60413173e+01] [ 7.91120566e-01 5.34365045e-05 6.11660239e-01 1.06195964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-46.03, Z:106.22 [[ 5.26277563e-01 -5.02305212e-01 -6.86091394e-01 1.95228526e+02] [ 3.08532702e-01 8.64684946e-01 -3.96393133e-01 -4.60325408e+01] [ 7.92363237e-01 -3.06881914e-03 6.10041871e-01 1.06217546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-46.01, Z:106.23 [[ 5.26250833e-01 -5.15609865e-01 -6.76170487e-01 1.95244702e+02] [ 3.14015460e-01 8.56818592e-01 -4.08969671e-01 -4.60121430e+01] [ 7.90224242e-01 2.89264308e-03 6.12810966e-01 1.06229225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-46.01, Z:106.26 [[ 5.23837511e-01 -5.10942020e-01 -6.81566221e-01 1.95258981e+02] [ 3.13648130e-01 8.59611596e-01 -4.03351899e-01 -4.60088244e+01] [ 7.91971661e-01 -2.48111566e-03 6.10552809e-01 1.06255556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:-46.00, Z:106.28 [[ 5.23662605e-01 -5.12901423e-01 -6.80227613e-01 1.95274466e+02] [ 3.13676399e-01 8.58447073e-01 -4.05802587e-01 -4.59985714e+01] [ 7.92076128e-01 -8.67708371e-04 6.10421702e-01 1.06277369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-46.00, Z:106.31 [[ 5.21691776e-01 -5.06272512e-01 -6.86677388e-01 1.95289350e+02] [ 3.12078294e-01 8.62350536e-01 -3.98696240e-01 -4.59973647e+01] [ 7.94005560e-01 -6.30055844e-03 6.07877844e-01 1.06305082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-45.99, Z:106.33 [[ 5.21279818e-01 -5.05846643e-01 -6.87303809e-01 1.95303036e+02] [ 3.13055776e-01 8.62586342e-01 -3.97417770e-01 -4.59890781e+01] [ 7.93891323e-01 -7.99856428e-03 6.08007064e-01 1.06326835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-45.98, Z:106.35 [[ 5.20955160e-01 -5.06136292e-01 -6.87336726e-01 1.95317113e+02] [ 3.13001219e-01 8.62417443e-01 -3.97827087e-01 -4.59795107e+01] [ 7.94125908e-01 -7.88715911e-03 6.07702093e-01 1.06348751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:-45.97, Z:106.37 [[ 5.21217975e-01 -5.06259062e-01 -6.87047004e-01 1.95331407e+02] [ 3.12861071e-01 8.62349172e-01 -3.98085237e-01 -4.59702181e+01] [ 7.94008673e-01 -7.46108077e-03 6.07860641e-01 1.06370071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:-45.97, Z:106.40 [[ 5.19284190e-01 -5.00439650e-01 -6.92751100e-01 1.95342045e+02] [ 3.11840192e-01 8.65678676e-01 -3.91607105e-01 -4.59672650e+01] [ 7.95675578e-01 -1.26722580e-02 6.05590446e-01 1.06397427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-45.95, Z:106.41 [[ 5.20729778e-01 -5.14041706e-01 -6.81616918e-01 1.95361785e+02] [ 3.11789535e-01 8.57765141e-01 -4.08688449e-01 -4.59457235e+01] [ 7.94750140e-01 2.95223250e-04 6.06936676e-01 1.06411490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:-45.94, Z:106.44 [[ 5.20507270e-01 -5.05989310e-01 -6.87784123e-01 1.95374517e+02] [ 3.10737694e-01 8.62519963e-01 -3.99376262e-01 -4.59431474e+01] [ 7.95307656e-01 -5.84220489e-03 6.06177863e-01 1.06435709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-45.93, Z:106.46 [[ 5.20865858e-01 -5.05922954e-01 -6.87561432e-01 1.95389510e+02] [ 3.10413824e-01 8.62562244e-01 -3.99536773e-01 -4.59341028e+01] [ 7.95199356e-01 -5.32350923e-03 6.06324702e-01 1.06458106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:-45.92, Z:106.48 [[ 5.21260217e-01 -5.05951400e-01 -6.87241564e-01 1.95404183e+02] [ 3.10142097e-01 8.62548881e-01 -3.99776573e-01 -4.59248344e+01] [ 7.95046958e-01 -4.75491705e-03 6.06529245e-01 1.06479758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:-45.93, Z:106.51 [[ 5.18553643e-01 -4.91358552e-01 -6.99763454e-01 1.95411596e+02] [ 3.07485672e-01 8.70805792e-01 -3.83601139e-01 -4.59300770e+01] [ 7.97843770e-01 -1.62494675e-02 6.02645231e-01 1.06511664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:-45.89, Z:106.52 [[ 5.23073615e-01 -5.20257127e-01 -6.75075192e-01 1.95435499e+02] [ 3.07815049e-01 8.53929840e-01 -4.19587564e-01 -4.58939820e+01] [ 7.94760271e-01 1.16768802e-02 6.06811141e-01 1.06517691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:-45.90, Z:106.55 [[ 5.23354833e-01 -5.04587147e-01 -6.86652408e-01 1.95447565e+02] [ 3.07285213e-01 8.63359402e-01 -4.00232859e-01 -4.58971857e+01] [ 7.94780169e-01 -1.53432974e-03 6.06895485e-01 1.06545911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:-45.89, Z:106.57 [[ 5.23685491e-01 -5.04316218e-01 -6.86599344e-01 1.95462084e+02] [ 3.06322360e-01 8.63518896e-01 -4.00626670e-01 -4.58880265e+01] [ 7.94934034e-01 -5.18357193e-04 6.06695651e-01 1.06568140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-45.90, Z:106.61 [[ 5.19858357e-01 -4.82647945e-01 -7.04839166e-01 1.95468295e+02] [ 3.01349550e-01 8.75664080e-01 -3.77360396e-01 -4.58995191e+01] [ 7.99334559e-01 -1.62290098e-02 6.00667031e-01 1.06605962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:-45.86, Z:106.61 [[ 5.24800361e-01 -5.20982794e-01 -6.73172719e-01 1.95493814e+02] [ 3.03522737e-01 8.53375285e-01 -4.23821391e-01 -4.58559084e+01] [ 7.95272614e-01 1.80983930e-02 6.05981781e-01 1.06605254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:-45.86, Z:106.63 [[ 5.25047171e-01 -5.02827106e-01 -6.86651563e-01 1.95505800e+02] [ 3.02351159e-01 8.64380535e-01 -4.01783608e-01 -4.58602142e+01] [ 7.95555934e-01 3.34545089e-03 6.05870913e-01 1.06633460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:-45.86, Z:106.66 [[ 5.23278127e-01 -4.91986178e-01 -6.95794225e-01 1.95514914e+02] [ 2.97922297e-01 8.70599670e-01 -3.91533549e-01 -4.58601681e+01] [ 7.98387316e-01 -2.41167154e-03 6.02139417e-01 1.06662122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:-45.83, Z:106.67 [[ 5.25972028e-01 -5.12130786e-01 -6.79025392e-01 1.95535644e+02] [ 2.98751383e-01 8.58756778e-01 -4.16274437e-01 -4.58327027e+01] [ 7.96304613e-01 1.60889349e-02 6.04681825e-01 1.06672922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:-45.83, Z:106.70 [[ 5.25986518e-01 -5.01434568e-01 -6.86950913e-01 1.95549014e+02] [ 2.98601430e-01 8.65168927e-01 -4.02889457e-01 -4.58313810e+01] [ 7.96351285e-01 6.78989782e-03 6.04796270e-01 1.06698951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:-45.82, Z:106.72 [[ 5.26015085e-01 -5.01685530e-01 -6.86745776e-01 1.95563865e+02] [ 2.98622695e-01 8.65021702e-01 -4.03189708e-01 -4.58221503e+01] [ 7.96324442e-01 7.00599395e-03 6.04829149e-01 1.06721100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:-45.84, Z:106.76 [[ 5.21091765e-01 -4.75499836e-01 -7.08775901e-01 1.95568759e+02] [ 2.93620031e-01 8.79618339e-01 -3.74244378e-01 -4.58393376e+01] [ 8.01405421e-01 -1.30951382e-02 5.97978150e-01 1.06763125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-45.79, Z:106.76 [[ 5.26511727e-01 -5.21292991e-01 -6.71594386e-01 1.95595790e+02] [ 2.99081298e-01 8.53031636e-01 -4.27653369e-01 -4.57909080e+01] [ 7.95823962e-01 2.43031932e-02 6.05040145e-01 1.06757487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:-45.80, Z:106.79 [[ 5.25877864e-01 -5.03013311e-01 -6.85879057e-01 1.95607867e+02] [ 2.99898836e-01 8.64252670e-01 -4.03891087e-01 -4.57973962e+01] [ 7.95935399e-01 6.70305078e-03 6.05344455e-01 1.06786120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:-45.79, Z:106.81 [[ 5.25626587e-01 -5.03485872e-01 -6.85724921e-01 1.95622929e+02] [ 3.00411141e-01 8.63979730e-01 -4.04094261e-01 -4.57889065e+01] [ 7.95908184e-01 6.40328156e-03 6.05383482e-01 1.06808029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:-45.78, Z:106.83 [[ 5.25087732e-01 -5.04037677e-01 -6.85732377e-01 1.95637443e+02] [ 3.00745947e-01 8.63659540e-01 -4.04529449e-01 -4.57804873e+01] [ 7.96137393e-01 6.18221782e-03 6.05084318e-01 1.06828980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.65, Y:-45.77, Z:106.85 [[ 5.24209897e-01 -5.04727255e-01 -6.85896772e-01 1.95653582e+02] [ 3.01239159e-01 8.63260088e-01 -4.05014803e-01 -4.57718401e+01] [ 7.96529317e-01 5.69380147e-03 6.04573095e-01 1.06850917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.67, Y:-45.76, Z:106.87 [[ 5.23376573e-01 -5.05537614e-01 -6.85936356e-01 1.95668598e+02] [ 3.01979444e-01 8.62789656e-01 -4.05465689e-01 -4.57638399e+01] [ 7.96796949e-01 5.07256386e-03 6.04225861e-01 1.06872574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:-45.76, Z:106.89 [[ 5.22622091e-01 -5.06557810e-01 -6.85758948e-01 1.95683920e+02] [ 3.03293865e-01 8.62196414e-01 -4.05746442e-01 -4.57555307e+01] [ 7.96792935e-01 4.06557259e-03 6.04238769e-01 1.06894576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.70, Y:-45.75, Z:106.92 [[ 5.21249486e-01 -5.07951977e-01 -6.85772384e-01 1.95698638e+02] [ 3.05013556e-01 8.61381599e-01 -4.06187728e-01 -4.57488091e+01] [ 7.97035572e-01 2.55527095e-03 6.03926955e-01 1.06916166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:-45.74, Z:106.94 [[ 5.20675008e-01 -5.08930789e-01 -6.85483033e-01 1.95713423e+02] [ 3.06346682e-01 8.60805938e-01 -4.06404784e-01 -4.57405313e+01] [ 7.96899772e-01 1.60936116e-03 6.04109397e-01 1.06937506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:-45.73, Z:106.96 [[ 5.19837550e-01 -5.09791294e-01 -6.85479218e-01 1.95728357e+02] [ 3.07266763e-01 8.60297701e-01 -4.06786186e-01 -4.57323811e+01] [ 7.97092252e-01 8.37753746e-04 6.03856970e-01 1.06959283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:-45.72, Z:106.98 [[ 5.19087867e-01 -5.10866829e-01 -6.85246576e-01 1.95743202e+02] [ 3.08671664e-01 8.59659839e-01 -4.07070958e-01 -4.57239315e+01] [ 7.97038011e-01 -2.10605023e-04 6.03929106e-01 1.06980640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.76, Y:-45.72, Z:107.00 [[ 5.18170914e-01 -5.11795755e-01 -6.85247407e-01 1.95758292e+02] [ 3.09620479e-01 8.59106571e-01 -4.07518171e-01 -4.57152687e+01] [ 7.97266620e-01 -1.00256753e-03 6.03626484e-01 1.07002950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-45.71, Z:107.02 [[ 5.17222184e-01 -5.12835455e-01 -6.85186842e-01 1.95773063e+02] [ 3.10831050e-01 8.58484596e-01 -4.07907167e-01 -4.57065065e+01] [ 7.97411607e-01 -1.99871040e-03 6.03432461e-01 1.07024776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:-45.70, Z:107.05 [[ 5.15443446e-01 -5.14747526e-01 -6.85093452e-01 1.95787268e+02] [ 3.13521349e-01 8.57330783e-01 -4.08274775e-01 -4.56979800e+01] [ 7.97510137e-01 -4.34886643e-03 6.03289872e-01 1.07047524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:-45.69, Z:107.07 [[ 5.14932460e-01 -5.15974379e-01 -6.84554601e-01 1.95801651e+02] [ 3.15421906e-01 8.56585463e-01 -4.08375276e-01 -4.56891985e+01] [ 7.97090699e-01 -5.63783142e-03 6.03833282e-01 1.07069740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.82, Y:-45.68, Z:107.09 [[ 5.14143187e-01 -5.17717830e-01 -6.83831143e-01 1.95815556e+02] [ 3.18320493e-01 8.55516612e-01 -4.08366736e-01 -4.56807133e+01] [ 7.96447643e-01 -7.71849119e-03 6.04658232e-01 1.07091155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:-45.67, Z:107.11 [[ 5.12895184e-01 -5.19688380e-01 -6.83273385e-01 1.95829896e+02] [ 3.21438717e-01 8.54295913e-01 -4.08479673e-01 -4.56721718e+01] [ 7.95999800e-01 -1.01232633e-02 6.05212226e-01 1.07113189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.84, Y:-45.66, Z:107.14 [[ 5.11599652e-01 -5.21874837e-01 -6.82577798e-01 1.95844492e+02] [ 3.25055544e-01 8.52924587e-01 -4.08483221e-01 -4.56632324e+01] [ 7.95364501e-01 -1.28958238e-02 6.05994231e-01 1.07135359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:-45.65, Z:107.16 [[ 5.08375208e-01 -5.26178520e-01 -6.81682340e-01 1.95858561e+02] [ 3.32359178e-01 8.50162706e-01 -4.08363503e-01 -4.56531741e+01] [ 7.94413006e-01 -1.89615016e-02 6.07081903e-01 1.07156367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:-45.64, Z:107.18 [[ 5.06721967e-01 -5.28117809e-01 -6.81413551e-01 1.95872895e+02] [ 3.35401433e-01 8.48897695e-01 -4.08507751e-01 -4.56428643e+01] [ 7.94190611e-01 -2.15472303e-02 6.07286580e-01 1.07178533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:-45.63, Z:107.20 [[ 5.05508516e-01 -5.30019227e-01 -6.80838277e-01 1.95887321e+02] [ 3.38469291e-01 8.47648567e-01 -4.08571225e-01 -4.56323271e+01] [ 7.93662194e-01 -2.39066150e-02 6.07888801e-01 1.07200570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.90, Y:-45.62, Z:107.22 [[ 5.02202006e-01 -5.33205609e-01 -6.80797270e-01 1.95900847e+02] [ 3.43322417e-01 8.45510319e-01 -4.08952342e-01 -4.56208050e+01] [ 7.93676800e-01 -2.83562774e-02 6.07678417e-01 1.07222198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:-45.63, Z:107.26 [[ 4.97381793e-01 -5.19443553e-01 -6.94830732e-01 1.95909403e+02] [ 3.41724711e-01 8.53484007e-01 -3.93432677e-01 -4.56268283e+01] [ 7.97392986e-01 -4.17545806e-02 6.02014104e-01 1.07257499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:-45.59, Z:107.26 [[ 4.98699765e-01 -5.45057960e-01 -6.73951308e-01 1.95930799e+02] [ 3.47960691e-01 8.38028028e-01 -4.20276553e-01 -4.55935950e+01] [ 7.93865166e-01 -2.49167446e-02 6.07583125e-01 1.07262491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:-45.59, Z:107.29 [[ 4.97492601e-01 -5.38316606e-01 -6.80232566e-01 1.95944153e+02] [ 3.50911743e-01 8.42020800e-01 -4.09709557e-01 -4.55896810e+01] [ 7.93323427e-01 -3.48741220e-02 6.07800736e-01 1.07288011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:-45.58, Z:107.31 [[ 4.96468267e-01 -5.39957910e-01 -6.79679863e-01 1.95957928e+02] [ 3.53513445e-01 8.40886210e-01 -4.09803155e-01 -4.55794051e+01] [ 7.92809879e-01 -3.68217078e-02 6.08355700e-01 1.07309354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.98, Y:-45.55, Z:107.32 [[ 4.96861025e-01 -5.62835091e-01 -6.60564745e-01 1.95977173e+02] [ 3.63230168e-01 8.26162416e-01 -4.30719755e-01 -4.55465555e+01] [ 7.88157958e-01 -2.59291843e-02 6.14926589e-01 1.07316608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.99, Y:-45.54, Z:107.34 [[ 4.97505190e-01 -5.60571645e-01 -6.62003034e-01 1.95992198e+02] [ 3.67524367e-01 8.27483050e-01 -4.24496928e-01 -4.55358067e+01] [ 7.85757231e-01 -3.21128214e-02 6.17700851e-01 1.07337109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-45.56, Z:107.38 [[ 4.94090827e-01 -5.26882749e-01 -6.91569825e-01 1.95995841e+02] [ 3.62655760e-01 8.47841038e-01 -3.86841536e-01 -4.55574960e+01] [ 7.90161411e-01 -5.96669263e-02 6.09987543e-01 1.07382156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:-45.53, Z:107.40 [[ 4.92886279e-01 -5.45628477e-01 -6.77755620e-01 1.96010828e+02] [ 3.63013084e-01 8.36866781e-01 -4.09726118e-01 -4.55325741e+01] [ 7.90749402e-01 -4.40857764e-02 6.10550430e-01 1.07395973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.04, Y:-45.45, Z:107.37 [[ 4.99003457e-01 -6.14137909e-01 -6.11416535e-01 1.96035720e+02] [ 3.81511794e-01 7.89168439e-01 -4.81312711e-01 -4.54461656e+01] [ 7.78103014e-01 6.91408764e-03 6.28098635e-01 1.07367393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.04, Y:-45.48, Z:107.42 [[ 5.01115573e-01 -5.62574836e-01 -6.57565766e-01 1.96044501e+02] [ 3.74561610e-01 8.25996068e-01 -4.21229269e-01 -4.54818018e+01] [ 7.80119724e-01 -3.52143458e-02 6.24638428e-01 1.07416616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.04, Y:-45.51, Z:107.47 [[ 4.97012874e-01 -5.17590523e-01 -6.96475594e-01 1.96043702e+02] [ 3.60710074e-01 8.53230611e-01 -3.76677273e-01 -4.55141929e+01] [ 7.89218883e-01 -6.40123092e-02 6.10766714e-01 1.07472209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:-45.48, Z:107.48 [[ 4.97708068e-01 -5.42528101e-01 -6.76719986e-01 1.96059324e+02] [ 3.57378427e-01 8.39186009e-01 -4.09935972e-01 -4.54821031e+01] [ 7.90295729e-01 -3.78166833e-02 6.11557487e-01 1.07484501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:-45.46, Z:107.50 [[ 5.01308066e-01 -5.52767437e-01 -6.65686400e-01 1.96076506e+02] [ 3.57421574e-01 8.32925463e-01 -4.22474840e-01 -4.54572173e+01] [ 7.87997488e-01 -2.61406356e-02 6.15123261e-01 1.07498806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:-45.45, Z:107.52 [[ 5.04560170e-01 -5.41625807e-01 -6.72354460e-01 1.96089019e+02] [ 3.54045904e-01 8.40060656e-01 -4.11034782e-01 -4.54502714e+01] [ 7.87445574e-01 -3.06525632e-02 6.15621546e-01 1.07524675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:-45.42, Z:107.53 [[ 5.12379174e-01 -5.53280474e-01 -6.56771116e-01 1.96101527e+02] [ 3.50063706e-01 8.32931147e-01 -4.28580339e-01 -4.54150456e+01] [ 7.84170252e-01 -1.03160909e-02 6.20459986e-01 1.07532804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:-45.40, Z:107.55 [[ 5.17093289e-01 -5.53081298e-01 -6.53234727e-01 1.96116806e+02] [ 3.45717256e-01 8.33123252e-01 -4.31723552e-01 -4.53974271e+01] [ 7.83003263e-01 -2.59316567e-03 6.22012191e-01 1.07551654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:-45.43, Z:107.60 [[ 5.15154572e-01 -5.04016422e-01 -6.93241093e-01 1.96118469e+02] [ 3.32184699e-01 8.63016052e-01 -3.80600340e-01 -4.54261143e+01] [ 7.90107013e-01 -3.42160787e-02 6.12013209e-01 1.07599421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-45.37, Z:107.60 [[ 5.23637776e-01 -5.46474234e-01 -6.53581970e-01 1.96138168e+02] [ 3.27738481e-01 8.37343180e-01 -4.37543012e-01 -4.53685319e+01] [ 7.86378387e-01 1.49100872e-02 6.17565156e-01 1.07597261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-45.39, Z:107.64 [[ 5.22797938e-01 -5.01933550e-01 -6.89017436e-01 1.96143305e+02] [ 3.17929235e-01 8.64761256e-01 -3.88727374e-01 -4.53922658e+01] [ 7.90950894e-01 -1.58329168e-02 6.11674751e-01 1.07639790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:-45.37, Z:107.66 [[ 5.22772434e-01 -5.20884847e-01 -6.74824391e-01 1.96159399e+02] [ 3.18033926e-01 8.53626321e-01 -4.12524577e-01 -4.53693912e+01] [ 7.90925663e-01 1.03942659e-03 6.11911362e-01 1.07655996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.17, Y:-45.36, Z:107.68 [[ 5.24549274e-01 -5.19108542e-01 -6.74814330e-01 1.96172871e+02] [ 3.14637930e-01 8.54697661e-01 -4.12910257e-01 -4.53571431e+01] [ 7.91107472e-01 4.26959166e-03 6.11662275e-01 1.07678289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:-45.35, Z:107.70 [[ 5.26596380e-01 -5.17814581e-01 -6.74213848e-01 1.96186719e+02] [ 3.12453603e-01 8.55465752e-01 -4.12978322e-01 -4.53457282e+01] [ 7.90613053e-01 6.81234329e-03 6.12278199e-01 1.07700195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:-45.34, Z:107.72 [[ 5.27833772e-01 -5.16951453e-01 -6.73908528e-01 1.96199571e+02] [ 3.10731455e-01 8.55970370e-01 -4.13232003e-01 -4.53355785e+01] [ 7.90466616e-01 8.71322946e-03 6.12443147e-01 1.07721570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-45.33, Z:107.74 [[ 5.28730839e-01 -5.16652928e-01 -6.73434074e-01 1.96213601e+02] [ 3.10123270e-01 8.56140016e-01 -4.13337430e-01 -4.53251230e+01] [ 7.90105852e-01 9.69666922e-03 6.12893724e-01 1.07743574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:-45.31, Z:107.77 [[ 5.29028351e-01 -5.16928549e-01 -6.72988766e-01 1.96226944e+02] [ 3.10378511e-01 8.55971656e-01 -4.13494502e-01 -4.53149754e+01] [ 7.89806422e-01 9.86906381e-03 6.13276787e-01 1.07765144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:-45.31, Z:107.79 [[ 5.28993248e-01 -5.17729063e-01 -6.72400744e-01 1.96241762e+02] [ 3.11655329e-01 8.55495250e-01 -4.13520051e-01 -4.53053868e+01] [ 7.89326991e-01 9.19203927e-03 6.13904233e-01 1.07787139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:-45.30, Z:107.81 [[ 5.28476671e-01 -5.18723229e-01 -6.72040639e-01 1.96256627e+02] [ 3.13001476e-01 8.54901965e-01 -4.13730233e-01 -4.52957693e+01] [ 7.89140345e-01 8.29706461e-03 6.14156881e-01 1.07809334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:-45.29, Z:107.83 [[ 5.27655425e-01 -5.19877384e-01 -6.71794060e-01 1.96270759e+02] [ 3.14501687e-01 8.54210723e-01 -4.14020205e-01 -4.52868008e+01] [ 7.89093430e-01 7.17964215e-03 6.14231236e-01 1.07830614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:-45.28, Z:107.85 [[ 5.26134344e-01 -5.22054247e-01 -6.71298753e-01 1.96285164e+02] [ 3.17918293e-01 8.52900621e-01 -4.14111686e-01 -4.52771802e+01] [ 7.88739888e-01 4.46022622e-03 6.14710904e-01 1.07852427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.30, Y:-45.27, Z:107.87 [[ 5.23489440e-01 -5.24669035e-01 -6.71327945e-01 1.96298384e+02] [ 3.21412685e-01 8.51305275e-01 -4.14696532e-01 -4.52661273e+01] [ 7.89083451e-01 1.31593761e-03 6.14284605e-01 1.07872521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:-45.25, Z:107.89 [[ 5.22273701e-01 -5.31863218e-01 -6.66597103e-01 1.96313628e+02] [ 3.23155972e-01 8.46814144e-01 -4.22464227e-01 -4.52522626e+01] [ 7.89177039e-01 5.22712083e-03 6.14143532e-01 1.07891988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.33, Y:-45.24, Z:107.91 [[ 5.20810676e-01 -5.32737570e-01 -6.67043417e-01 1.96328773e+02] [ 3.24638517e-01 8.46273473e-01 -4.22410987e-01 -4.52432517e+01] [ 7.89535352e-01 3.44816600e-03 6.13695395e-01 1.07914193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-45.24, Z:107.94 [[ 5.17857722e-01 -5.34077837e-01 -6.68269589e-01 1.96344078e+02] [ 3.26776925e-01 8.45435221e-01 -4.22440681e-01 -4.52350034e+01] [ 7.90594853e-01 3.89087201e-04 6.12339471e-01 1.07936671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.1 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:-45.23, Z:107.96 [[ 5.16584965e-01 -5.34659391e-01 -6.68789436e-01 1.96359078e+02] [ 3.27626547e-01 8.45067228e-01 -4.22518906e-01 -4.52263802e+01] [ 7.91075736e-01 -8.46259021e-04 6.11717635e-01 1.07959689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-45.21, Z:107.98 [[ 5.16675869e-01 -5.38228971e-01 -6.65849548e-01 1.96374270e+02] [ 3.30943058e-01 8.42798003e-01 -4.24462270e-01 -4.52143583e+01] [ 7.89634560e-01 -1.04887320e-03 6.13576532e-01 1.07978373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:-45.20, Z:108.00 [[ 5.15251919e-01 -5.43627069e-01 -6.62559484e-01 1.96389722e+02] [ 3.32181402e-01 8.39325274e-01 -4.30335450e-01 -4.52014342e+01] [ 7.90044920e-01 1.64122804e-03 6.13046760e-01 1.07998630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:-45.19, Z:108.02 [[ 5.14688880e-01 -5.42227069e-01 -6.64142426e-01 1.96404734e+02] [ 3.33648863e-01 8.40230472e-01 -4.27423901e-01 -4.51938342e+01] [ 7.89793513e-01 -1.60003675e-03 6.13370726e-01 1.08020736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:-45.18, Z:108.04 [[ 5.13649358e-01 -5.47021780e-01 -6.61007949e-01 1.96419358e+02] [ 3.37331032e-01 8.37116472e-01 -4.30631847e-01 -4.51818781e+01] [ 7.88905642e-01 -1.78472157e-03 6.14511760e-01 1.08040038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:-45.17, Z:108.06 [[ 5.12867704e-01 -5.46827369e-01 -6.61775300e-01 1.96434548e+02] [ 3.38005539e-01 8.37239188e-01 -4.29863698e-01 -4.51738040e+01] [ 7.89125449e-01 -3.22050929e-03 6.14223619e-01 1.08063680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:-45.16, Z:108.09 [[ 5.12529587e-01 -5.47546868e-01 -6.61442249e-01 1.96448922e+02] [ 3.39170192e-01 8.36765355e-01 -4.29868959e-01 -4.51647913e+01] [ 7.88845361e-01 -4.02093427e-03 6.14578578e-01 1.08085707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.46, Y:-45.16, Z:108.11 [[ 5.11924473e-01 -5.44888727e-01 -6.64100601e-01 1.96462761e+02] [ 3.39201553e-01 8.38479700e-01 -4.26490444e-01 -4.51598705e+01] [ 7.89224709e-01 -6.93305913e-03 6.14065381e-01 1.08110483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-45.15, Z:108.13 [[ 5.11824465e-01 -5.47473887e-01 -6.62048383e-01 1.96477300e+02] [ 3.40082866e-01 8.36804414e-01 -4.29071110e-01 -4.51495350e+01] [ 7.88910237e-01 -5.54222007e-03 6.14483459e-01 1.08132176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:-45.15, Z:108.16 [[ 5.10895359e-01 -5.36389245e-01 -6.71768197e-01 1.96491617e+02] [ 3.35507436e-01 8.43892513e-01 -4.18664767e-01 -4.51523730e+01] [ 7.91467430e-01 -1.14893389e-02 6.11103348e-01 1.08164267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:-45.13, Z:108.17 [[ 5.12575634e-01 -5.50283125e-01 -6.59131779e-01 1.96507412e+02] [ 3.41288920e-01 8.34969997e-01 -4.31679253e-01 -4.51278235e+01] [ 7.87901068e-01 -3.68610555e-03 6.15790809e-01 1.08174631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:-45.12, Z:108.20 [[ 5.13747544e-01 -5.52320372e-01 -6.56510219e-01 1.96523109e+02] [ 3.41766266e-01 8.33630648e-01 -4.33884503e-01 -4.51156165e+01] [ 7.86930289e-01 -1.46594858e-03 6.17040170e-01 1.08195272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-45.13, Z:108.23 [[ 5.11976144e-01 -5.30561955e-01 -6.75562314e-01 1.96535467e+02] [ 3.34194961e-01 8.47519360e-01 -4.12340469e-01 -4.51281279e+01] [ 7.91324306e-01 -1.46610379e-02 6.11220825e-01 1.08233940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:-45.10, Z:108.24 [[ 5.15128259e-01 -5.48578857e-01 -6.58562157e-01 1.96550342e+02] [ 3.39664450e-01 8.36096917e-01 -4.30778374e-01 -4.50994390e+01] [ 7.86937697e-01 -1.78403883e-03 6.17029885e-01 1.08241465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-45.11, Z:108.28 [[ 5.13983006e-01 -5.32941608e-01 -6.72156762e-01 1.96563684e+02] [ 3.32023370e-01 8.46105683e-01 -4.16972007e-01 -4.51069232e+01] [ 7.90937388e-01 -8.85522778e-03 6.11833011e-01 1.08276946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:-45.10, Z:108.30 [[ 5.13999410e-01 -5.32411504e-01 -6.72564195e-01 1.96578075e+02] [ 3.31251669e-01 8.46442982e-01 -4.16901199e-01 -4.50973929e+01] [ 7.91250237e-01 -8.50104185e-03 6.11433393e-01 1.08299513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:-45.09, Z:108.32 [[ 5.14160144e-01 -5.32219350e-01 -6.72593421e-01 1.96592522e+02] [ 3.30363971e-01 8.46572210e-01 -4.17342953e-01 -4.50874404e+01] [ 7.91516894e-01 -7.61952083e-03 6.11099787e-01 1.08321593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:-45.08, Z:108.34 [[ 5.14662650e-01 -5.31758684e-01 -6.72573460e-01 1.96606228e+02] [ 3.29050672e-01 8.46872491e-01 -4.17771036e-01 -4.50773285e+01] [ 7.91737338e-01 -6.29960023e-03 6.10829193e-01 1.08342378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:-45.07, Z:108.36 [[ 5.14671654e-01 -5.31800707e-01 -6.72533343e-01 1.96620361e+02] [ 3.28638288e-01 8.46849574e-01 -4.18141931e-01 -4.50679170e+01] [ 7.91902750e-01 -5.81440695e-03 6.10619544e-01 1.08364024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.63, Y:-45.06, Z:108.39 [[ 5.15088916e-01 -5.31822124e-01 -6.72196874e-01 1.96634554e+02] [ 3.28435433e-01 8.46839497e-01 -4.18321685e-01 -4.50585677e+01] [ 7.91715590e-01 -5.30040777e-03 6.10866868e-01 1.08386075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:-45.05, Z:108.41 [[ 5.14778330e-01 -5.31991024e-01 -6.72301140e-01 1.96648662e+02] [ 3.28058626e-01 8.46735520e-01 -4.18827528e-01 -4.50492411e+01] [ 7.92073740e-01 -4.95085278e-03 6.10405340e-01 1.08408328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.66, Y:-45.04, Z:108.43 [[ 5.14813795e-01 -5.32159332e-01 -6.72140760e-01 1.96662347e+02] [ 3.27894189e-01 8.46631737e-01 -4.19165961e-01 -4.50399640e+01] [ 7.92118777e-01 -4.59863042e-03 6.10349650e-01 1.08429238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:-45.03, Z:108.45 [[ 5.14363612e-01 -5.32439609e-01 -6.72263443e-01 1.96676606e+02] [ 3.27745362e-01 8.46456109e-01 -4.19636787e-01 -4.50306136e+01] [ 7.92472745e-01 -4.48533237e-03 6.09890835e-01 1.08451425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:-45.02, Z:108.47 [[ 5.13648200e-01 -5.33072339e-01 -6.72309012e-01 1.96690585e+02] [ 3.28186644e-01 8.46055710e-01 -4.20099110e-01 -4.50206901e+01] [ 7.92754094e-01 -4.85968709e-03 6.09522215e-01 1.08473706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.70, Y:-45.01, Z:108.50 [[ 5.13635551e-01 -5.33568870e-01 -6.71924685e-01 1.96704714e+02] [ 3.28743519e-01 8.45741770e-01 -4.20295798e-01 -4.50110978e+01] [ 7.92531526e-01 -5.01202118e-03 6.09810348e-01 1.08495726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:-45.00, Z:108.52 [[ 5.13585613e-01 -5.34062276e-01 -6.71570773e-01 1.96718183e+02] [ 3.29268743e-01 8.45429407e-01 -4.20513035e-01 -4.50020424e+01] [ 7.92345829e-01 -5.15781980e-03 6.10050394e-01 1.08517154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:-45.00, Z:108.54 [[ 5.12304974e-01 -5.26202156e-01 -6.78715629e-01 1.96728880e+02] [ 3.30254310e-01 8.50241720e-01 -4.09903778e-01 -4.49985160e+01] [ 7.92764596e-01 -1.41530172e-02 6.09363593e-01 1.08542326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:-44.97, Z:108.56 [[ 5.14508719e-01 -5.47541398e-01 -6.59908475e-01 1.96746941e+02] [ 3.28520244e-01 8.36734154e-01 -4.38121451e-01 -4.49726554e+01] [ 7.92057591e-01 8.62401301e-03 6.10385451e-01 1.08556626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.76, Y:-44.97, Z:108.58 [[ 5.14733825e-01 -5.33692943e-01 -6.70985046e-01 1.96761246e+02] [ 3.27896492e-01 8.45672046e-01 -4.21096996e-01 -4.49725846e+01] [ 7.92169792e-01 -3.26077534e-03 6.10292052e-01 1.08583210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:-44.96, Z:108.60 [[ 5.14892720e-01 -5.33412758e-01 -6.71085924e-01 1.96775641e+02] [ 3.26774559e-01 8.45852197e-01 -4.21606983e-01 -4.49624823e+01] [ 7.92530047e-01 -2.21144025e-03 6.09828857e-01 1.08604784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:-44.95, Z:108.63 [[ 5.15179482e-01 -5.32971259e-01 -6.71216610e-01 1.96789183e+02] [ 3.25358185e-01 8.46132857e-01 -4.22138887e-01 -4.49528828e+01] [ 7.92926322e-01 -9.08524534e-04 6.09316849e-01 1.08625707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:-44.94, Z:108.65 [[ 5.16013155e-01 -5.31863193e-01 -6.71455112e-01 1.96802102e+02] [ 3.23223451e-01 8.46829788e-01 -4.22381240e-01 -4.49434741e+01] [ 7.93257225e-01 9.24237953e-04 6.08885967e-01 1.08645815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:-44.93, Z:108.67 [[ 5.16297263e-01 -5.34733194e-01 -6.68952575e-01 1.96816924e+02] [ 3.21010910e-01 8.44999079e-01 -4.27701475e-01 -4.49303018e+01] [ 7.93970486e-01 6.08002655e-03 6.07925901e-01 1.08668645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:-44.92, Z:108.69 [[ 5.16897200e-01 -5.30876505e-01 -6.71555970e-01 1.96831306e+02] [ 3.20352771e-01 8.47441165e-01 -4.23340967e-01 -4.49235457e+01] [ 7.93845946e-01 3.68894467e-03 6.08107725e-01 1.08692235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.84, Y:-44.90, Z:108.70 [[ 5.18255853e-01 -5.44900684e-01 -6.59161676e-01 1.96844224e+02] [ 3.25508005e-01 8.38414776e-01 -4.37155810e-01 -4.49005421e+01] [ 7.90857389e-01 1.19961545e-02 6.11882900e-01 1.08701914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:-44.90, Z:108.73 [[ 5.17745279e-01 -5.35163253e-01 -6.67487916e-01 1.96860022e+02] [ 3.18925207e-01 8.44693198e-01 -4.29860575e-01 -4.49020996e+01] [ 7.93868086e-01 9.67956195e-03 6.08012967e-01 1.08734844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:-44.90, Z:108.76 [[ 5.18100466e-01 -5.30030739e-01 -6.71296747e-01 1.96874444e+02] [ 3.18392202e-01 8.47958408e-01 -4.23784078e-01 -4.48968309e+01] [ 7.93850309e-01 5.82707902e-03 6.08085300e-01 1.08758861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:-44.89, Z:108.78 [[ 5.18505363e-01 -5.30226533e-01 -6.70829347e-01 1.96888805e+02] [ 3.18543854e-01 8.47833959e-01 -4.23919087e-01 -4.48876765e+01] [ 7.93525048e-01 6.11575448e-03 6.08506857e-01 1.08779529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:-44.88, Z:108.80 [[ 5.18526835e-01 -5.30307434e-01 -6.70748796e-01 1.96903708e+02] [ 3.18238501e-01 8.47780270e-01 -4.24255666e-01 -4.48781252e+01] [ 7.93633528e-01 6.52985613e-03 6.08361064e-01 1.08801771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.92, Y:-44.87, Z:108.82 [[ 5.19093041e-01 -5.30058380e-01 -6.70507665e-01 1.96918037e+02] [ 3.17473040e-01 8.47927943e-01 -4.24533948e-01 -4.48688999e+01] [ 7.93569961e-01 7.50451160e-03 6.08432740e-01 1.08823280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:-44.86, Z:108.85 [[ 5.19453331e-01 -5.29632776e-01 -6.70564956e-01 1.96932893e+02] [ 3.16223633e-01 8.48182457e-01 -4.24957802e-01 -4.48597879e+01] [ 7.93833012e-01 8.69725927e-03 6.08073603e-01 1.08845702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:-44.85, Z:108.87 [[ 5.21254433e-01 -5.27941463e-01 -6.70501027e-01 1.96947886e+02] [ 3.12955193e-01 8.49197686e-01 -4.25349664e-01 -4.48514393e+01] [ 7.93947645e-01 1.18786198e-02 6.07870081e-01 1.08867678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:-44.84, Z:108.89 [[ 5.21778475e-01 -5.27371143e-01 -6.70542243e-01 1.96962220e+02] [ 3.11412932e-01 8.49529868e-01 -4.25818024e-01 -4.48425154e+01] [ 7.94209801e-01 1.33671535e-02 6.07496593e-01 1.08889582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.98, Y:-44.83, Z:108.91 [[ 5.22386617e-01 -5.26677638e-01 -6.70613814e-01 1.96977235e+02] [ 3.09642463e-01 8.49931923e-01 -4.26306546e-01 -4.48332380e+01] [ 7.94502213e-01 1.50463209e-02 6.07074824e-01 1.08911726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:-44.82, Z:108.93 [[ 5.23451008e-01 -5.24933466e-01 -6.71151175e-01 1.96992523e+02] [ 3.05746172e-01 8.50945170e-01 -4.27096705e-01 -4.48249780e+01] [ 7.95310204e-01 1.83622978e-02 6.05924505e-01 1.08933855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:-44.82, Z:108.96 [[ 5.23687120e-01 -5.24276394e-01 -6.71480500e-01 1.97007428e+02] [ 3.03799980e-01 8.51312964e-01 -4.27752041e-01 -4.48166530e+01] [ 7.95900353e-01 2.00124719e-02 6.05096793e-01 1.08955421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.02, Y:-44.81, Z:108.98 [[ 5.23856295e-01 -5.23843001e-01 -6.71686752e-01 1.97022813e+02] [ 3.02383582e-01 8.51549676e-01 -4.28284157e-01 -4.48080760e+01] [ 7.96328294e-01 2.12523059e-02 6.04491181e-01 1.08977521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:-44.80, Z:109.00 [[ 5.23784132e-01 -5.23693012e-01 -6.71859965e-01 1.97037400e+02] [ 3.01398427e-01 8.51619793e-01 -4.28838800e-01 -4.48001760e+01] [ 7.96749127e-01 2.21214217e-02 6.03905184e-01 1.08998525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:-44.79, Z:109.02 [[ 5.23592994e-01 -5.23663992e-01 -6.72031547e-01 1.97053441e+02] [ 3.00667148e-01 8.51621175e-01 -4.29349089e-01 -4.47932978e+01] [ 7.97150953e-01 2.27463661e-02 6.03351440e-01 1.09020642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:-44.79, Z:109.04 [[ 5.23434612e-01 -5.24188891e-01 -6.71745646e-01 1.97068260e+02] [ 3.01193496e-01 8.51303484e-01 -4.29610122e-01 -4.47857892e+01] [ 7.97056262e-01 2.25473885e-02 6.03483994e-01 1.09042056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.6 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.08, Y:-44.78, Z:109.06 [[ 5.23303902e-01 -5.24551754e-01 -6.71564207e-01 1.97083006e+02] [ 3.01420204e-01 8.51080088e-01 -4.29893643e-01 -4.47760994e+01] [ 7.97056388e-01 2.25420005e-02 6.03484028e-01 1.09064540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.10, Y:-44.77, Z:109.09 [[ 5.23163364e-01 -5.25302020e-01 -6.71087090e-01 1.97098034e+02] [ 3.02531362e-01 8.50633105e-01 -4.29997786e-01 -4.47687394e+01] [ 7.96727600e-01 2.19341963e-02 6.03940412e-01 1.09086255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:-44.76, Z:109.11 [[ 5.22694211e-01 -5.26333365e-01 -6.70644430e-01 1.97113438e+02] [ 3.04089519e-01 8.50021924e-01 -4.30107304e-01 -4.47614439e+01] [ 7.96442293e-01 2.08786558e-02 6.04353999e-01 1.09108537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:-44.75, Z:109.13 [[ 5.22449906e-01 -5.27255168e-01 -6.70110501e-01 1.97128577e+02] [ 3.05481701e-01 8.49470249e-01 -4.30210677e-01 -4.47545765e+01] [ 7.96069737e-01 2.00570317e-02 6.04872457e-01 1.09130286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:197.14, Y:-44.75, Z:109.15 [[ 5.21764572e-01 -5.28418745e-01 -6.69727826e-01 1.97143981e+02] [ 3.07317177e-01 8.48778344e-01 -4.30269074e-01 -4.47475804e+01] [ 7.95812719e-01 1.86802945e-02 6.05254626e-01 1.09152115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.16, Y:-44.74, Z:109.17 [[ 5.20075518e-01 -5.30526376e-01 -6.69375246e-01 1.97161312e+02] [ 3.10543527e-01 8.47517602e-01 -4.30437722e-01 -4.47428734e+01] [ 7.95665868e-01 1.59899716e-02 6.05524688e-01 1.09174760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:-44.74, Z:109.20 [[ 5.19105934e-01 -5.31875294e-01 -6.69057323e-01 1.97177275e+02] [ 3.12445834e-01 8.46698181e-01 -4.30673647e-01 -4.47355814e+01] [ 7.95554291e-01 1.45210726e-02 6.05708270e-01 1.09197243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:-44.73, Z:109.22 [[ 5.18396748e-01 -5.33063415e-01 -6.68661504e-01 1.97193565e+02] [ 3.14159713e-01 8.45970939e-01 -4.30855945e-01 -4.47280558e+01] [ 7.95341742e-01 1.32878145e-02 6.06015634e-01 1.09219413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:-44.72, Z:109.24 [[ 5.17649668e-01 -5.34200501e-01 -6.68332736e-01 1.97209053e+02] [ 3.15731453e-01 8.45270700e-01 -4.31081308e-01 -4.47208634e+01] [ 7.95205930e-01 1.21354299e-02 6.06217997e-01 1.09241269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:-44.72, Z:109.26 [[ 5.15999076e-01 -5.36040734e-01 -6.68135678e-01 1.97226596e+02] [ 3.18332929e-01 8.44133948e-01 -4.31395439e-01 -4.47153011e+01] [ 7.95241536e-01 9.91006079e-03 6.06211754e-01 1.09262942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:-44.71, Z:109.28 [[ 5.14863733e-01 -5.37067909e-01 -6.68186649e-01 1.97242062e+02] [ 3.19393896e-01 8.43491655e-01 -4.31867302e-01 -4.47084856e+01] [ 7.95551932e-01 8.93807399e-03 6.05819474e-01 1.09284410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.26, Y:-44.70, Z:109.31 [[ 5.13612374e-01 -5.37912800e-01 -6.68470006e-01 1.97257243e+02] [ 3.20013288e-01 8.42960702e-01 -4.32445083e-01 -4.47017334e+01] [ 7.96111691e-01 8.18986148e-03 6.05094292e-01 1.09305515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:-44.68, Z:109.32 [[ 5.12330190e-01 -5.50422449e-01 -6.59206268e-01 1.97276170e+02] [ 3.26181384e-01 8.34796956e-01 -4.43530998e-01 -4.46846786e+01] [ 7.94432804e-01 1.22135076e-02 6.07229240e-01 1.09318365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98999999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.29, Y:-44.68, Z:109.34 [[ 5.10814851e-01 -5.49027678e-01 -6.61541228e-01 1.97291799e+02] [ 3.27002579e-01 8.35755690e-01 -4.41114204e-01 -4.46797048e+01] [ 7.95070753e-01 9.00199850e-03 6.06449884e-01 1.09341084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:-44.67, Z:109.36 [[ 5.09167571e-01 -5.49300873e-01 -6.62583531e-01 1.97308154e+02] [ 3.27914357e-01 8.35594130e-01 -4.40743264e-01 -4.46731446e+01] [ 7.95751569e-01 7.14152448e-03 6.05581076e-01 1.09364652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:-44.67, Z:109.39 [[ 5.06873873e-01 -5.46574442e-01 -6.66584771e-01 1.97323729e+02] [ 3.28374177e-01 8.37406525e-01 -4.36944746e-01 -4.46697527e+01] [ 7.97025267e-01 2.58665017e-03 6.03940421e-01 1.09390212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:-44.66, Z:109.41 [[ 5.06059718e-01 -5.53175460e-01 -6.61740488e-01 1.97340384e+02] [ 3.31489622e-01 8.33051158e-01 -4.42877409e-01 -4.46577258e+01] [ 7.96252594e-01 4.76231265e-03 6.04945557e-01 1.09409416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:-44.66, Z:109.44 [[ 5.04580402e-01 -5.44153569e-01 -6.70295093e-01 1.97354907e+02] [ 3.30741485e-01 8.38977669e-01 -4.32118666e-01 -4.46615241e+01] [ 7.97501529e-01 -3.65578400e-03 6.03305848e-01 1.09438767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.37, Y:-44.65, Z:109.45 [[ 5.03358739e-01 -5.58212002e-01 -6.59567540e-01 1.97373428e+02] [ 3.38652095e-01 8.29698355e-01 -4.43751505e-01 -4.46457936e+01] [ 7.94949519e-01 2.26853971e-06 6.06675582e-01 1.09453819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.39, Y:-44.65, Z:109.48 [[ 5.02154324e-01 -5.46254271e-01 -6.70408313e-01 1.97387304e+02] [ 3.37211213e-01 8.37557190e-01 -4.29868064e-01 -4.46509850e+01] [ 7.96322568e-01 -1.02090935e-02 6.04786030e-01 1.09484672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.41, Y:-44.60, Z:109.48 [[ 5.05513403e-01 -5.84461164e-01 -6.34713595e-01 1.97408936e+02] [ 3.48946554e-01 8.11270420e-01 -4.69123233e-01 -4.46049999e+01] [ 7.89108676e-01 1.56669602e-02 6.14053780e-01 1.09478701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.42, Y:-44.64, Z:109.53 [[ 5.01158187e-01 -5.37876799e-01 -6.77885699e-01 1.97416508e+02] [ 3.40033269e-01 8.42752640e-01 -4.17307278e-01 -4.46435563e+01] [ 7.95749865e-01 -2.13667315e-02 6.05248391e-01 1.09531900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:-44.63, Z:109.55 [[ 5.00896140e-01 -5.51666842e-01 -6.66908354e-01 1.97434968e+02] [ 3.40647919e-01 8.34007317e-01 -4.34040079e-01 -4.46269082e+01] [ 7.95651967e-01 -9.77194240e-03 6.05675208e-01 1.09548467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28999999999996 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:197.45, Y:-44.62, Z:109.57 [[ 5.00819432e-01 -5.51931812e-01 -6.66746707e-01 1.97450712e+02] [ 3.40672654e-01 8.33833875e-01 -4.34353786e-01 -4.46191618e+01] [ 7.95689662e-01 -9.60955372e-03 6.05628283e-01 1.09570333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:197.47, Y:-44.61, Z:109.59 [[ 5.01050953e-01 -5.51935458e-01 -6.66569720e-01 1.97466565e+02] [ 3.40249251e-01 8.33838216e-01 -4.34677210e-01 -4.46114690e+01] [ 7.95725072e-01 -9.00441759e-03 6.05591059e-01 1.09592633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34999999999997 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:197.48, Y:-44.60, Z:109.61 [[ 5.01337444e-01 -5.51719773e-01 -6.66532864e-01 1.97481849e+02] [ 3.39345088e-01 8.33990633e-01 -4.35091410e-01 -4.46040046e+01] [ 7.95930700e-01 -8.05703802e-03 6.05334127e-01 1.09613467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:197.50, Y:-44.60, Z:109.64 [[ 5.02070953e-01 -5.50630321e-01 -6.66881554e-01 1.97499031e+02] [ 3.36816296e-01 8.34728407e-01 -4.35641218e-01 -4.45978389e+01] [ 7.96542241e-01 -5.89377356e-03 6.04554151e-01 1.09635197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40999999999997 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:197.51, Y:-44.59, Z:109.66 [[ 5.02418815e-01 -5.50196560e-01 -6.66977571e-01 1.97514079e+02] [ 3.35436351e-01 8.35022492e-01 -4.36142056e-01 -4.45901947e+01] [ 7.96905132e-01 -4.60254746e-03 6.04086937e-01 1.09656924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:197.53, Y:-44.58, Z:109.68 [[ 5.03552983e-01 -5.49615450e-01 -6.66601267e-01 1.97529337e+02] [ 3.34184443e-01 8.35412246e-01 -4.36356662e-01 -4.45820188e+01] [ 7.96715226e-01 -3.03907425e-03 6.04347262e-01 1.09678660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46999999999997 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:197.54, Y:-44.57, Z:109.70 [[ 5.04555195e-01 -5.48836726e-01 -6.66485037e-01 1.97544564e+02] [ 3.32414243e-01 8.35928710e-01 -4.36719547e-01 -4.45735243e+01] [ 7.96821703e-01 -1.20000255e-03 6.04213318e-01 1.09700764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:197.56, Y:-44.56, Z:109.72 [[ 5.05516700e-01 -5.48115907e-01 -6.66349621e-01 1.97559603e+02] [ 3.30755651e-01 8.36402207e-01 -4.37072131e-01 -4.45649976e+01] [ 7.96902481e-01 5.48358358e-04 6.04107718e-01 1.09722913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:197.57, Y:-44.56, Z:109.74 [[ 5.07656022e-01 -5.46595511e-01 -6.65972004e-01 1.97574576e+02] [ 3.27994581e-01 8.37389269e-01 -4.37262812e-01 -4.45583848e+01] [ 7.96683700e-01 3.54389128e-03 6.04386071e-01 1.09744534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:197.59, Y:-44.55, Z:109.77 [[ 5.08398335e-01 -5.46398697e-01 -6.65567124e-01 1.97589538e+02] [ 3.27600611e-01 8.37514204e-01 -4.37318873e-01 -4.45501758e+01] [ 7.96372383e-01 4.29199072e-03 6.04791375e-01 1.09766517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:197.60, Y:-44.54, Z:109.79 [[ 5.08881255e-01 -5.46403896e-01 -6.65193694e-01 1.97604511e+02] [ 3.27356423e-01 8.37507549e-01 -4.37514431e-01 -4.45419947e+01] [ 7.96164330e-01 4.88746466e-03 6.05060718e-01 1.09789141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:197.62, Y:-44.53, Z:109.81 [[ 5.08817786e-01 -5.46898896e-01 -6.64835362e-01 1.97619398e+02] [ 3.27904554e-01 8.37185370e-01 -4.37720528e-01 -4.45338216e+01] [ 7.95979312e-01 4.71744709e-03 6.05305444e-01 1.09811158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:197.64, Y:-44.53, Z:109.83 [[ 5.08134348e-01 -5.47965769e-01 -6.64479496e-01 1.97635291e+02] [ 3.29391287e-01 8.36492782e-01 -4.37928311e-01 -4.45270852e+01] [ 7.95802026e-01 3.65266015e-03 6.05545864e-01 1.09833471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:197.65, Y:-44.52, Z:109.86 [[ 5.07388617e-01 -5.48845018e-01 -6.64323669e-01 1.97650416e+02] [ 3.30395596e-01 8.35919159e-01 -4.38266940e-01 -4.45184972e+01] [ 7.95861509e-01 2.88204147e-03 6.05471842e-01 1.09855637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:197.67, Y:-44.51, Z:109.88 [[ 5.06974631e-01 -5.49737602e-01 -6.63901569e-01 1.97665934e+02] [ 3.31650866e-01 8.35334782e-01 -4.38433011e-01 -4.45095199e+01] [ 7.95603184e-01 2.09088335e-03 6.05814494e-01 1.09877905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:197.68, Y:-44.50, Z:109.90 [[ 5.05634984e-01 -5.51393554e-01 -6.63549856e-01 1.97681511e+02] [ 3.34107421e-01 8.34245251e-01 -4.38642328e-01 -4.45016369e+01] [ 7.95427869e-01 9.59757479e-05 6.06048263e-01 1.09899064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:197.70, Y:-44.49, Z:109.92 [[ 5.04784261e-01 -5.52321765e-01 -6.63425594e-01 1.97696536e+02] [ 3.35135589e-01 8.33630700e-01 -4.39026187e-01 -4.44927809e+01] [ 7.95535660e-01 -7.24018540e-04 6.05906337e-01 1.09921341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.8 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:197.71, Y:-44.48, Z:109.94 [[ 5.03966208e-01 -5.52875752e-01 -6.63586064e-01 1.97710785e+02] [ 3.35339679e-01 8.33263106e-01 -4.39567850e-01 -4.44834197e+01] [ 7.95968191e-01 -9.99395281e-04 6.05337625e-01 1.09943503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.72, Y:-44.47, Z:109.97 [[ 5.04007450e-01 -5.52904571e-01 -6.63530727e-01 1.97724467e+02] [ 3.34851414e-01 8.33244471e-01 -4.39975207e-01 -4.44728622e+01] [ 7.96147612e-01 -4.33419674e-04 6.05102299e-01 1.09965475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:197.74, Y:-44.46, Z:109.99 [[ 5.04174915e-01 -5.52906996e-01 -6.63401469e-01 1.97738619e+02] [ 3.34383701e-01 8.33242955e-01 -4.40333643e-01 -4.44626613e+01] [ 7.96238153e-01 1.74538385e-04 6.04983284e-01 1.09987184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:197.75, Y:-44.45, Z:110.01 [[ 5.03819690e-01 -5.52637828e-01 -6.63895437e-01 1.97752535e+02] [ 3.32918628e-01 8.33420635e-01 -4.41106826e-01 -4.44527936e+01] [ 7.97076475e-01 1.21514657e-03 6.03877154e-01 1.10010017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:197.77, Y:-44.44, Z:110.03 [[ 5.03584185e-01 -5.52950974e-01 -6.63813369e-01 1.97765973e+02] [ 3.32917541e-01 8.33212717e-01 -4.41500259e-01 -4.44431156e+01] [ 7.97225739e-01 1.33743368e-03 6.03679826e-01 1.10030921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:197.78, Y:-44.43, Z:110.05 [[ 5.03639341e-01 -5.53117916e-01 -6.63632417e-01 1.97780346e+02] [ 3.32820830e-01 8.33101385e-01 -4.41783179e-01 -4.44330217e+01] [ 7.97231277e-01 1.62869704e-03 6.03671796e-01 1.10053434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:197.80, Y:-44.40, Z:110.06 [[ 5.05191890e-01 -5.71287835e-01 -6.46847250e-01 1.97796600e+02] [ 3.40571787e-01 8.20669319e-01 -4.58816659e-01 -4.44025878e+01] [ 7.92964068e-01 1.14925314e-02 6.09160003e-01 1.10058553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:197.81, Y:-44.41, Z:110.10 [[ 5.01682448e-01 -5.53926822e-01 -6.64439461e-01 1.97807860e+02] [ 3.33707477e-01 8.32565355e-01 -4.42124700e-01 -4.44135854e+01] [ 7.98094005e-01 7.77850749e-05 6.02532948e-01 1.10098081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03999999999996 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:197.82, Y:-44.40, Z:110.12 [[ 5.01169004e-01 -5.55026145e-01 -6.63909337e-01 1.97821872e+02] [ 3.34615863e-01 8.31832871e-01 -4.42816326e-01 -4.44036645e+01] [ 7.98036249e-01 -2.28778495e-04 6.02609404e-01 1.10119813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:197.84, Y:-44.39, Z:110.14 [[ 5.00402825e-01 -5.56021991e-01 -6.63653945e-01 1.97836150e+02] [ 3.35904913e-01 8.31166713e-01 -4.43091169e-01 -4.43938177e+01] [ 7.97975502e-01 -1.20054821e-03 6.02688690e-01 1.10142557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09999999999997 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:197.85, Y:-44.38, Z:110.17 [[ 4.99726634e-01 -5.56942361e-01 -6.63391662e-01 1.97850332e+02] [ 3.37075491e-01 8.30548607e-01 -4.43361167e-01 -4.43844729e+01] [ 7.97905636e-01 -2.05368657e-03 6.02778880e-01 1.10165292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:197.86, Y:-44.38, Z:110.19 [[ 4.99063970e-01 -5.57728440e-01 -6.63230082e-01 1.97863668e+02] [ 3.37935495e-01 8.30019110e-01 -4.43697959e-01 -4.43754927e+01] [ 7.97956612e-01 -2.69532083e-03 6.02708869e-01 1.10186871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15999999999997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:197.88, Y:-44.37, Z:110.21 [[ 4.99014005e-01 -5.58306422e-01 -6.62781233e-01 1.97877581e+02] [ 3.38670013e-01 8.29629512e-01 -4.43866528e-01 -4.43659002e+01] [ 7.97676404e-01 -2.96851479e-03 6.03078388e-01 1.10208862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:197.89, Y:-44.35, Z:110.23 [[ 4.99009537e-01 -5.58522488e-01 -6.62602530e-01 1.97890477e+02] [ 3.38593054e-01 8.29485002e-01 -4.44195200e-01 -4.43549067e+01] [ 7.97711869e-01 -2.69497296e-03 6.03032762e-01 1.10230524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21999999999997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:197.90, Y:-44.35, Z:110.25 [[ 4.97020030e-01 -5.57420020e-01 -6.65021812e-01 1.97899267e+02] [ 3.40438720e-01 8.30201169e-01 -4.41437987e-01 -4.43455677e+01] [ 7.98168258e-01 -6.99565332e-03 6.02393968e-01 1.10250499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:197.92, Y:-44.31, Z:110.26 [[ 5.00098532e-01 -5.81955060e-01 -6.41271991e-01 1.97919195e+02] [ 3.43827002e-01 8.13092848e-01 -4.69747819e-01 -4.43098585e+01] [ 7.94785790e-01 1.44335683e-02 6.06718403e-01 1.10257622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:197.93, Y:-44.31, Z:110.29 [[ 5.00040314e-01 -5.72286512e-01 -6.49959870e-01 1.97932021e+02] [ 3.43018914e-01 8.20030780e-01 -4.58134853e-01 -4.43077001e+01] [ 7.95171497e-01 6.13736699e-03 6.06353547e-01 1.10285454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:197.95, Y:-44.29, Z:110.30 [[ 5.01848168e-01 -5.79465209e-01 -6.42159239e-01 1.97947117e+02] [ 3.44725600e-01 8.14901692e-01 -4.65939365e-01 -4.42896332e+01] [ 7.93292302e-01 1.24620877e-02 6.08713413e-01 1.10300639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:197.96, Y:-44.29, Z:110.33 [[ 5.00781505e-01 -5.66330372e-01 -6.54589791e-01 1.97958173e+02] [ 3.42588496e-01 8.24176814e-01 -4.50960865e-01 -4.42919564e+01] [ 7.94890563e-01 1.57792881e-03 6.06750776e-01 1.10331274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:197.97, Y:-44.29, Z:110.36 [[ 5.01344261e-01 -5.63285102e-01 -6.56782937e-01 1.97971948e+02] [ 3.36502965e-01 8.26244452e-01 -4.51758630e-01 -4.42878564e+01] [ 7.97132164e-01 5.47719095e-03 6.03780021e-01 1.10361941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:197.99, Y:-44.27, Z:110.38 [[ 5.02158582e-01 -5.66240217e-01 -6.53612098e-01 1.97985069e+02] [ 3.40932407e-01 8.24229579e-01 -4.52118010e-01 -4.42705866e+01] [ 7.94733825e-01 4.19739324e-03 6.06943597e-01 1.10376978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:198.00, Y:-44.27, Z:110.41 [[ 5.02181370e-01 -5.60582178e-01 -6.58453866e-01 1.97998951e+02] [ 3.35097099e-01 8.28083404e-01 -4.49430541e-01 -4.42674727e+01] [ 7.97197470e-01 5.04966449e-03 6.03697520e-01 1.10406571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:198.01, Y:-44.26, Z:110.43 [[ 5.02513491e-01 -5.58563133e-01 -6.59914705e-01 1.98012299e+02] [ 3.32864913e-01 8.29442034e-01 -4.48583171e-01 -4.42572910e+01] [ 7.97923017e-01 5.75664436e-03 6.02731881e-01 1.10428285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:198.03, Y:-44.25, Z:110.45 [[ 5.02394139e-01 -5.58283922e-01 -6.60241768e-01 1.98026729e+02] [ 3.32954855e-01 8.29632882e-01 -4.48163302e-01 -4.42477627e+01] [ 7.97960647e-01 5.32391458e-03 6.02686040e-01 1.10451034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:198.04, Y:-44.24, Z:110.47 [[ 5.03391566e-01 -5.55341706e-01 -6.61961117e-01 1.98040187e+02] [ 3.32886241e-01 8.31615262e-01 -4.44525372e-01 -4.42370592e+01] [ 7.97360446e-01 3.41257487e-03 6.03493722e-01 1.10474746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:198.05, Y:-44.23, Z:110.50 [[ 5.03090092e-01 -5.55985394e-01 -6.61649908e-01 1.98054057e+02] [ 3.32647556e-01 8.31182258e-01 -4.45512803e-01 -4.42254410e+01] [ 7.97650276e-01 4.03685203e-03 6.03106742e-01 1.10496285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:198.07, Y:-44.21, Z:110.52 [[ 5.02945179e-01 -5.56299508e-01 -6.61496035e-01 1.98067384e+02] [ 3.32718662e-01 8.30971514e-01 -4.45852705e-01 -4.42147196e+01] [ 7.97712002e-01 4.14739295e-03 6.03024345e-01 1.10517381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.08, Y:-44.20, Z:110.54 [[ 5.02708981e-01 -5.56619793e-01 -6.61406144e-01 1.98080831e+02] [ 3.32709974e-01 8.30756322e-01 -4.46260021e-01 -4.42047580e+01] [ 7.97864496e-01 4.28249950e-03 6.02821621e-01 1.10539472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.09, Y:-44.19, Z:110.56 [[ 5.02910939e-01 -5.57126652e-01 -6.60825606e-01 1.98093923e+02] [ 3.33483380e-01 8.30417506e-01 -4.46313344e-01 -4.41947566e+01] [ 7.97414211e-01 4.08150631e-03 6.03418527e-01 1.10560663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:198.10, Y:-44.20, Z:110.59 [[ 5.00548529e-01 -5.44440186e-01 -6.73079531e-01 1.98103575e+02] [ 3.32469448e-01 8.38762119e-01 -4.31210128e-01 -4.41962759e+01] [ 7.99321735e-01 -7.93678532e-03 6.00850873e-01 1.10591330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.12, Y:-44.16, Z:110.60 [[ 5.04403897e-01 -5.70221419e-01 -6.48401297e-01 1.98122185e+02] [ 3.34308414e-01 8.21327606e-01 -4.62232460e-01 -4.41631357e+01] [ 7.96124735e-01 1.63858452e-02 6.04910664e-01 1.10600097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.13, Y:-44.16, Z:110.63 [[ 5.04230909e-01 -5.57684979e-01 -6.59347143e-01 1.98134537e+02] [ 3.34488646e-01 8.30040625e-01 -4.46262151e-01 -4.41631628e+01] [ 7.96158612e-01 4.47503697e-03 6.05071433e-01 1.10626826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:-44.15, Z:110.65 [[ 5.04006318e-01 -5.57866709e-01 -6.59365124e-01 1.98147796e+02] [ 3.34341184e-01 8.29917607e-01 -4.46601320e-01 -4.41531919e+01] [ 7.96362734e-01 4.63697058e-03 6.04801533e-01 1.10648163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78999999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.16, Y:-44.14, Z:110.67 [[ 5.04082882e-01 -5.58006530e-01 -6.59188259e-01 1.98162093e+02] [ 3.34303045e-01 8.29822332e-01 -4.46806862e-01 -4.41432398e+01] [ 7.96330285e-01 4.85904805e-03 6.04842515e-01 1.10670775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.18, Y:-44.13, Z:110.69 [[ 5.04281836e-01 -5.58193335e-01 -6.58877857e-01 1.98175975e+02] [ 3.34305103e-01 8.29694813e-01 -4.47042073e-01 -4.41335324e+01] [ 7.96203446e-01 5.16896771e-03 6.05006904e-01 1.10692723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84999999999997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.19, Y:-44.13, Z:110.72 [[ 5.02800351e-01 -5.50306126e-01 -6.66599561e-01 1.98187817e+02] [ 3.32715939e-01 8.34961813e-01 -4.38336487e-01 -4.41313608e+01] [ 7.97804431e-01 -1.39255899e-03 6.02914712e-01 1.10720822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:198.20, Y:-44.11, Z:110.73 [[ 5.04729876e-01 -5.65508241e-01 -6.52263889e-01 1.98204499e+02] [ 3.33341615e-01 8.24636364e-01 -4.57010104e-01 -4.41081188e+01] [ 7.96323502e-01 1.32399550e-02 6.04726040e-01 1.10734437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:-44.11, Z:110.77 [[ 5.02669578e-01 -5.47918374e-01 -6.68661911e-01 1.98215884e+02] [ 3.31148214e-01 8.36529422e-01 -4.36531083e-01 -4.41143021e+01] [ 7.98538763e-01 -1.99530228e-03 6.01940082e-01 1.10768232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.23, Y:-44.09, Z:110.78 [[ 5.04313278e-01 -5.65517632e-01 -6.52577908e-01 1.98231428e+02] [ 3.30436784e-01 8.24581934e-01 -4.59212550e-01 -4.40897351e+01] [ 7.97796747e-01 1.59512412e-02 6.02715446e-01 1.10780248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:-44.09, Z:110.81 [[ 5.05225005e-01 -5.54958022e-01 -6.60885231e-01 1.98245057e+02] [ 3.31278400e-01 8.31856521e-01 -4.45274466e-01 -4.40878847e+01] [ 7.96870326e-01 6.02679247e-03 6.04120320e-01 1.10807473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.26, Y:-44.08, Z:110.83 [[ 5.05727044e-01 -5.57216780e-01 -6.58596702e-01 1.98259227e+02] [ 3.31063530e-01 8.30321754e-01 -4.48288661e-01 -4.40765004e+01] [ 7.96641134e-01 8.67435045e-03 6.04390321e-01 1.10829033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.27, Y:-44.07, Z:110.85 [[ 5.06092081e-01 -5.57262724e-01 -6.58277345e-01 1.98272938e+02] [ 3.30836780e-01 8.30285129e-01 -4.48523833e-01 -4.40672238e+01] [ 7.96503503e-01 9.21200331e-03 6.04563734e-01 1.10850927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.29, Y:-44.06, Z:110.87 [[ 5.06291896e-01 -5.57380941e-01 -6.58023558e-01 1.98286896e+02] [ 3.30728767e-01 8.30201664e-01 -4.48757930e-01 -4.40575632e+01] [ 7.96421370e-01 9.57518318e-03 6.04666286e-01 1.10873862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.30, Y:-44.05, Z:110.90 [[ 5.06355062e-01 -5.57730476e-01 -6.57678696e-01 1.98301119e+02] [ 3.31029005e-01 8.29966269e-01 -4.48971925e-01 -4.40480167e+01] [ 7.96256459e-01 9.62848279e-03 6.04882587e-01 1.10896688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:198.32, Y:-44.04, Z:110.92 [[ 5.06195668e-01 -5.58296542e-01 -6.57321016e-01 1.98315387e+02] [ 3.31695830e-01 8.29588885e-01 -4.49177200e-01 -4.40388574e+01] [ 7.96080286e-01 9.34091272e-03 6.05118935e-01 1.10919531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.33, Y:-44.04, Z:110.95 [[ 5.04029565e-01 -5.51007716e-01 -6.65089990e-01 1.98327203e+02] [ 3.31384342e-01 8.34498827e-01 -4.40222813e-01 -4.40376524e+01] [ 7.97582983e-01 1.48490449e-03 6.03207410e-01 1.10947562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:-44.03, Z:110.97 [[ 5.02568962e-01 -5.54648060e-01 -6.63166622e-01 1.98341211e+02] [ 3.31228355e-01 8.32075748e-01 -4.44901928e-01 -4.40268616e+01] [ 7.98568854e-01 3.93431140e-03 6.01890610e-01 1.10970720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:-44.00, Z:110.98 [[ 5.02966981e-01 -5.72276705e-01 -6.47706407e-01 1.98359961e+02] [ 3.35294637e-01 8.19899992e-01 -4.64049037e-01 -4.40022842e+01] [ 7.96618932e-01 1.62288589e-02 6.04263934e-01 1.10982808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.37, Y:-44.00, Z:111.01 [[ 5.01340132e-01 -5.62422280e-01 -6.57525095e-01 1.98373270e+02] [ 3.36607471e-01 8.26837508e-01 -4.50594213e-01 -4.40016286e+01] [ 7.97090636e-01 4.57310311e-03 6.03842367e-01 1.11009564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:-43.99, Z:111.03 [[ 4.99924058e-01 -5.63636493e-01 -6.57563564e-01 1.98387652e+02] [ 3.37989347e-01 8.26016555e-01 -4.51065242e-01 -4.39922694e+01] [ 7.97395220e-01 3.24888612e-03 6.03448678e-01 1.11031359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:-43.98, Z:111.05 [[ 4.98639056e-01 -5.64965835e-01 -6.57398431e-01 1.98402179e+02] [ 3.39749134e-01 8.25112476e-01 -4.51397749e-01 -4.39823390e+01] [ 7.97451953e-01 1.73399978e-03 6.03379960e-01 1.11053483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:198.42, Y:-43.99, Z:111.09 [[ 4.96575400e-01 -5.49927535e-01 -6.71559809e-01 1.98415620e+02] [ 3.38175496e-01 8.35130643e-01 -4.33813489e-01 -4.39881558e+01] [ 7.99406158e-01 -1.16839651e-02 6.00677350e-01 1.11088106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:198.43, Y:-43.98, Z:111.11 [[ 4.95023412e-01 -5.53121925e-01 -6.70080560e-01 1.98430898e+02] [ 3.40332020e-01 8.33012095e-01 -4.36193726e-01 -4.39780836e+01] [ 7.99453525e-01 -1.21237640e-02 6.00605591e-01 1.11111091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.44, Y:-43.95, Z:111.12 [[ 4.94015192e-01 -5.73495700e-01 -6.53491907e-01 1.98444800e+02] [ 3.46033878e-01 8.19208547e-01 -4.57337854e-01 -4.39500122e+01] [ 7.97627448e-01 -1.98490882e-04 6.03150409e-01 1.11118359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.46, Y:-43.94, Z:111.14 [[ 4.93059200e-01 -5.70839686e-01 -6.56532313e-01 1.98458520e+02] [ 3.47537824e-01 8.21047075e-01 -4.52878749e-01 -4.39429624e+01] [ 7.97565098e-01 -4.87377804e-03 6.03213196e-01 1.11141772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:-43.93, Z:111.16 [[ 4.92089954e-01 -5.71997187e-01 -6.56252005e-01 1.98472106e+02] [ 3.49130646e-01 8.20232621e-01 -4.53129386e-01 -4.39327813e+01] [ 7.97468036e-01 -6.13726819e-03 6.03329980e-01 1.11163135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:-43.92, Z:111.19 [[ 4.90874778e-01 -5.73429429e-01 -6.55912069e-01 1.98485570e+02] [ 3.51392201e-01 8.19215823e-01 -4.53220648e-01 -4.39233712e+01] [ 7.97223603e-01 -8.00780037e-03 6.03631015e-01 1.11185016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51 meters Centerline goodness : 0.996541 Centerline is valid? [True, True] Translation: X:198.50, Y:-43.91, Z:111.21 [[ 4.90567340e-01 -5.73983574e-01 -6.55657335e-01 1.98499226e+02] [ 3.51928793e-01 8.18825078e-01 -4.53510327e-01 -4.39138850e+01] [ 7.97176147e-01 -8.26733980e-03 6.03690187e-01 1.11206952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53999999999996 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:198.51, Y:-43.90, Z:111.23 [[ 4.89684485e-01 -5.75386293e-01 -6.55087566e-01 1.98512001e+02] [ 3.54012978e-01 8.17823761e-01 -4.53694949e-01 -4.39034901e+01] [ 7.96796032e-01 -9.74212281e-03 6.04169823e-01 1.11228159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:-43.89, Z:111.25 [[ 4.89246984e-01 -5.76186325e-01 -6.54711163e-01 1.98525878e+02] [ 3.54831692e-01 8.17255279e-01 -4.54079596e-01 -4.38931362e+01] [ 7.96700608e-01 -1.01551970e-02 6.04288849e-01 1.11250718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:-43.88, Z:111.27 [[ 4.88527898e-01 -5.76780134e-01 -6.54725263e-01 1.98539440e+02] [ 3.55221204e-01 8.16831710e-01 -4.54536967e-01 -4.38830585e+01] [ 7.96968248e-01 -1.05183070e-02 6.03929612e-01 1.11273285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:-43.87, Z:111.29 [[ 4.88355560e-01 -5.77217435e-01 -6.54468395e-01 1.98552743e+02] [ 3.55587780e-01 8.16521521e-01 -4.54807582e-01 -4.38731016e+01] [ 7.96910395e-01 -1.06131522e-02 6.04004291e-01 1.11294386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:-43.86, Z:111.32 [[ 4.88085266e-01 -5.77299042e-01 -6.54598036e-01 1.98566139e+02] [ 3.55173218e-01 8.16467763e-01 -4.55227830e-01 -4.38623499e+01] [ 7.97260785e-01 -1.03056947e-02 6.03547043e-01 1.11317152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:-43.85, Z:111.34 [[ 4.87875506e-01 -5.77325986e-01 -6.54730629e-01 1.98579683e+02] [ 3.54513528e-01 8.16455478e-01 -4.55763766e-01 -4.38518166e+01] [ 7.97682675e-01 -9.75488729e-03 6.02998502e-01 1.11339699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.59, Y:-43.84, Z:111.36 [[ 4.88302150e-01 -5.76861860e-01 -6.54821658e-01 1.98592095e+02] [ 3.53056732e-01 8.16798661e-01 -4.56279401e-01 -4.38405512e+01] [ 7.98067638e-01 -8.38698214e-03 6.02509505e-01 1.11361312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:-43.83, Z:111.38 [[ 4.88492552e-01 -5.76729829e-01 -6.54795946e-01 1.98605441e+02] [ 3.52227062e-01 8.16900301e-01 -4.56738433e-01 -4.38295355e+01] [ 7.98317683e-01 -7.52352983e-03 6.02189566e-01 1.11383101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.62, Y:-43.82, Z:111.41 [[ 4.88680402e-01 -5.76844394e-01 -6.54554818e-01 1.98618818e+02] [ 3.52049466e-01 8.16823177e-01 -4.57013206e-01 -4.38176673e+01] [ 7.98281052e-01 -7.10227722e-03 6.02243240e-01 1.11405431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:-43.81, Z:111.43 [[ 4.88939345e-01 -5.76877788e-01 -6.54331976e-01 1.98632019e+02] [ 3.51706074e-01 8.16804328e-01 -4.57311193e-01 -4.38067836e+01] [ 7.98273859e-01 -6.53509536e-03 6.02259196e-01 1.11427301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:-43.83, Z:111.48 [[ 4.81556129e-01 -5.38697669e-01 -6.91309276e-01 1.98632083e+02] [ 3.44099015e-01 8.41665460e-01 -4.16167180e-01 -4.38338765e+01] [ 8.06039430e-01 -3.74709846e-02 5.90674498e-01 1.11478553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:-43.80, Z:111.49 [[ 4.82617971e-01 -5.70725517e-01 -6.64343494e-01 1.98650363e+02] [ 3.43532579e-01 8.21099640e-01 -4.55829736e-01 -4.37991370e+01] [ 8.05645866e-01 -8.23201155e-03 5.92340251e-01 1.11487807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:-43.75, Z:111.48 [[ 4.89299477e-01 -6.04730433e-01 -6.28400449e-01 1.98674495e+02] [ 3.52211419e-01 7.96194287e-01 -4.91957085e-01 -4.37509806e+01] [ 7.97830269e-01 1.93845306e-02 6.02570413e-01 1.11482732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:-43.76, Z:111.52 [[ 4.89000941e-01 -5.78366893e-01 -6.52969998e-01 1.98686034e+02] [ 3.53484354e-01 8.15747274e-01 -4.57826601e-01 -4.37619555e+01] [ 7.97450244e-01 -6.93703911e-03 6.03344831e-01 1.11515765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:-43.79, Z:111.57 [[ 4.81057934e-01 -5.35400283e-01 -6.94211640e-01 1.98684882e+02] [ 3.44843773e-01 8.43584567e-01 -4.11640438e-01 -4.37943534e+01] [ 8.06018633e-01 -4.13716631e-02 5.90442503e-01 1.11571889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:-43.71, Z:111.55 [[ 4.89649399e-01 -6.09508099e-01 -6.23492857e-01 1.98715273e+02] [ 3.52643251e-01 7.92421591e-01 -4.97705496e-01 -4.37140779e+01] [ 7.97424732e-01 2.38306488e-02 6.02947673e-01 1.11547647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:-43.77, Z:111.61 [[ 4.83471268e-01 -5.37495974e-01 -6.90907817e-01 1.98712590e+02] [ 3.42623790e-01 8.42508061e-01 -4.15679090e-01 -4.37678082e+01] [ 8.05521242e-01 -3.57525576e-02 5.91487348e-01 1.11614370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:-43.69, Z:111.59 [[ 4.91947748e-01 -6.03484109e-01 -6.27530353e-01 1.98740522e+02] [ 3.49029903e-01 7.97030444e-01 -4.92869757e-01 -4.36941898e+01] [ 7.97599862e-01 2.34393086e-02 6.02731332e-01 1.11592912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.75, Y:-43.70, Z:111.62 [[ 4.92415514e-01 -5.76200142e-01 -6.52319215e-01 1.98751344e+02] [ 3.47876807e-01 8.17308292e-01 -4.59335261e-01 -4.37047068e+01] [ 7.97814946e-01 -7.42916862e-04 6.02901949e-01 1.11624777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:-43.69, Z:111.65 [[ 4.93274698e-01 -5.75495998e-01 -6.52291675e-01 1.98764483e+02] [ 3.46121283e-01 8.17803953e-01 -4.59779026e-01 -4.36935703e+01] [ 7.98047699e-01 1.02532864e-03 6.02593411e-01 1.11646559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:-43.68, Z:111.67 [[ 4.93876730e-01 -5.74925447e-01 -6.52339256e-01 1.98777367e+02] [ 3.44549105e-01 8.18201842e-01 -4.60251735e-01 -4.36826007e+01] [ 7.98355616e-01 2.54471513e-03 6.02180899e-01 1.11667913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:-43.67, Z:111.69 [[ 4.94511885e-01 -5.74369693e-01 -6.52347646e-01 1.98790883e+02] [ 3.43192285e-01 8.18586822e-01 -4.60580796e-01 -4.36718335e+01] [ 7.98546837e-01 3.88199892e-03 6.01920160e-01 1.11689984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:-43.66, Z:111.71 [[ 4.95290466e-01 -5.73858370e-01 -6.52206965e-01 1.98802881e+02] [ 3.41903083e-01 8.18937437e-01 -4.60916215e-01 -4.36605360e+01] [ 7.98617328e-01 5.29583438e-03 6.01815850e-01 1.11711034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:-43.65, Z:111.73 [[ 4.95634618e-01 -5.74024856e-01 -6.51798888e-01 1.98816113e+02] [ 3.41959595e-01 8.18818443e-01 -4.61085668e-01 -4.36497295e+01] [ 7.98379584e-01 5.64113526e-03 6.02128073e-01 1.11732332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.83, Y:-43.64, Z:111.75 [[ 4.95463042e-01 -5.74373184e-01 -6.51622451e-01 1.98829766e+02] [ 3.42102258e-01 8.18573787e-01 -4.61414131e-01 -4.36387936e+01] [ 7.98424962e-01 5.69213730e-03 6.02067422e-01 1.11754883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:-43.63, Z:111.78 [[ 4.95382050e-01 -5.73449151e-01 -6.52497277e-01 1.98843545e+02] [ 3.42292034e-01 8.19228322e-01 -4.60109900e-01 -4.36303019e+01] [ 7.98393880e-01 4.58556558e-03 6.02118082e-01 1.11779022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.86, Y:-43.62, Z:111.80 [[ 4.94969510e-01 -5.74309113e-01 -6.52053853e-01 1.98856150e+02] [ 3.42575974e-01 8.18624521e-01 -4.60972446e-01 -4.36187040e+01] [ 7.98527950e-01 4.78932153e-03 6.01938681e-01 1.11799014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:-43.61, Z:111.82 [[ 4.94798794e-01 -5.75469572e-01 -6.51159677e-01 1.98870245e+02] [ 3.42953919e-01 8.17805690e-01 -4.62143336e-01 -4.36077326e+01] [ 7.98471517e-01 5.35020231e-03 6.02008814e-01 1.11821173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.89, Y:-43.57, Z:111.83 [[ 4.97547403e-01 -5.96137888e-01 -6.30131891e-01 1.98889987e+02] [ 3.49107399e-01 8.02616152e-01 -4.83664488e-01 -4.35744682e+01] [ 7.94084760e-01 2.06623042e-02 6.07455730e-01 1.11827600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:-43.57, Z:111.86 [[ 4.97173724e-01 -5.83914268e-01 -6.41765079e-01 1.98904093e+02] [ 3.48979616e-01 8.11767275e-01 -4.68238314e-01 -4.35740043e+01] [ 7.94374922e-01 8.83285563e-03 6.07363535e-01 1.11855833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:-43.59, Z:111.89 [[ 4.93664488e-01 -5.62786507e-01 -6.62998281e-01 1.98911106e+02] [ 3.43393340e-01 8.26568062e-01 -4.45944225e-01 -4.35872926e+01] [ 7.98984597e-01 -7.52236653e-03 6.01304438e-01 1.11894322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:-43.57, Z:111.91 [[ 4.93894336e-01 -5.76662350e-01 -6.50790995e-01 1.98925983e+02] [ 3.43885986e-01 8.16968235e-01 -4.62931239e-01 -4.35665407e+01] [ 7.98630587e-01 4.84121424e-03 6.01802085e-01 1.11911474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:-43.56, Z:111.93 [[ 4.93933390e-01 -5.77133245e-01 -6.50343773e-01 1.98939587e+02] [ 3.44544389e-01 8.16636861e-01 -4.63026350e-01 -4.35563863e+01] [ 7.98322598e-01 4.63187655e-03 6.02212234e-01 1.11933273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:-43.55, Z:111.95 [[ 4.93179227e-01 -5.78259411e-01 -6.49915613e-01 1.98952997e+02] [ 3.46259420e-01 8.15845992e-01 -4.63141158e-01 -4.35463896e+01] [ 7.98046781e-01 3.37219481e-03 6.02586064e-01 1.11954660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:-43.50, Z:111.95 [[ 4.97017199e-01 -6.12076472e-01 -6.15090478e-01 1.98974781e+02] [ 3.56657775e-01 7.90293790e-01 -4.98227817e-01 -4.34972920e+01] [ 7.91055710e-01 2.82509928e-02 6.11091438e-01 1.11947749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:-43.54, Z:112.01 [[ 4.90916779e-01 -5.61167940e-01 -6.66401725e-01 1.98979322e+02] [ 3.49764972e-01 8.27517306e-01 -4.39180569e-01 -4.35407434e+01] [ 7.97913015e-01 -1.74828704e-02 6.02519020e-01 1.12005474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:-43.52, Z:112.02 [[ 4.90153223e-01 -5.81367738e-01 -6.49431576e-01 1.98995262e+02] [ 3.50568859e-01 8.13640850e-01 -4.63778010e-01 -4.35159954e+01] [ 7.98029631e-01 -3.48199975e-04 6.02618110e-01 1.12020415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:-43.51, Z:112.04 [[ 4.89304960e-01 -5.82315546e-01 -6.49222044e-01 1.99009306e+02] [ 3.51801521e-01 8.12961748e-01 -4.64035437e-01 -4.35063622e+01] [ 7.98007736e-01 -1.34246176e-03 6.02645710e-01 1.12042281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.02, Y:-43.50, Z:112.06 [[ 4.87933659e-01 -5.83367873e-01 -6.49309379e-01 1.99023883e+02] [ 3.52932764e-01 8.12204158e-01 -4.64502820e-01 -4.34964641e+01] [ 7.98347799e-01 -2.51599310e-03 6.02191382e-01 1.12064636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:-43.49, Z:112.09 [[ 4.86954516e-01 -5.84168590e-01 -6.49324540e-01 1.99038142e+02] [ 3.53658670e-01 8.11625938e-01 -4.64961162e-01 -4.34869109e+01] [ 7.98624345e-01 -3.22431518e-03 6.01821202e-01 1.12085878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:-43.48, Z:112.11 [[ 4.85620134e-01 -5.85133942e-01 -6.49454660e-01 1.99052455e+02] [ 3.54521170e-01 8.10925905e-01 -4.65525420e-01 -4.34772105e+01] [ 7.99054332e-01 -4.17690907e-03 6.01244316e-01 1.12108117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.07, Y:-43.47, Z:112.13 [[ 4.84682424e-01 -5.86331833e-01 -6.49074672e-01 1.99066859e+02] [ 3.56296841e-01 8.10051955e-01 -4.65691304e-01 -4.34680259e+01] [ 7.98833843e-01 -5.55086500e-03 6.01526125e-01 1.12129681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:-43.43, Z:112.13 [[ 4.86215205e-01 -6.14247480e-01 -6.21526192e-01 1.99087702e+02] [ 3.64691922e-01 7.88993689e-01 -4.94458048e-01 -4.34265548e+01] [ 7.94099853e-01 1.37474397e-02 6.07631822e-01 1.12127522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:-43.46, Z:112.18 [[ 4.83732750e-01 -5.70578279e-01 -6.63658839e-01 1.99092349e+02] [ 3.58188492e-01 8.20932415e-01 -4.44714487e-01 -4.34629189e+01] [ 7.98563480e-01 -2.25919967e-02 6.01486468e-01 1.12180091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:-43.44, Z:112.20 [[ 4.83470572e-01 -5.87978574e-01 -6.48488552e-01 1.99107444e+02] [ 3.58488584e-01 8.08845106e-01 -4.66106780e-01 -4.34405832e+01] [ 7.98587591e-01 -7.12683179e-03 6.01836413e-01 1.12195496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:-43.43, Z:112.22 [[ 4.83413565e-01 -5.88508362e-01 -6.48050332e-01 1.99121329e+02] [ 3.59216902e-01 8.08457136e-01 -4.66219129e-01 -4.34322095e+01] [ 7.98294772e-01 -7.41398183e-03 6.02221297e-01 1.12216932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:-43.42, Z:112.24 [[ 4.83587272e-01 -5.88687170e-01 -6.47758262e-01 1.99135889e+02] [ 3.59191822e-01 8.08329800e-01 -4.66459183e-01 -4.34224707e+01] [ 7.98200843e-01 -7.09574667e-03 6.02349620e-01 1.12239310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:-43.38, Z:112.24 [[ 4.85765338e-01 -6.12167504e-01 -6.23925463e-01 1.99155078e+02] [ 3.66611832e-01 7.90671616e-01 -4.90340861e-01 -4.33848915e+01] [ 7.93490895e-01 9.45213674e-03 6.08508715e-01 1.12239914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:-43.41, Z:112.29 [[ 4.84055709e-01 -5.78536958e-01 -6.56494523e-01 1.99162723e+02] [ 3.59069627e-01 8.15498999e-01 -4.53905702e-01 -4.34118574e+01] [ 7.97971850e-01 -1.60115970e-02 6.02481996e-01 1.12287527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:-43.39, Z:112.31 [[ 4.84768131e-01 -5.88295261e-01 -6.47231447e-01 1.99177549e+02] [ 3.57829661e-01 8.08629368e-01 -4.66986594e-01 -4.33949207e+01] [ 7.98096356e-01 -5.21839071e-03 6.02507241e-01 1.12305964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:-43.38, Z:112.33 [[ 4.85471110e-01 -5.88154634e-01 -6.46832226e-01 1.99191845e+02] [ 3.57416550e-01 8.08736435e-01 -4.67117532e-01 -4.33848039e+01] [ 7.97854129e-01 -4.41647574e-03 6.02834375e-01 1.12328093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:-43.36, Z:112.33 [[ 4.87657908e-01 -6.03514315e-01 -6.30840897e-01 1.99208095e+02] [ 3.62385021e-01 7.97323494e-01 -4.82651367e-01 -4.33559126e+01] [ 7.94271277e-01 6.76146433e-03 6.07525655e-01 1.12333668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:-43.37, Z:112.37 [[ 4.86834825e-01 -5.82729037e-01 -6.50706326e-01 1.99218307e+02] [ 3.55110414e-01 8.12643462e-01 -4.62068392e-01 -4.33694271e+01] [ 7.98052910e-01 -6.12160815e-03 6.02556287e-01 1.12373118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.23, Y:-43.34, Z:112.38 [[ 4.88801253e-01 -5.98838912e-01 -6.34401523e-01 1.99234517e+02] [ 3.58131984e-01 8.00835058e-01 -4.80004887e-01 -4.33406533e+01] [ 7.95496585e-01 7.42751410e-03 6.05912548e-01 1.12381098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:-43.35, Z:112.42 [[ 4.90013529e-01 -5.81570727e-01 -6.49355243e-01 1.99245999e+02] [ 3.48753554e-01 8.13494296e-01 -4.65400891e-01 -4.33487492e+01] [ 7.98910320e-01 1.58778409e-03 6.01448069e-01 1.12417121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.26, Y:-43.34, Z:112.44 [[ 4.91327755e-01 -5.82976743e-01 -6.47097485e-01 1.99259882e+02] [ 3.46980910e-01 8.12469129e-01 -4.68506310e-01 -4.33366535e+01] [ 7.98875013e-01 5.65967971e-03 6.01470433e-01 1.12438129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:-43.33, Z:112.46 [[ 4.92388412e-01 -5.82228608e-01 -6.46964836e-01 1.99273070e+02] [ 3.45327606e-01 8.12991191e-01 -4.68822108e-01 -4.33268082e+01] [ 7.98938356e-01 7.42775512e-03 6.01367053e-01 1.12459339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:-43.32, Z:112.48 [[ 4.93154097e-01 -5.81650218e-01 -6.46901895e-01 1.99286138e+02] [ 3.43855806e-01 8.13389739e-01 -4.69212444e-01 -4.33170459e+01] [ 7.99100883e-01 8.95306650e-03 6.01130286e-01 1.12480432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-43.31, Z:112.50 [[ 4.94822589e-01 -5.80568390e-01 -6.46599528e-01 1.99298940e+02] [ 3.41734698e-01 8.14132503e-01 -4.69473817e-01 -4.33081046e+01] [ 7.98979350e-01 1.13407550e-02 6.01251516e-01 1.12501002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.31, Y:-43.30, Z:112.52 [[ 4.95449179e-01 -5.80505394e-01 -6.46176136e-01 1.99312368e+02] [ 3.41419604e-01 8.14166980e-01 -4.69643251e-01 -4.32986618e+01] [ 7.98725713e-01 1.20671623e-02 6.01574284e-01 1.12521668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:-43.29, Z:112.54 [[ 4.95607708e-01 -5.80430413e-01 -6.46121920e-01 1.99325912e+02] [ 3.40722758e-01 8.14208851e-01 -4.70076536e-01 -4.32896005e+01] [ 7.98924904e-01 1.28251124e-02 6.01294033e-01 1.12543437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.33, Y:-43.30, Z:112.58 [[ 4.90901966e-01 -5.55751999e-01 -6.70935895e-01 1.99329703e+02] [ 3.37175806e-01 8.31296080e-01 -4.41881549e-01 -4.33038511e+01] [ 8.03322934e-01 -9.30283039e-03 5.95471008e-01 1.12579892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:-43.25, Z:112.58 [[ 4.98046354e-01 -6.09686573e-01 -6.16629639e-01 1.99356632e+02] [ 3.39169561e-01 7.91412457e-01 -5.08557107e-01 -4.32462380e+01] [ 7.98068818e-01 4.41430093e-02 6.00947216e-01 1.12575791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.37, Y:-43.27, Z:112.61 [[ 4.99467910e-01 -5.73053706e-01 -6.49723985e-01 1.99368575e+02] [ 3.39055659e-01 8.19450359e-01 -4.62106449e-01 -4.32659048e+01] [ 7.97228366e-01 1.05147488e-02 6.03586260e-01 1.12611595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:-43.24, Z:112.63 [[ 4.98233269e-01 -5.87039858e-01 -6.38081354e-01 1.99383918e+02] [ 3.38254802e-01 8.09216867e-01 -4.80366268e-01 -4.32444753e+01] [ 7.98340340e-01 2.35003740e-02 6.01747816e-01 1.12629278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:-43.24, Z:112.65 [[ 4.98357248e-01 -5.79373382e-01 -6.44954678e-01 1.99397105e+02] [ 3.37601430e-01 8.14883540e-01 -4.71158244e-01 -4.32408453e+01] [ 7.98539497e-01 1.70675045e-02 6.01700401e-01 1.12653536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:-43.23, Z:112.68 [[ 4.98606883e-01 -5.79275217e-01 -6.44849905e-01 1.99411272e+02] [ 3.36988795e-01 8.14937934e-01 -4.71502615e-01 -4.32309302e+01] [ 7.98642429e-01 1.77872565e-02 6.01542920e-01 1.12675274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:-43.22, Z:112.70 [[ 4.98595786e-01 -5.79024246e-01 -6.45083843e-01 1.99426507e+02] [ 3.35727178e-01 8.15092802e-01 -4.72134501e-01 -4.32219256e+01] [ 7.99180520e-01 1.88320944e-02 6.00796012e-01 1.12696952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:-43.21, Z:112.72 [[ 4.98459553e-01 -5.79162992e-01 -6.45064573e-01 1.99440771e+02] [ 3.35361401e-01 8.14984870e-01 -4.72580567e-01 -4.32125304e+01] [ 7.99419042e-01 1.92325390e-02 6.00465906e-01 1.12718835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-43.20, Z:112.74 [[ 4.98676616e-01 -5.79286565e-01 -6.44785785e-01 1.99454448e+02] [ 3.35236964e-01 8.14887401e-01 -4.72836865e-01 -4.32032471e+01] [ 7.99335856e-01 1.96366583e-02 6.00563561e-01 1.12739863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:-43.15, Z:112.73 [[ 5.04061630e-01 -6.23184083e-01 -5.97966113e-01 1.99471366e+02] [ 3.49331333e-01 7.80305077e-01 -5.18740404e-01 -4.31468908e+01] [ 7.89866757e-01 5.25888340e-02 6.11019575e-01 1.12725965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:-43.20, Z:112.79 [[ 4.97944970e-01 -5.66027096e-01 -6.57011517e-01 1.99482555e+02] [ 3.35259043e-01 8.24358194e-01 -4.56108475e-01 -4.31965156e+01] [ 7.99782584e-01 6.84786857e-03 6.00250719e-01 1.12789053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.50, Y:-43.18, Z:112.81 [[ 4.98142183e-01 -5.79992357e-01 -6.44564374e-01 1.99498427e+02] [ 3.35702455e-01 8.14390403e-01 -4.73362582e-01 -4.31762438e+01] [ 7.99473719e-01 1.94200270e-02 6.00387071e-01 1.12805445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:-43.17, Z:112.83 [[ 4.97599921e-01 -5.80589260e-01 -6.44445832e-01 1.99512818e+02] [ 3.36205525e-01 8.13973528e-01 -4.73722430e-01 -4.31670212e+01] [ 7.99600002e-01 1.90579947e-02 6.00230480e-01 1.12827295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:-43.16, Z:112.85 [[ 4.97576416e-01 -5.81330496e-01 -6.43795437e-01 1.99527097e+02] [ 3.37495957e-01 8.13459056e-01 -4.73688551e-01 -4.31578086e+01] [ 7.99070828e-01 1.84178944e-02 6.00954734e-01 1.12848570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.55, Y:-43.08, Z:112.82 [[ 5.05213128e-01 -6.48870610e-01 -5.68969795e-01 1.99547699e+02] [ 3.62752321e-01 7.57895018e-01 -5.42223105e-01 -4.30761182e+01] [ 7.83052010e-01 6.75431173e-02 6.18277832e-01 1.12817726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:-43.10, Z:112.86 [[ 5.04569402e-01 -6.13124840e-01 -6.07854958e-01 1.99562016e+02] [ 3.61559810e-01 7.89395166e-01 -4.96114680e-01 -4.31028900e+01] [ 7.84017999e-01 3.05483637e-02 6.19985947e-01 1.12858336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.57, Y:-43.15, Z:112.92 [[ 4.96069936e-01 -5.62293572e-01 -6.61619647e-01 1.99567832e+02] [ 3.46272491e-01 8.26885592e-01 -4.43120276e-01 -4.31517959e+01] [ 7.96247437e-01 -9.28203646e-03 6.04899879e-01 1.12924667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-43.08, Z:112.90 [[ 5.01058561e-01 -6.25502054e-01 -5.98069811e-01 1.99590038e+02] [ 3.62106116e-01 7.79208452e-01 -5.11579270e-01 -4.30804354e+01] [ 7.86014936e-01 3.97664362e-02 6.16927185e-01 1.12904213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.60, Y:-43.08, Z:112.93 [[ 4.98972577e-01 -6.16471364e-01 -6.09089012e-01 1.99604881e+02] [ 3.63521928e-01 7.86900820e-01 -4.98637050e-01 -4.30798173e+01] [ 7.86688105e-01 2.73890025e-02 6.16742789e-01 1.12931622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.62, Y:-43.08, Z:112.96 [[ 4.97107617e-01 -6.13164570e-01 -6.13932592e-01 1.99618931e+02] [ 3.65465830e-01 7.89686761e-01 -4.92777381e-01 -4.30758242e+01] [ 7.86968071e-01 2.05920046e-02 6.16650002e-01 1.12956624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.63, Y:-43.08, Z:112.99 [[ 4.92307949e-01 -6.07631510e-01 -6.23230962e-01 1.99631219e+02] [ 3.67715970e-01 7.94167896e-01 -4.83820543e-01 -4.30795324e+01] [ 7.88934629e-01 9.01672182e-03 6.14410979e-01 1.12985456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:-43.10, Z:113.03 [[ 4.87061479e-01 -5.87681695e-01 -6.46066050e-01 1.99642264e+02] [ 3.60215089e-01 8.09065819e-01 -4.64389481e-01 -4.30956502e+01] [ 7.95623155e-01 -6.53651218e-03 6.05756608e-01 1.13028901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.66, Y:-43.08, Z:113.05 [[ 4.82981355e-01 -5.98571503e-01 -6.39094020e-01 1.99658848e+02] [ 3.65161268e-01 8.01057881e-01 -4.74303195e-01 -4.30807319e+01] [ 7.95855677e-01 -4.29278291e-03 6.05471149e-01 1.13047694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:-43.02, Z:113.03 [[ 4.85549708e-01 -6.43846245e-01 -5.91357331e-01 1.99680255e+02] [ 3.82867456e-01 7.64738935e-01 -5.18253676e-01 -4.30212254e+01] [ 7.85909659e-01 2.52264441e-02 6.17826541e-01 1.13032638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.69, Y:-43.03, Z:113.07 [[ 4.83424098e-01 -6.23817529e-01 -6.14127700e-01 1.99694325e+02] [ 3.82523497e-01 7.81563029e-01 -4.92782920e-01 -4.30324432e+01] [ 7.87386129e-01 3.30486371e-03 6.16451265e-01 1.13067363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:-43.02, Z:113.09 [[ 4.80794885e-01 -6.26243621e-01 -6.13722417e-01 1.99708606e+02] [ 3.84028501e-01 7.79624457e-01 -4.94679509e-01 -4.30216028e+01] [ 7.88262893e-01 2.15247831e-03 6.15334851e-01 1.13089190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:-43.06, Z:113.15 [[ 4.74546991e-01 -5.87098491e-01 -6.55835738e-01 1.99714577e+02] [ 3.72140385e-01 8.09025478e-01 -4.54960778e-01 -4.30573526e+01] [ 7.97694608e-01 -2.81626958e-02 6.02403665e-01 1.13145737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:-43.00, Z:113.14 [[ 4.75837161e-01 -6.30841935e-01 -6.12876374e-01 1.99734297e+02] [ 3.83400825e-01 7.75903895e-01 -5.00976000e-01 -4.30038718e+01] [ 7.91569835e-01 3.40569006e-03 6.11069225e-01 1.13136324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:-43.03, Z:113.19 [[ 4.72159139e-01 -5.98686064e-01 -6.47024531e-01 1.99742624e+02] [ 3.76270321e-01 8.00644460e-01 -4.66250035e-01 -4.30323116e+01] [ 7.97174005e-01 -2.33119132e-02 6.03299396e-01 1.13186147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.76, Y:-43.00, Z:113.19 [[ 4.72718638e-01 -6.20612428e-01 -6.25601553e-01 1.99758703e+02] [ 3.83771621e-01 7.84060091e-01 -4.87820783e-01 -4.30003597e+01] [ 7.93256851e-01 -9.48614586e-03 6.08813256e-01 1.13191124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:-43.00, Z:113.22 [[ 4.71760612e-01 -6.13959321e-01 -6.32847436e-01 1.99770396e+02] [ 3.82295365e-01 7.89191654e-01 -4.80652460e-01 -4.29984042e+01] [ 7.94538973e-01 -1.51817434e-02 6.07023340e-01 1.13218958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:-42.98, Z:113.24 [[ 4.71531040e-01 -6.18718869e-01 -6.28367281e-01 1.99784752e+02] [ 3.82182087e-01 7.85540108e-01 -4.86686337e-01 -4.29841140e+01] [ 7.94729722e-01 -1.06630049e-02 6.06869813e-01 1.13239576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:-42.98, Z:113.26 [[ 4.71576349e-01 -6.17907488e-01 -6.29131213e-01 1.99798807e+02] [ 3.82329297e-01 7.86165866e-01 -4.85558998e-01 -4.29754385e+01] [ 7.94632025e-01 -1.15571552e-02 6.06981364e-01 1.13263046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:-42.97, Z:113.29 [[ 4.72587637e-01 -6.15348768e-01 -6.30877816e-01 1.99811930e+02] [ 3.80803627e-01 7.88167531e-01 -4.83508574e-01 -4.29675370e+01] [ 7.94763816e-01 -1.17403863e-02 6.06805274e-01 1.13287214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:-42.95, Z:113.31 [[ 4.73389116e-01 -6.17046065e-01 -6.28615064e-01 1.99826068e+02] [ 3.80159387e-01 7.86877213e-01 -4.86110164e-01 -4.29547127e+01] [ 7.94595234e-01 -8.85465577e-03 6.07074962e-01 1.13308405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:-42.95, Z:113.34 [[ 4.74169663e-01 -6.09371373e-01 -6.35475932e-01 1.99840217e+02] [ 3.75205214e-01 7.92812744e-01 -4.80280127e-01 -4.29525288e+01] [ 7.96482378e-01 -1.06996175e-02 6.04567068e-01 1.13337217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.85, Y:-42.93, Z:113.35 [[ 4.75407361e-01 -6.16669166e-01 -6.27460740e-01 1.99853418e+02] [ 3.79654507e-01 7.87189759e-01 -4.85998702e-01 -4.29312058e+01] [ 7.93631084e-01 -7.17093740e-03 6.08357034e-01 1.13348424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:-42.93, Z:113.38 [[ 4.75689462e-01 -6.06338305e-01 -6.37238884e-01 1.99867172e+02] [ 3.72331021e-01 7.95149164e-01 -4.78651666e-01 -4.29319046e+01] [ 7.96924806e-01 -9.57425127e-03 6.04002639e-01 1.13381740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.88, Y:-42.91, Z:113.39 [[ 4.77418717e-01 -6.17405866e-01 -6.25205059e-01 1.99880659e+02] [ 3.76993313e-01 7.86641512e-01 -4.88949050e-01 -4.29054750e+01] [ 7.93692264e-01 -2.26469784e-03 6.08315264e-01 1.13390337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:-42.91, Z:113.43 [[ 4.78074096e-01 -6.02533783e-01 -6.39060404e-01 1.99892364e+02] [ 3.67383652e-01 7.98067361e-01 -4.77616728e-01 -4.29099032e+01] [ 7.97793464e-01 -6.44415925e-03 6.02896394e-01 1.13426029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:-42.90, Z:113.45 [[ 4.78688824e-01 -6.00932457e-01 -6.40107172e-01 1.99905387e+02] [ 3.65901014e-01 7.99277211e-01 -4.76730938e-01 -4.28999424e+01] [ 7.98106169e-01 -6.01009109e-03 6.02486864e-01 1.13449197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:-42.88, Z:113.46 [[ 4.78749459e-01 -6.05131223e-01 -6.36093671e-01 1.99916846e+02] [ 3.68801292e-01 7.96110694e-01 -4.79784712e-01 -4.28835494e+01] [ 7.96733683e-01 -4.89549666e-03 6.04310741e-01 1.13464773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.93, Y:-42.87, Z:113.49 [[ 4.78571245e-01 -6.05931094e-01 -6.35466028e-01 1.99929875e+02] [ 3.66081142e-01 7.95515611e-01 -4.82845223e-01 -4.28731613e+01] [ 7.98094080e-01 -1.55628943e-03 6.02530843e-01 1.13488622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:-42.86, Z:113.51 [[ 4.80438838e-01 -6.08782271e-01 -6.31318200e-01 1.99945214e+02] [ 3.62912809e-01 7.93316627e-01 -4.88817984e-01 -4.28587185e+01] [ 7.98418948e-01 5.73368263e-03 6.02075003e-01 1.13510989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.96, Y:-42.85, Z:113.54 [[ 4.80698967e-01 -5.99602585e-01 -6.39847828e-01 1.99957107e+02] [ 3.62467288e-01 8.00294545e-01 -4.77646425e-01 -4.28547774e+01] [ 7.98464757e-01 -2.31976357e-03 6.02037084e-01 1.13536159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:-42.84, Z:113.56 [[ 4.81004262e-01 -5.99638396e-01 -6.39584783e-01 1.99969958e+02] [ 3.62122524e-01 8.00269244e-01 -4.77950222e-01 -4.28427918e+01] [ 7.98437335e-01 -1.71196204e-03 6.02075487e-01 1.13557666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:-42.83, Z:113.58 [[ 4.82740994e-01 -5.97583284e-01 -6.40199462e-01 1.99981946e+02] [ 3.60683336e-01 8.01806338e-01 -4.76459995e-01 -4.28326352e+01] [ 7.98040515e-01 -9.02506476e-04 6.02603121e-01 1.13580501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:-42.82, Z:113.60 [[ 4.82957473e-01 -5.99551853e-01 -6.38192490e-01 1.99995250e+02] [ 3.60227865e-01 8.00334369e-01 -4.79271096e-01 -4.28198343e+01] [ 7.98115258e-01 1.57283934e-03 6.02502748e-01 1.13602240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:200.01, Y:-42.82, Z:113.63 [[ 4.86572803e-01 -5.85948441e-01 -6.48005658e-01 2.00007610e+02] [ 3.60804681e-01 8.10297070e-01 -4.61777696e-01 -4.28196675e+01] [ 7.95655007e-01 -9.11500683e-03 6.05681457e-01 1.13627885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.02, Y:-42.78, Z:113.63 [[ 4.85651629e-01 -6.18815326e-01 -6.17422131e-01 2.00021694e+02] [ 3.61496208e-01 7.85257526e-01 -5.02683907e-01 -4.27808271e+01] [ 7.95903880e-01 2.09334986e-02 6.05060990e-01 1.13632153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:-42.79, Z:113.67 [[ 4.84624629e-01 -5.96963600e-01 -6.39353916e-01 2.00033627e+02] [ 3.53578037e-01 8.02237243e-01 -4.81038437e-01 -4.27906315e+01] [ 8.00075960e-01 7.06157160e-03 5.99857144e-01 1.13669319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:-42.78, Z:113.69 [[ 4.84779065e-01 -5.93912812e-01 -6.42072293e-01 2.00046853e+02] [ 3.53074244e-01 8.04514927e-01 -4.77592201e-01 -4.27814499e+01] [ 8.00204871e-01 4.82751125e-03 5.99707311e-01 1.13692261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:-42.77, Z:113.71 [[ 4.85195412e-01 -5.93947198e-01 -6.41725906e-01 2.00060464e+02] [ 3.52855157e-01 8.04485959e-01 -4.77802868e-01 -4.27700078e+01] [ 8.00049155e-01 5.39146379e-03 5.99910228e-01 1.13714311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.07, Y:-42.76, Z:113.74 [[ 4.85627252e-01 -5.93950357e-01 -6.41396247e-01 2.00074016e+02] [ 3.52570799e-01 8.04479289e-01 -4.78023959e-01 -4.27591746e+01] [ 7.99912498e-01 6.00387393e-03 6.00086618e-01 1.13736396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:-42.75, Z:113.76 [[ 4.85868001e-01 -5.94041241e-01 -6.41129698e-01 2.00087640e+02] [ 3.52365396e-01 8.04408519e-01 -4.78294431e-01 -4.27486801e+01] [ 7.99856808e-01 6.47603897e-03 6.00155936e-01 1.13758569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.10, Y:-42.74, Z:113.78 [[ 4.85677887e-01 -5.94309751e-01 -6.41024890e-01 2.00100830e+02] [ 3.52291213e-01 8.04208663e-01 -4.78684998e-01 -4.27393793e+01] [ 8.00004932e-01 6.65928279e-03 5.99956467e-01 1.13779739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:-42.73, Z:113.80 [[ 4.85522883e-01 -5.94629133e-01 -6.40846101e-01 2.00114541e+02] [ 3.52343888e-01 8.03971458e-01 -4.79044548e-01 -4.27297865e+01] [ 8.00075818e-01 6.78888384e-03 5.99860481e-01 1.13802141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.13, Y:-42.72, Z:113.82 [[ 4.85112421e-01 -5.95110663e-01 -6.40709949e-01 2.00128403e+02] [ 3.52648768e-01 8.03616457e-01 -4.79415725e-01 -4.27195282e+01] [ 8.00190469e-01 6.62494884e-03 5.99709366e-01 1.13824687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:-42.71, Z:113.85 [[ 4.85550225e-01 -5.95406551e-01 -6.40103131e-01 2.00141782e+02] [ 3.53130597e-01 8.03396235e-01 -4.79430152e-01 -4.27096030e+01] [ 7.99712299e-01 6.74741762e-03 6.00345493e-01 1.13845466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.16, Y:-42.70, Z:113.87 [[ 4.85466801e-01 -5.95564058e-01 -6.40019873e-01 2.00155709e+02] [ 3.52817354e-01 8.03276026e-01 -4.79862002e-01 -4.26990689e+01] [ 7.99901181e-01 7.14695287e-03 6.00089178e-01 1.13867716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:-42.69, Z:113.89 [[ 4.85482532e-01 -5.95733890e-01 -6.39849861e-01 2.00169486e+02] [ 3.52643707e-01 8.03146934e-01 -4.80205601e-01 -4.26890204e+01] [ 7.99968204e-01 7.49240467e-03 5.99995614e-01 1.13889552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:-42.68, Z:113.91 [[ 4.85449258e-01 -5.96036741e-01 -6.39593012e-01 2.00182633e+02] [ 3.52774405e-01 8.02921002e-01 -4.80487339e-01 -4.26790562e+01] [ 7.99930770e-01 7.62017773e-03 6.00043912e-01 1.13910524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:-42.67, Z:113.93 [[ 4.85618417e-01 -5.96238470e-01 -6.39276497e-01 2.00196543e+02] [ 3.52763802e-01 8.02768036e-01 -4.80750643e-01 -4.26688192e+01] [ 7.99832766e-01 7.94775856e-03 6.00170292e-01 1.13932689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:200.21, Y:-42.66, Z:113.95 [[ 4.85004178e-01 -5.99682031e-01 -6.36515836e-01 2.00210534e+02] [ 3.53048136e-01 8.00170327e-01 -4.84855094e-01 -4.26566464e+01] [ 8.00079972e-01 1.04360168e-02 5.99802574e-01 1.13954309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.22, Y:-42.65, Z:113.98 [[ 4.86004700e-01 -5.91209921e-01 -6.43638300e-01 2.00223050e+02] [ 3.53636790e-01 8.06513364e-01 -4.73790265e-01 -4.26542426e+01] [ 7.99212395e-01 2.65011289e-03 6.01042864e-01 1.13979033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:-42.64, Z:114.00 [[ 4.86517932e-01 -5.97464866e-01 -6.37444928e-01 2.00237450e+02] [ 3.54192776e-01 8.01851633e-01 -4.81229088e-01 -4.26395312e+01] [ 7.98653730e-01 8.34819195e-03 6.01732937e-01 1.13998871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.25, Y:-42.63, Z:114.02 [[ 4.86380571e-01 -5.97851682e-01 -6.37187027e-01 2.00251294e+02] [ 3.54464141e-01 8.01563387e-01 -4.81509408e-01 -4.26292566e+01] [ 7.98617000e-01 8.33686858e-03 6.01781840e-01 1.14021218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:-42.62, Z:114.04 [[ 4.87096654e-01 -5.98168251e-01 -6.36342355e-01 2.00265085e+02] [ 3.55224827e-01 8.01326345e-01 -4.81343340e-01 -4.26193117e+01] [ 7.97842197e-01 8.41612722e-03 6.02807595e-01 1.14042297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:-42.61, Z:114.06 [[ 4.87369119e-01 -5.98301534e-01 -6.36008346e-01 2.00278722e+02] [ 3.55127478e-01 8.01222191e-01 -4.81588492e-01 -4.26089944e+01] [ 7.97719134e-01 8.84731921e-03 6.02964268e-01 1.14064236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:-42.60, Z:114.09 [[ 4.87076231e-01 -6.00597569e-01 -6.34065696e-01 2.00292971e+02] [ 3.55011312e-01 7.99476903e-01 -4.84565424e-01 -4.25966571e+01] [ 7.97949694e-01 1.09198053e-02 6.02625127e-01 1.14085638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:-42.59, Z:114.11 [[ 4.88394237e-01 -5.94357667e-01 -6.38913166e-01 2.00305979e+02] [ 3.55009393e-01 8.04178374e-01 -4.76723688e-01 -4.25907097e+01] [ 7.97144529e-01 6.00892671e-03 6.03758637e-01 1.14109707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.32, Y:-42.58, Z:114.13 [[ 4.88647726e-01 -5.98251650e-01 -6.35073510e-01 2.00320078e+02] [ 3.54583715e-01 8.01241822e-01 -4.81956358e-01 -4.25764882e+01] [ 7.97178643e-01 1.03201537e-02 6.03655287e-01 1.14130278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:-42.57, Z:114.15 [[ 4.88644657e-01 -5.97915615e-01 -6.35392254e-01 2.00333713e+02] [ 3.53085568e-01 8.01476496e-01 -4.82665524e-01 -4.25653607e+01] [ 7.97845211e-01 1.15040947e-02 6.02752582e-01 1.14151489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:-42.55, Z:114.17 [[ 4.88653671e-01 -5.97890976e-01 -6.35408506e-01 2.00347507e+02] [ 3.52573994e-01 8.01487583e-01 -4.83020945e-01 -4.25546242e+01] [ 7.98065892e-01 1.20014435e-02 6.02450659e-01 1.14173666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.36, Y:-42.54, Z:114.20 [[ 4.88954148e-01 -5.97795655e-01 -6.35267028e-01 2.00361433e+02] [ 3.51938800e-01 8.01546671e-01 -4.83385990e-01 -4.25440846e+01] [ 7.98162216e-01 1.27784694e-02 6.02307054e-01 1.14195747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.37, Y:-42.53, Z:114.22 [[ 4.89262314e-01 -5.97627902e-01 -6.35187594e-01 2.00374906e+02] [ 3.51118749e-01 8.01656902e-01 -4.83799375e-01 -4.25339550e+01] [ 7.98334524e-01 1.36785281e-02 6.02058872e-01 1.14217210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:-42.52, Z:114.24 [[ 4.89112711e-01 -5.97988160e-01 -6.34963713e-01 2.00388383e+02] [ 3.51278925e-01 8.01387073e-01 -4.84130019e-01 -4.25235793e+01] [ 7.98355731e-01 1.37447753e-02 6.02029242e-01 1.14238984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:-42.46, Z:114.22 [[ 4.94799158e-01 -6.45623002e-01 -5.81674078e-01 2.00407795e+02] [ 3.69445294e-01 7.62135753e-01 -5.31657097e-01 -4.24576090e+01] [ 7.86564662e-01 4.81667336e-02 6.15626509e-01 1.14220876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:-42.52, Z:114.29 [[ 4.88063868e-01 -5.79551830e-01 -6.52620362e-01 2.00413361e+02] [ 3.52141704e-01 8.14919142e-01 -4.60329244e-01 -4.25194256e+01] [ 7.98617481e-01 -5.14477482e-03 6.01816958e-01 1.14291639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.43, Y:-42.45, Z:114.27 [[ 4.92461026e-01 -6.36071731e-01 -5.94049570e-01 2.00433556e+02] [ 3.66748305e-01 7.70655120e-01 -5.21139489e-01 -4.24504316e+01] [ 7.89289439e-01 3.87742143e-02 6.12795840e-01 1.14273203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.44, Y:-42.50, Z:114.33 [[ 4.87331578e-01 -5.86007002e-01 -6.47382211e-01 2.00440454e+02] [ 3.53707924e-01 8.10304957e-01 -4.67222196e-01 -4.24958544e+01] [ 7.98372493e-01 -1.29208748e-03 6.02162514e-01 1.14332996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.46, Y:-42.48, Z:114.35 [[ 4.87045456e-01 -6.00903070e-01 -6.33799829e-01 2.00455475e+02] [ 3.55838816e-01 7.99254790e-01 -4.84324806e-01 -4.24755009e+01] [ 7.97599813e-01 1.03576153e-02 6.03098051e-01 1.14349250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:-42.47, Z:114.37 [[ 4.86985437e-01 -6.01685542e-01 -6.33103224e-01 2.00468695e+02] [ 3.57207906e-01 7.98674343e-01 -4.84274515e-01 -4.24655407e+01] [ 7.97024276e-01 9.68515952e-03 6.03869606e-01 1.14370108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:-42.46, Z:114.39 [[ 4.86912127e-01 -6.02322696e-01 -6.32553516e-01 2.00481855e+02] [ 3.58248638e-01 7.98199745e-01 -4.84288220e-01 -4.24554609e+01] [ 7.96601842e-01 9.19437175e-03 6.04434421e-01 1.14391406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.50, Y:-42.44, Z:114.41 [[ 4.86754186e-01 -6.03133802e-01 -6.31901875e-01 2.00495585e+02] [ 3.59608492e-01 7.97594882e-01 -4.84276922e-01 -4.24447084e+01] [ 7.96085483e-01 8.48653875e-03 6.05124684e-01 1.14413719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:-42.43, Z:114.44 [[ 4.86316067e-01 -6.03928073e-01 -6.31480455e-01 2.00509432e+02] [ 3.60736424e-01 7.97000837e-01 -4.84416039e-01 -4.24337106e+01] [ 7.95842896e-01 7.78130175e-03 6.05453166e-01 1.14436078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:-42.42, Z:114.46 [[ 4.85398525e-01 -6.04886704e-01 -6.31268839e-01 2.00523391e+02] [ 3.61900460e-01 7.96282249e-01 -4.84729448e-01 -4.24232415e+01] [ 7.95874569e-01 6.83047571e-03 6.05423005e-01 1.14457501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:-42.41, Z:114.48 [[ 4.84560070e-01 -6.05589709e-01 -6.31238974e-01 2.00536721e+02] [ 3.62459018e-01 7.95752092e-01 -4.85182511e-01 -4.24132500e+01] [ 7.96131270e-01 6.30181298e-03 6.05091141e-01 1.14478877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:-42.40, Z:114.50 [[ 4.82837643e-01 -6.06602908e-01 -6.31585879e-01 2.00550556e+02] [ 3.63105271e-01 7.94987283e-01 -4.85952449e-01 -4.24030733e+01] [ 7.96882910e-01 5.30397333e-03 6.04110499e-01 1.14500553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.56, Y:-42.39, Z:114.52 [[ 4.82112473e-01 -6.07034155e-01 -6.31725493e-01 2.00564194e+02] [ 3.63042647e-01 7.94658584e-01 -4.86536505e-01 -4.23926135e+01] [ 7.97350362e-01 5.22202227e-03 6.03494102e-01 1.14522390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.58, Y:-42.38, Z:114.54 [[ 4.81134111e-01 -6.07745827e-01 -6.31787129e-01 2.00577492e+02] [ 3.63524609e-01 7.94117872e-01 -4.87059200e-01 -4.23820280e+01] [ 7.97721647e-01 4.67062626e-03 6.03007761e-01 1.14544091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09999999999997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:200.59, Y:-42.38, Z:114.57 [[ 4.84446636e-01 -5.99188720e-01 -6.37404373e-01 2.00589885e+02] [ 3.63169249e-01 8.00607590e-01 -4.76587435e-01 -4.23793468e+01] [ 7.95876594e-01 -6.04487848e-04 6.05458571e-01 1.14565512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:-42.36, Z:114.58 [[ 4.80907510e-01 -6.12730593e-01 -6.27127728e-01 2.00602271e+02] [ 3.64432996e-01 7.90247535e-01 -4.92643304e-01 -4.23591852e+01] [ 7.97443765e-01 8.36982746e-03 6.03335220e-01 1.14581390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.62, Y:-42.34, Z:114.60 [[ 4.82795623e-01 -6.24156015e-01 -6.14278158e-01 2.00621697e+02] [ 3.64393686e-01 7.81016799e-01 -5.07178471e-01 -4.23374453e+01] [ 7.96320054e-01 2.10244632e-02 6.04510003e-01 1.14598259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:-42.34, Z:114.63 [[ 4.81436633e-01 -6.07120051e-01 -6.32158217e-01 2.00634571e+02] [ 3.65325007e-01 7.94606154e-01 -4.84911022e-01 -4.23430941e+01] [ 7.96716014e-01 2.51072517e-03 6.04348648e-01 1.14628355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:-42.33, Z:114.65 [[ 4.81277429e-01 -6.07481492e-01 -6.31932175e-01 2.00648374e+02] [ 3.65534886e-01 7.94329819e-01 -4.85205510e-01 -4.23322216e+01] [ 7.96715937e-01 2.52520478e-03 6.04348690e-01 1.14650929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:-42.34, Z:114.69 [[ 4.77178606e-01 -5.89112541e-01 -6.52109647e-01 2.00654265e+02] [ 3.63667248e-01 8.07895222e-01 -4.63736394e-01 -4.23415168e+01] [ 8.00029194e-01 -1.58658341e-02 5.99751252e-01 1.14685410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.68, Y:-42.29, Z:114.69 [[ 4.81220219e-01 -6.31523937e-01 -6.07951164e-01 2.00677508e+02] [ 3.66397595e-01 7.74951085e-01 -5.14979241e-01 -4.22916954e+01] [ 7.96354132e-01 2.50665790e-02 6.04310983e-01 1.14685618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:-42.30, Z:114.72 [[ 4.81103437e-01 -6.08604226e-01 -6.30983660e-01 2.00690016e+02] [ 3.66983635e-01 7.93471363e-01 -4.85516434e-01 -4.23013772e+01] [ 7.96154818e-01 2.02294743e-03 6.05089591e-01 1.14718585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.70, Y:-42.29, Z:114.74 [[ 4.81616993e-01 -6.08507897e-01 -6.30684717e-01 2.00703486e+02] [ 3.66523726e-01 7.93542938e-01 -4.85746811e-01 -4.22917519e+01] [ 7.96056173e-01 2.78300610e-03 6.05216345e-01 1.14741697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.72, Y:-42.28, Z:114.76 [[ 4.82021502e-01 -6.08577191e-01 -6.30308713e-01 2.00717246e+02] [ 3.66397257e-01 7.93487872e-01 -4.85932143e-01 -4.22812933e+01] [ 7.95869538e-01 3.28635772e-03 6.05459230e-01 1.14763857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.73, Y:-42.27, Z:114.78 [[ 4.81223453e-01 -6.09125066e-01 -6.30389278e-01 2.00730476e+02] [ 3.66590648e-01 7.93068481e-01 -4.86470637e-01 -4.22709352e+01] [ 7.96263326e-01 3.00626515e-03 6.04942706e-01 1.14784925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.74, Y:-42.26, Z:114.81 [[ 4.80721659e-01 -6.09635737e-01 -6.30278475e-01 2.00743959e+02] [ 3.67087796e-01 7.92677379e-01 -4.86733113e-01 -4.22603295e+01] [ 7.96337389e-01 2.61561300e-03 6.04847023e-01 1.14807018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.76, Y:-42.25, Z:114.83 [[ 4.80340409e-01 -6.10068387e-01 -6.30150501e-01 2.00757694e+02] [ 3.67308225e-01 7.92344761e-01 -4.87108250e-01 -4.22498720e+01] [ 7.96465793e-01 2.51831424e-03 6.04678343e-01 1.14829252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:-42.24, Z:114.85 [[ 4.80062033e-01 -6.10188932e-01 -6.30245913e-01 2.00771172e+02] [ 3.66787119e-01 7.92250487e-01 -4.87653950e-01 -4.22391774e+01] [ 7.96873675e-01 2.93806360e-03 6.04138820e-01 1.14851254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.78, Y:-42.23, Z:114.87 [[ 4.79627698e-01 -6.10381777e-01 -6.30389845e-01 2.00784721e+02] [ 3.66340291e-01 7.92100774e-01 -4.88232686e-01 -4.22277654e+01] [ 7.97340619e-01 3.23271966e-03 6.03520909e-01 1.14873106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:-42.22, Z:114.89 [[ 4.79325148e-01 -6.10489505e-01 -6.30515636e-01 2.00798212e+02] [ 3.65767552e-01 7.92015835e-01 -4.88799566e-01 -4.22164836e+01] [ 7.97785373e-01 3.67176352e-03 6.02930359e-01 1.14894756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:-42.20, Z:114.92 [[ 4.79066843e-01 -6.10585600e-01 -6.30618890e-01 2.00811879e+02] [ 3.65194445e-01 7.91939479e-01 -4.89351488e-01 -4.22047309e+01] [ 7.98202967e-01 4.13355652e-03 6.02374416e-01 1.14916835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.82, Y:-42.19, Z:114.94 [[ 4.79053713e-01 -6.10380521e-01 -6.30827361e-01 2.00824995e+02] [ 3.64011890e-01 7.92091915e-01 -4.89985451e-01 -4.21928231e+01] [ 7.98750827e-01 5.10068992e-03 6.01640340e-01 1.14938404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.84, Y:-42.18, Z:114.96 [[ 4.79285985e-01 -6.10617853e-01 -6.30421116e-01 2.00838143e+02] [ 3.64207190e-01 7.91907580e-01 -4.90138254e-01 -4.21819358e+01] [ 7.98522428e-01 5.31249275e-03 6.01941616e-01 1.14960265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:-42.17, Z:114.98 [[ 4.79464193e-01 -6.10902829e-01 -6.30009382e-01 2.00851672e+02] [ 3.64483194e-01 7.91686836e-01 -4.90289664e-01 -4.21710953e+01] [ 7.98289477e-01 5.44850640e-03 6.02249304e-01 1.14982755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.86, Y:-42.16, Z:115.00 [[ 4.79729364e-01 -6.11234639e-01 -6.29485467e-01 2.00864871e+02] [ 3.64956013e-01 7.91430317e-01 -4.90352079e-01 -4.21604327e+01] [ 7.97914059e-01 5.50178452e-03 6.02746120e-01 1.15004894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:-42.15, Z:115.03 [[ 4.80073308e-01 -6.11613327e-01 -6.28855116e-01 2.00876973e+02] [ 3.65614036e-01 7.91137871e-01 -4.90333811e-01 -4.21503394e+01] [ 7.97405791e-01 5.47791754e-03 6.03418592e-01 1.15026904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:-42.14, Z:115.05 [[ 4.80266856e-01 -6.11915901e-01 -6.28412823e-01 2.00890402e+02] [ 3.65914320e-01 7.90902865e-01 -4.90488908e-01 -4.21396110e+01] [ 7.97151464e-01 5.62031490e-03 6.03753224e-01 1.15049649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.90, Y:-42.13, Z:115.07 [[ 4.80214474e-01 -6.12321277e-01 -6.28057890e-01 2.00903189e+02] [ 3.66335076e-01 7.90589546e-01 -4.90679919e-01 -4.21290047e+01] [ 7.96989756e-01 5.55196416e-03 6.03967304e-01 1.15072037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:-42.12, Z:115.09 [[ 4.80675650e-01 -6.12315552e-01 -6.27710590e-01 2.00915902e+02] [ 3.66055673e-01 7.90589310e-01 -4.90888772e-01 -4.21177468e+01] [ 7.96840112e-01 6.18125671e-03 6.04158612e-01 1.15093899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:-42.11, Z:115.12 [[ 4.80652748e-01 -6.12339702e-01 -6.27704568e-01 2.00928840e+02] [ 3.65467373e-01 7.90565780e-01 -4.91364779e-01 -4.21070092e+01] [ 7.97123914e-01 6.77029169e-03 6.03777797e-01 1.15115450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.94, Y:-42.10, Z:115.14 [[ 4.80734206e-01 -6.12192340e-01 -6.27785921e-01 2.00941955e+02] [ 3.64469662e-01 7.90671574e-01 -4.91935288e-01 -4.20959558e+01] [ 7.97531497e-01 7.68119750e-03 6.03228407e-01 1.15137102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:-42.08, Z:115.16 [[ 4.81096888e-01 -6.12022899e-01 -6.27673288e-01 2.00955557e+02] [ 3.63690987e-01 7.90793581e-01 -4.92315323e-01 -4.20840428e+01] [ 7.97668258e-01 8.57225242e-03 6.03035543e-01 1.15159074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.97, Y:-42.07, Z:115.18 [[ 4.81471421e-01 -6.11613599e-01 -6.27785056e-01 2.00968238e+02] [ 3.62267587e-01 7.91094911e-01 -4.92880348e-01 -4.20727219e+01] [ 7.98089886e-01 9.88162404e-03 6.02457373e-01 1.15180038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:-42.06, Z:115.20 [[ 4.82027158e-01 -6.11082247e-01 -6.27876028e-01 2.00981202e+02] [ 3.60631309e-01 7.91484631e-01 -4.93454292e-01 -4.20615210e+01] [ 7.98495384e-01 1.14266165e-02 6.01892478e-01 1.15201760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:-42.05, Z:115.22 [[ 4.83499778e-01 -6.09752003e-01 -6.28036989e-01 2.00993374e+02] [ 3.57628628e-01 7.92463653e-01 -4.94067933e-01 -4.20508714e+01] [ 7.98955399e-01 1.42777297e-02 6.01220773e-01 1.15223227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:-42.04, Z:115.25 [[ 4.83988268e-01 -6.09432045e-01 -6.27971288e-01 2.01006369e+02] [ 3.56493682e-01 7.92687199e-01 -4.94529331e-01 -4.20400633e+01] [ 7.99166823e-01 1.54785978e-02 6.00909978e-01 1.15245666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:-42.03, Z:115.27 [[ 4.84746889e-01 -6.09078779e-01 -6.27728838e-01 2.01018831e+02] [ 3.55543868e-01 7.92934399e-01 -4.94816731e-01 -4.20298898e+01] [ 7.99130159e-01 1.66757318e-02 6.00926708e-01 1.15267302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.03, Y:-42.02, Z:115.29 [[ 4.85945239e-01 -6.08425589e-01 -6.27435677e-01 2.01031371e+02] [ 3.54125279e-01 7.93397677e-01 -4.95091317e-01 -4.20190454e+01] [ 7.99032234e-01 1.83964338e-02 6.01006705e-01 1.15289994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:-42.01, Z:115.31 [[ 4.86523429e-01 -6.08430394e-01 -6.26982782e-01 2.01044088e+02] [ 3.53985664e-01 7.93379935e-01 -4.95219575e-01 -4.20082484e+01] [ 7.98742200e-01 1.89930096e-02 6.01373564e-01 1.15311136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.06, Y:-42.00, Z:115.33 [[ 4.86795761e-01 -6.08580940e-01 -6.26625188e-01 2.01056899e+02] [ 3.53943892e-01 7.93254789e-01 -4.95449857e-01 -4.19975372e+01] [ 7.98594771e-01 1.93927320e-02 6.01556575e-01 1.15332915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:-41.99, Z:115.35 [[ 4.86790897e-01 -6.08994525e-01 -6.26227028e-01 2.01070489e+02] [ 3.54384689e-01 7.92938402e-01 -4.95641183e-01 -4.19864346e+01] [ 7.98402226e-01 1.93483453e-02 6.01813532e-01 1.15354846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:-41.98, Z:115.38 [[ 4.86470465e-01 -6.09659935e-01 -6.25828451e-01 2.01083935e+02] [ 3.55280583e-01 7.92438999e-01 -4.95798487e-01 -4.19756927e+01] [ 7.98199345e-01 1.88466233e-02 6.02098506e-01 1.15377460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.10, Y:-41.97, Z:115.40 [[ 4.86177699e-01 -6.11074405e-01 -6.24675369e-01 2.01097810e+02] [ 3.58227098e-01 7.91389417e-01 -4.95354557e-01 -4.19650188e+01] [ 7.97059967e-01 1.70546933e-02 6.03659297e-01 1.15400016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:-41.96, Z:115.43 [[ 4.83445004e-01 -6.03595282e-01 -6.33998158e-01 2.01106395e+02] [ 3.59681446e-01 7.97265828e-01 -4.84764332e-01 -4.19636550e+01] [ 7.98066530e-01 6.31952033e-03 6.02536205e-01 1.15426574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.13, Y:-41.93, Z:115.44 [[ 4.85377411e-01 -6.27365253e-01 -6.08951237e-01 2.01125210e+02] [ 3.62195715e-01 7.78204934e-01 -5.13041270e-01 -4.19324371e+01] [ 7.95753123e-01 2.84591147e-02 6.04952102e-01 1.15438266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:-41.93, Z:115.47 [[ 4.83991710e-01 -6.14497008e-01 -6.23013204e-01 2.01137946e+02] [ 3.64342855e-01 7.88818803e-01 -4.94994121e-01 -4.19342600e+01] [ 7.95616936e-01 1.25826420e-02 6.05669356e-01 1.15466457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:-41.92, Z:115.49 [[ 4.81322022e-01 -6.17028738e-01 -6.22579029e-01 2.01151902e+02] [ 3.68314014e-01 7.86889027e-01 -4.95126697e-01 -4.19240953e+01] [ 7.95408008e-01 9.01080167e-03 6.06007349e-01 1.15488701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:201.16, Y:-41.91, Z:115.51 [[ 4.78217562e-01 -6.22567356e-01 -6.19449636e-01 2.01164781e+02] [ 3.69342821e-01 7.82489771e-01 -5.01293965e-01 -4.19110558e+01] [ 7.96802262e-01 1.09383017e-02 6.04141134e-01 1.15507702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:-41.91, Z:115.53 [[ 4.75963314e-01 -6.17105330e-01 -6.26609875e-01 2.01177387e+02] [ 3.72923391e-01 7.86880483e-01 -4.91677995e-01 -4.19068869e+01] [ 7.96484192e-01 3.43208398e-04 6.04659255e-01 1.15532018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.19, Y:-41.89, Z:115.55 [[ 4.73126158e-01 -6.23199195e-01 -6.22715346e-01 2.01191373e+02] [ 3.75985646e-01 7.82062489e-01 -4.97004082e-01 -4.18931616e+01] [ 7.96734857e-01 1.01360039e-03 6.04328172e-01 1.15551037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:-41.88, Z:115.57 [[ 4.65498262e-01 -6.28140745e-01 -6.23498654e-01 2.01205887e+02] [ 3.82704203e-01 7.78070615e-01 -4.98140152e-01 -4.18834605e+01] [ 7.98028108e-01 -6.73218081e-03 6.02582623e-01 1.15571829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.22, Y:-41.87, Z:115.59 [[ 4.62622239e-01 -6.30314583e-01 -6.23445419e-01 2.01219261e+02] [ 3.85732147e-01 7.76277733e-01 -4.98601636e-01 -4.18723980e+01] [ 7.98242679e-01 -9.81873455e-03 6.02255941e-01 1.15594205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.23, Y:-41.86, Z:115.62 [[ 4.60097016e-01 -6.32270058e-01 -6.23334027e-01 2.01232693e+02] [ 3.88510002e-01 7.74645752e-01 -4.98982903e-01 -4.18612182e+01] [ 7.98355005e-01 -1.25909595e-02 6.02055441e-01 1.15616692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.25, Y:-41.82, Z:115.61 [[ 4.59949366e-01 -6.62633513e-01 -5.91069715e-01 2.01249982e+02] [ 4.02120767e-01 7.48929868e-01 -5.26690556e-01 -4.18171633e+01] [ 7.91672577e-01 4.56958046e-03 6.10928514e-01 1.15613767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:-41.85, Z:115.67 [[ 4.51120561e-01 -6.27862289e-01 -6.34254827e-01 2.01258413e+02] [ 3.99019004e-01 7.77587561e-01 -4.85943844e-01 -4.18507751e+01] [ 7.98294479e-01 -3.38604698e-02 6.01314721e-01 1.15666246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:-41.83, Z:115.68 [[ 4.47898332e-01 -6.41124147e-01 -6.23174864e-01 2.01271655e+02] [ 4.02398998e-01 7.66966003e-01 -4.99838171e-01 -4.18311694e+01] [ 7.98412256e-01 -2.68882575e-02 6.01510508e-01 1.15682832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:-41.82, Z:115.70 [[ 4.45908483e-01 -6.43136602e-01 -6.22527860e-01 2.01284770e+02] [ 4.05821448e-01 7.65172900e-01 -4.99819353e-01 -4.18204057e+01] [ 7.97793568e-01 -2.97614686e-02 6.02195714e-01 1.15704646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:-41.81, Z:115.73 [[ 4.44784860e-01 -6.44680970e-01 -6.21733765e-01 2.01297268e+02] [ 4.08609634e-01 7.63789868e-01 -4.99663091e-01 -4.18093137e+01] [ 7.96997237e-01 -3.18038282e-02 6.03145025e-01 1.15725785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.31, Y:-41.80, Z:115.75 [[ 4.44051788e-01 -6.45719746e-01 -6.21179539e-01 2.01309405e+02] [ 4.10465206e-01 7.62855107e-01 -4.99570216e-01 -4.17978709e+01] [ 7.96452336e-01 -3.31375402e-02 6.03792663e-01 1.15747586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:-41.79, Z:115.77 [[ 4.44380152e-01 -6.46157562e-01 -6.20489070e-01 2.01321558e+02] [ 4.11221031e-01 7.62482349e-01 -4.99517698e-01 -4.17861324e+01] [ 7.95879102e-01 -3.31824048e-02 6.04545601e-01 1.15769569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:-41.77, Z:115.79 [[ 4.46541700e-01 -6.45031401e-01 -6.20108863e-01 2.01331530e+02] [ 4.09024430e-01 7.63546944e-01 -4.99694987e-01 -4.17727978e+01] [ 7.95801185e-01 -3.05050248e-02 6.04789152e-01 1.15791224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.34, Y:-41.76, Z:115.81 [[ 4.48340384e-01 -6.44082554e-01 -6.19797196e-01 2.01343377e+02] [ 4.07038620e-01 7.64438518e-01 -4.99953312e-01 -4.17595874e+01] [ 7.95808056e-01 -2.81321351e-02 6.04895133e-01 1.15813176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:-41.71, Z:115.81 [[ 4.52925941e-01 -6.72197852e-01 -5.85668967e-01 2.01359894e+02] [ 4.14631796e-01 7.40364660e-01 -5.29094173e-01 -4.17116276e+01] [ 7.89264572e-01 -3.19649943e-03 6.14044964e-01 1.15809609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:-41.71, Z:115.84 [[ 4.57579352e-01 -6.49764148e-01 -6.06982445e-01 2.01368853e+02] [ 4.05709063e-01 7.60008184e-01 -5.07727995e-01 -4.17147203e+01] [ 7.91215073e-01 -1.39324319e-02 6.11379256e-01 1.15841679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.38, Y:-41.73, Z:115.88 [[ 4.57380740e-01 -6.25145010e-01 -6.32452824e-01 2.01375533e+02] [ 3.93341331e-01 7.80068424e-01 -4.86596189e-01 -4.17284069e+01] [ 7.97549658e-01 -2.62101101e-02 6.02683643e-01 1.15883220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:-41.71, Z:115.90 [[ 4.59983471e-01 -6.34911754e-01 -6.20727212e-01 2.01387542e+02] [ 3.88974475e-01 7.72512326e-01 -5.01919878e-01 -4.17052007e+01] [ 7.98194252e-01 -1.05721942e-02 6.02307367e-01 1.15900844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-41.69, Z:115.92 [[ 4.62989193e-01 -6.32787592e-01 -6.20661639e-01 2.01398660e+02] [ 3.84855389e-01 7.74299903e-01 -5.02340512e-01 -4.16922421e+01] [ 7.98453090e-01 -6.28674852e-03 6.02024202e-01 1.15921979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.41, Y:-41.68, Z:115.94 [[ 4.69679488e-01 -6.28276788e-01 -6.20217265e-01 2.01408739e+02] [ 3.77361528e-01 7.77987607e-01 -5.02328141e-01 -4.16768645e+01] [ 7.98122457e-01 1.88708945e-03 6.02492309e-01 1.15944123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:-41.66, Z:115.97 [[ 4.72762433e-01 -6.26417924e-01 -6.19755005e-01 2.01420044e+02] [ 3.74160258e-01 7.79466966e-01 -5.02429448e-01 -4.16641894e+01] [ 7.97809365e-01 5.64207554e-03 6.02883392e-01 1.15965955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:-41.65, Z:115.99 [[ 4.75912970e-01 -6.24705401e-01 -6.19071892e-01 2.01431881e+02] [ 3.71628514e-01 7.80809231e-01 -5.02224245e-01 -4.16515876e+01] [ 7.97119247e-01 8.95026488e-03 6.03755579e-01 1.15988430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.44, Y:-41.64, Z:116.01 [[ 4.78266872e-01 -6.23335514e-01 -6.18638534e-01 2.01443583e+02] [ 3.69240528e-01 7.81865043e-01 -5.02342998e-01 -4.16388989e+01] [ 7.96820075e-01 1.18275951e-02 6.04100882e-01 1.16010884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:-41.63, Z:116.03 [[ 4.78103296e-01 -6.23697111e-01 -6.18400478e-01 2.01457058e+02] [ 3.69452841e-01 7.81576406e-01 -5.02635972e-01 -4.16276674e+01] [ 7.96819827e-01 1.18421011e-02 6.04100926e-01 1.16033470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.47, Y:-41.61, Z:116.06 [[ 4.82418737e-01 -6.21501913e-01 -6.17258078e-01 2.01468032e+02] [ 3.66543364e-01 7.83249231e-01 -5.02161931e-01 -4.16141955e+01] [ 7.95561515e-01 1.60004715e-02 6.05661506e-01 1.16055638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:-41.60, Z:116.08 [[ 4.83687215e-01 -6.21085748e-01 -6.16684012e-01 2.01480332e+02] [ 3.65874132e-01 7.83552368e-01 -5.02177067e-01 -4.16027094e+01] [ 7.95099237e-01 1.72678991e-02 6.06233472e-01 1.16077065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.49, Y:-41.59, Z:116.10 [[ 4.84453557e-01 -6.21054741e-01 -6.16113431e-01 2.01493135e+02] [ 3.65793493e-01 7.83562020e-01 -5.02220749e-01 -4.15910055e+01] [ 7.94669662e-01 1.79323449e-02 6.06777191e-01 1.16099256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:-41.58, Z:116.12 [[ 4.84659408e-01 -6.21204672e-01 -6.15800304e-01 2.01505708e+02] [ 3.65755085e-01 7.83435046e-01 -5.02446760e-01 -4.15798597e+01] [ 7.94561814e-01 1.82834566e-02 6.06907933e-01 1.16121064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:-41.57, Z:116.14 [[ 4.84419012e-01 -6.21647400e-01 -6.15542631e-01 2.01518986e+02] [ 3.66298331e-01 7.83090567e-01 -5.02587999e-01 -4.15680900e+01] [ 7.94458151e-01 1.79909434e-02 6.07052364e-01 1.16143281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:-41.56, Z:116.17 [[ 4.83099031e-01 -6.22442874e-01 -6.15776092e-01 2.01532663e+02] [ 3.66700035e-01 7.82473633e-01 -5.03255500e-01 -4.15568583e+01] [ 7.95076355e-01 1.73171303e-02 6.06262077e-01 1.16165236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:-41.55, Z:116.19 [[ 4.81963678e-01 -6.23184307e-01 -6.15915848e-01 2.01546239e+02] [ 3.67118846e-01 7.81896222e-01 -5.03847250e-01 -4.15456207e+01] [ 7.95571974e-01 1.67217581e-02 6.05628282e-01 1.16187628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:-41.53, Z:116.21 [[ 4.80583406e-01 -6.23868663e-01 -6.16301454e-01 2.01559735e+02] [ 3.67162808e-01 7.81360421e-01 -5.04645781e-01 -4.15348841e+01] [ 7.96386252e-01 1.62414156e-02 6.04570222e-01 1.16209962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:-41.52, Z:116.23 [[ 4.78455611e-01 -6.24848897e-01 -6.16963600e-01 2.01573220e+02] [ 3.67366941e-01 7.80595912e-01 -5.05679298e-01 -4.15244523e+01] [ 7.97572416e-01 1.52930669e-02 6.03029322e-01 1.16231373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:-41.51, Z:116.25 [[ 4.77403096e-01 -6.25501838e-01 -6.17117278e-01 2.01586953e+02] [ 3.67573436e-01 7.80080699e-01 -5.06323881e-01 -4.15137137e+01] [ 7.98107796e-01 1.48846705e-02 6.02330801e-01 1.16253502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.60, Y:-41.50, Z:116.28 [[ 4.76659765e-01 -6.26065293e-01 -6.17120505e-01 2.01600508e+02] [ 3.67841738e-01 7.79634390e-01 -5.06816212e-01 -4.15035524e+01] [ 7.98428409e-01 1.45762171e-02 6.01913291e-01 1.16275461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:-41.49, Z:116.30 [[ 4.75811322e-01 -6.26796394e-01 -6.17033116e-01 2.01613840e+02] [ 3.68480221e-01 7.79057560e-01 -5.07239239e-01 -4.14932070e+01] [ 7.98640040e-01 1.39856736e-02 6.01646481e-01 1.16296558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.63, Y:-41.48, Z:116.32 [[ 4.73903767e-01 -6.28177424e-01 -6.17096705e-01 2.01628229e+02] [ 3.69978753e-01 7.77972231e-01 -5.07813873e-01 -4.14837830e+01] [ 7.99081311e-01 1.23422377e-02 6.01096271e-01 1.16318363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:-41.47, Z:116.34 [[ 4.72925851e-01 -6.29222688e-01 -6.16781929e-01 2.01641771e+02] [ 3.71391162e-01 7.77144327e-01 -5.08050490e-01 -4.14740615e+01] [ 7.99005472e-01 1.12028530e-02 6.01219387e-01 1.16339660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:-41.46, Z:116.36 [[ 4.71871205e-01 -6.30385926e-01 -6.16401777e-01 2.01655568e+02] [ 3.73038228e-01 7.76218880e-01 -5.08258528e-01 -4.14643633e+01] [ 7.98861719e-01 9.89113758e-03 6.01433387e-01 1.16361981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.67, Y:-41.45, Z:116.38 [[ 4.71190741e-01 -6.31580598e-01 -6.15698980e-01 2.01669533e+02] [ 3.75142841e-01 7.75263976e-01 -5.08166917e-01 -4.14547182e+01] [ 7.98277605e-01 8.46848101e-03 6.02230147e-01 1.16384529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.68, Y:-41.45, Z:116.41 [[ 4.70130965e-01 -6.33729782e-01 -6.14299144e-01 2.01683705e+02] [ 3.79593837e-01 7.73535616e-01 -5.07494994e-01 -4.14464677e+01] [ 7.96796960e-01 5.40494250e-03 6.04222965e-01 1.16407038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:-41.44, Z:116.43 [[ 4.69498111e-01 -6.34947016e-01 -6.13525721e-01 2.01696873e+02] [ 3.81808924e-01 7.72545607e-01 -5.07341336e-01 -4.14369760e+01] [ 7.96111468e-01 3.94620320e-03 6.05137140e-01 1.16428247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.71, Y:-41.43, Z:116.45 [[ 4.68668783e-01 -6.36050504e-01 -6.13016580e-01 2.01710630e+02] [ 3.83716764e-01 7.71643318e-01 -5.07275108e-01 -4.14269056e+01] [ 7.95682736e-01 2.51926923e-03 6.05708376e-01 1.16450389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:-41.42, Z:116.47 [[ 4.67461794e-01 -6.37154236e-01 -6.12791931e-01 2.01724140e+02] [ 3.85150289e-01 7.70735306e-01 -5.07569053e-01 -4.14169701e+01] [ 7.95700149e-01 1.25215076e-03 6.05689447e-01 1.16472376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.74, Y:-41.41, Z:116.49 [[ 4.66495017e-01 -6.38020666e-01 -6.12627154e-01 2.01738075e+02] [ 3.86128963e-01 7.70019144e-01 -5.07912337e-01 -4.14063558e+01] [ 7.95793204e-01 3.85486789e-04 6.05568351e-01 1.16494731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.75, Y:-41.40, Z:116.52 [[ 4.65179411e-01 -6.39154225e-01 -6.12445909e-01 2.01752723e+02] [ 3.87571621e-01 7.69078010e-01 -5.08239367e-01 -4.13958515e+01] [ 7.95862019e-01 -9.44164776e-04 6.05477295e-01 1.16516828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:-41.38, Z:116.54 [[ 4.64499362e-01 -6.39771748e-01 -6.12317282e-01 2.01766436e+02] [ 3.88104427e-01 7.68563705e-01 -5.08610643e-01 -4.13849508e+01] [ 7.95999558e-01 -1.39372850e-03 6.05295598e-01 1.16538462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.78, Y:-41.37, Z:116.56 [[ 4.63362667e-01 -6.40477659e-01 -6.12440534e-01 2.01779665e+02] [ 3.88485283e-01 7.67974262e-01 -5.09209896e-01 -4.13741021e+01] [ 7.96476129e-01 -1.97527842e-03 6.04666747e-01 1.16559992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:-41.36, Z:116.58 [[ 4.62512355e-01 -6.40969241e-01 -6.12568979e-01 2.01793143e+02] [ 3.88472139e-01 7.67563528e-01 -5.09838825e-01 -4.13631891e+01] [ 7.96976611e-01 -2.15922552e-03 6.04006307e-01 1.16582035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.81, Y:-41.35, Z:116.60 [[ 4.61549425e-01 -6.41637786e-01 -6.12595363e-01 2.01807025e+02] [ 3.88904841e-01 7.67003079e-01 -5.10352135e-01 -4.13527213e+01] [ 7.97323744e-01 -2.68856776e-03 6.03545871e-01 1.16603455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:-41.34, Z:116.63 [[ 4.61210624e-01 -6.42053882e-01 -6.12414543e-01 2.01820091e+02] [ 3.89110045e-01 7.66654592e-01 -5.10719208e-01 -4.13425812e+01] [ 7.97419672e-01 -2.74752573e-03 6.03418858e-01 1.16625241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.83, Y:-41.33, Z:116.65 [[ 4.61112444e-01 -6.42557549e-01 -6.11960056e-01 2.01833442e+02] [ 3.89767399e-01 7.66231705e-01 -5.10852571e-01 -4.13320245e+01] [ 7.97155373e-01 -2.96160158e-03 6.03766959e-01 1.16647419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:-41.32, Z:116.67 [[ 4.61311228e-01 -6.42897854e-01 -6.11452615e-01 2.01845944e+02] [ 3.90247464e-01 7.65946330e-01 -5.10914021e-01 -4.13219834e+01] [ 7.96805414e-01 -2.92745812e-03 6.04228899e-01 1.16668829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.86, Y:-41.31, Z:116.69 [[ 4.62256741e-01 -6.43267872e-01 -6.10348385e-01 2.01859525e+02] [ 3.91395440e-01 7.65635688e-01 -5.10501325e-01 -4.13107018e+01] [ 7.95693606e-01 -2.90489593e-03 6.05692369e-01 1.16691221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:-41.30, Z:116.71 [[ 4.62336303e-01 -6.43621199e-01 -6.09915481e-01 2.01872723e+02] [ 3.91819860e-01 7.65338717e-01 -5.10621040e-01 -4.12997055e+01] [ 7.95438458e-01 -2.89835431e-03 6.06027441e-01 1.16713150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:-41.29, Z:116.74 [[ 4.62347071e-01 -6.44011551e-01 -6.09495126e-01 2.01885973e+02] [ 3.92294309e-01 7.65010047e-01 -5.10749256e-01 -4.12892189e+01] [ 7.95198316e-01 -2.95804717e-03 6.06342221e-01 1.16735003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.90, Y:-41.28, Z:116.76 [[ 4.62270046e-01 -6.44507916e-01 -6.09028694e-01 2.01899480e+02] [ 3.92999066e-01 7.64590924e-01 -5.10835055e-01 -4.12783328e+01] [ 7.94895049e-01 -3.20396317e-03 6.06738490e-01 1.16756684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:-41.27, Z:116.78 [[ 4.62219255e-01 -6.45087914e-01 -6.08452910e-01 2.01912853e+02] [ 3.93963256e-01 7.64099906e-01 -5.10827061e-01 -4.12676598e+01] [ 7.94447174e-01 -3.59398604e-03 6.07322625e-01 1.16778453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:-41.26, Z:116.80 [[ 4.62600083e-01 -6.45332276e-01 -6.07904118e-01 2.01925716e+02] [ 3.94330871e-01 7.63894444e-01 -5.10850704e-01 -4.12571502e+01] [ 7.94043026e-01 -3.39578179e-03 6.07852072e-01 1.16799536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:-41.25, Z:116.82 [[ 4.62500718e-01 -6.45717247e-01 -6.07570838e-01 2.01939027e+02] [ 3.94661979e-01 7.63568996e-01 -5.11081511e-01 -4.12456419e+01] [ 7.93936401e-01 -3.40954354e-03 6.07991255e-01 1.16821419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:-41.23, Z:116.84 [[ 4.62525375e-01 -6.45872684e-01 -6.07386824e-01 2.01952312e+02] [ 3.94497504e-01 7.63438940e-01 -5.11402684e-01 -4.12343002e+01] [ 7.94003777e-01 -3.07586753e-03 6.07905043e-01 1.16842983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:-41.22, Z:116.86 [[ 4.61998467e-01 -6.46269419e-01 -6.07365833e-01 2.01965602e+02] [ 3.94535066e-01 7.63102856e-01 -5.11875095e-01 -4.12226509e+01] [ 7.94291822e-01 -3.14161035e-03 6.07528297e-01 1.16864068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.98, Y:-41.21, Z:116.88 [[ 4.61215712e-01 -6.46531763e-01 -6.07681452e-01 2.01979996e+02] [ 3.93946189e-01 7.62881374e-01 -5.12658181e-01 -4.12113149e+01] [ 7.95038658e-01 -2.94778392e-03 6.06551600e-01 1.16884525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:-41.20, Z:116.91 [[ 4.60945790e-01 -6.46808806e-01 -6.07591431e-01 2.01993668e+02] [ 3.93832752e-01 7.62647123e-01 -5.13093684e-01 -4.12002039e+01] [ 7.95251370e-01 -2.78103172e-03 6.06273473e-01 1.16906542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:-41.19, Z:116.93 [[ 4.61318585e-01 -6.46759128e-01 -6.07361337e-01 2.02006631e+02] [ 3.93380323e-01 7.62691447e-01 -5.13374794e-01 -4.11886392e+01] [ 7.95259130e-01 -2.09466539e-03 6.06266054e-01 1.16927587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:202.02, Y:-41.18, Z:116.95 [[ 4.64012604e-01 -6.42404209e-01 -6.09925517e-01 2.02019284e+02] [ 3.92216125e-01 7.66359554e-01 -5.08782414e-01 -4.11807707e+01] [ 7.94266211e-01 -3.14117030e-03 6.07561782e-01 1.16948962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:-41.16, Z:116.97 [[ 4.63913597e-01 -6.51012538e-01 -6.00805168e-01 2.02032149e+02] [ 3.90260825e-01 7.59032024e-01 -5.21120787e-01 -4.11607479e+01] [ 7.95286529e-01 7.28429812e-03 6.06189967e-01 1.16966904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:-41.12, Z:116.97 [[ 4.68266865e-01 -6.73394917e-01 -5.72071175e-01 2.02046658e+02] [ 3.99128985e-01 7.38828067e-01 -5.42981713e-01 -4.11205658e+01] [ 7.88303366e-01 2.59301574e-02 6.14740132e-01 1.16967560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:-41.15, Z:117.02 [[ 4.65829693e-01 -6.31691310e-01 -6.19652149e-01 2.02057235e+02] [ 3.87002709e-01 7.75186482e-01 -4.99314351e-01 -4.11531232e+01] [ 7.95758506e-01 -7.21160959e-03 6.05571129e-01 1.17019203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.07, Y:-41.13, Z:117.04 [[ 4.67553605e-01 -6.42756457e-01 -6.06842454e-01 2.02070327e+02] [ 3.84977142e-01 7.66038072e-01 -5.14760403e-01 -4.11311270e+01] [ 7.95729996e-01 7.05760918e-03 6.05610406e-01 1.17035620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.08, Y:-41.08, Z:117.03 [[ 4.71334124e-01 -6.78676519e-01 -5.63242688e-01 2.02084413e+02] [ 3.97692612e-01 7.33566272e-01 -5.51108984e-01 -4.10774295e+01] [ 7.87200565e-01 3.57590148e-02 6.15659454e-01 1.17027019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.10, Y:-41.12, Z:117.09 [[ 4.67397738e-01 -6.29172169e-01 -6.21032798e-01 2.02095709e+02] [ 3.84202475e-01 7.77244996e-01 -4.98275700e-01 -4.11208648e+01] [ 7.96195838e-01 -5.70940299e-03 6.05012058e-01 1.17086028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:-41.10, Z:117.10 [[ 4.67895172e-01 -6.42892917e-01 -6.06434502e-01 2.02108591e+02] [ 3.84708312e-01 7.65917043e-01 -5.15141337e-01 -4.10979311e+01] [ 7.95659238e-01 7.73175092e-03 6.05695136e-01 1.17101676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:-41.09, Z:117.12 [[ 4.68017748e-01 -6.43237540e-01 -6.05974302e-01 2.02121657e+02] [ 3.85122276e-01 7.65627174e-01 -5.15262906e-01 -4.10868755e+01] [ 7.95386837e-01 7.77798293e-03 6.06052211e-01 1.17123636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.13, Y:-41.08, Z:117.15 [[ 4.67696250e-01 -6.43725202e-01 -6.05704616e-01 2.02134594e+02] [ 3.85591243e-01 7.65219473e-01 -5.15517751e-01 -4.10756994e+01] [ 7.95348736e-01 7.55132324e-03 6.06105079e-01 1.17145789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:-41.06, Z:117.17 [[ 4.67255036e-01 -6.44241095e-01 -6.05496609e-01 2.02147134e+02] [ 3.86023803e-01 7.64787725e-01 -5.15834624e-01 -4.10648066e+01] [ 7.95398237e-01 7.29022215e-03 6.06043313e-01 1.17166852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.16, Y:-41.05, Z:117.19 [[ 4.66662390e-01 -6.44759906e-01 -6.05401418e-01 2.02160266e+02] [ 3.86296821e-01 7.64352536e-01 -5.16275089e-01 -4.10536050e+01] [ 7.95613587e-01 7.06152324e-03 6.05763283e-01 1.17189043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:-41.04, Z:117.21 [[ 4.65559681e-01 -6.45395909e-01 -6.05572707e-01 2.02173320e+02] [ 3.86482652e-01 7.63819581e-01 -5.16924374e-01 -4.10424616e+01] [ 7.96169168e-01 6.61580094e-03 6.05037923e-01 1.17210377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.19, Y:-41.03, Z:117.23 [[ 4.65058979e-01 -6.45795307e-01 -6.05531640e-01 2.02186333e+02] [ 3.86703504e-01 7.63483826e-01 -5.17255109e-01 -4.10311364e+01] [ 7.96354535e-01 6.39292592e-03 6.04796317e-01 1.17232224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:-41.02, Z:117.25 [[ 4.64366424e-01 -6.46412098e-01 -6.05405008e-01 2.02199062e+02] [ 3.87211213e-01 7.62965225e-01 -5.17640359e-01 -4.10199273e+01] [ 7.96511959e-01 5.95519507e-03 6.04593446e-01 1.17253160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:-41.01, Z:117.28 [[ 4.63811487e-01 -6.46991288e-01 -6.05211681e-01 2.02212616e+02] [ 3.87699303e-01 7.62476742e-01 -5.17994661e-01 -4.10085639e+01] [ 7.96597863e-01 5.61172711e-03 6.04483543e-01 1.17275405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.23, Y:-41.00, Z:117.30 [[ 4.62261240e-01 -6.47767229e-01 -6.05567637e-01 2.02226624e+02] [ 3.87923835e-01 7.61822545e-01 -5.18788501e-01 -4.09987582e+01] [ 7.97389268e-01 4.90169575e-03 6.03445382e-01 1.17298215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:-40.99, Z:117.32 [[ 4.61646065e-01 -6.48409613e-01 -6.05349390e-01 2.02240221e+02] [ 3.88589659e-01 7.61278919e-01 -5.19088128e-01 -4.09878629e+01] [ 7.97421462e-01 4.40247874e-03 6.03406688e-01 1.17320681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:-40.98, Z:117.34 [[ 4.61437882e-01 -6.48662321e-01 -6.05237370e-01 2.02253623e+02] [ 3.88492138e-01 7.61062576e-01 -5.19478213e-01 -4.09774692e+01] [ 7.97589456e-01 4.57696600e-03 6.03183315e-01 1.17342871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:-40.97, Z:117.36 [[ 4.61291516e-01 -6.49167821e-01 -6.04806810e-01 2.02266974e+02] [ 3.89180557e-01 7.60633034e-01 -5.19592033e-01 -4.09664792e+01] [ 7.97338467e-01 4.30434529e-03 6.03517060e-01 1.17364838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.28, Y:-40.96, Z:117.39 [[ 4.61923982e-01 -6.49143595e-01 -6.04349922e-01 2.02280173e+02] [ 3.89016808e-01 7.60649749e-01 -5.19690180e-01 -4.09573771e+01] [ 7.97052168e-01 4.95507984e-03 6.03890130e-01 1.17386174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.29, Y:-40.95, Z:117.41 [[ 4.62548078e-01 -6.49152525e-01 -6.03862795e-01 2.02293797e+02] [ 3.88911053e-01 7.60637819e-01 -5.19786784e-01 -4.09466906e+01] [ 7.96741783e-01 5.57746232e-03 6.04294153e-01 1.17408626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:-40.94, Z:117.43 [[ 4.62381016e-01 -6.49493564e-01 -6.03623977e-01 2.02306930e+02] [ 3.89109926e-01 7.60346528e-01 -5.20064056e-01 -4.09350790e+01] [ 7.96741653e-01 5.59166504e-03 6.04294193e-01 1.17431226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:-40.92, Z:117.45 [[ 4.62659949e-01 -6.49496609e-01 -6.03406932e-01 2.02320034e+02] [ 3.88768541e-01 7.60339617e-01 -5.20329404e-01 -4.09244170e+01] [ 7.96746379e-01 6.14994276e-03 6.04282538e-01 1.17453666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:-40.91, Z:117.48 [[ 4.63361294e-01 -6.49449789e-01 -6.02918969e-01 2.02333715e+02] [ 3.88617925e-01 7.60373856e-01 -5.20391879e-01 -4.09134814e+01] [ 7.96412217e-01 6.82433602e-03 6.04715643e-01 1.17476109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:-40.90, Z:117.50 [[ 4.64751191e-01 -6.48911765e-01 -6.02428296e-01 2.02348009e+02] [ 3.87657077e-01 7.60817864e-01 -5.20459574e-01 -4.09035275e+01] [ 7.96070550e-01 8.34861424e-03 6.05146247e-01 1.17498759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:-40.89, Z:117.52 [[ 4.65637047e-01 -6.48650526e-01 -6.02025445e-01 2.02360705e+02] [ 3.87054037e-01 7.61028408e-01 -5.20600551e-01 -4.08936941e+01] [ 7.95846288e-01 9.39452437e-03 6.05425825e-01 1.17520035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:-40.88, Z:117.54 [[ 4.65985757e-01 -6.48624768e-01 -6.01783337e-01 2.02373901e+02] [ 3.86615136e-01 7.61041634e-01 -5.20907255e-01 -4.08828035e+01] [ 7.95855521e-01 1.00768150e-02 6.05402715e-01 1.17542583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:-40.87, Z:117.56 [[ 4.66362271e-01 -6.48571198e-01 -6.01549361e-01 2.02387394e+02] [ 3.86148661e-01 7.61077641e-01 -5.21200571e-01 -4.08718595e+01] [ 7.95861448e-01 1.07808016e-02 6.05382797e-01 1.17564194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:-40.86, Z:117.58 [[ 4.66345195e-01 -6.48601964e-01 -6.01529427e-01 2.02400796e+02] [ 3.85562324e-01 7.61043024e-01 -5.21684973e-01 -4.08616853e+01] [ 7.96155672e-01 1.13581964e-02 6.04985237e-01 1.17584896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.41, Y:-40.85, Z:117.61 [[ 4.65973222e-01 -6.48866313e-01 -6.01532596e-01 2.02413700e+02] [ 3.85293333e-01 7.60814421e-01 -5.22216875e-01 -4.08511166e+01] [ 7.96503612e-01 1.15725808e-02 6.04523012e-01 1.17606864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:-40.84, Z:117.63 [[ 4.65859030e-01 -6.49101578e-01 -6.01367196e-01 2.02427373e+02] [ 3.85183260e-01 7.60609915e-01 -5.22595841e-01 -4.08398995e+01] [ 7.96623637e-01 1.18194147e-02 6.04360060e-01 1.17629033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.44, Y:-40.83, Z:117.65 [[ 4.65391354e-01 -6.49464872e-01 -6.01337067e-01 2.02440505e+02] [ 3.85187896e-01 7.60300159e-01 -5.23042975e-01 -4.08292635e+01] [ 7.96894706e-01 1.17919188e-02 6.04003128e-01 1.17651695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:-40.82, Z:117.67 [[ 4.64711884e-01 -6.50016705e-01 -6.01266287e-01 2.02454271e+02] [ 3.85522297e-01 7.59833452e-01 -5.23474625e-01 -4.08193957e+01] [ 7.97129490e-01 1.14633195e-02 6.03699568e-01 1.17673933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:-40.81, Z:117.70 [[ 4.63787386e-01 -6.50742325e-01 -6.01195216e-01 2.02467104e+02] [ 3.86135373e-01 7.59221253e-01 -5.23910836e-01 -4.08089497e+01] [ 7.97371140e-01 1.08404979e-02 6.03391870e-01 1.17695240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.48, Y:-40.80, Z:117.72 [[ 4.62658309e-01 -6.51518533e-01 -6.01224492e-01 2.02480309e+02] [ 3.86679250e-01 7.58564614e-01 -5.24460565e-01 -4.07982678e+01] [ 7.97763403e-01 1.01650032e-02 6.02884919e-01 1.17717585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:-40.79, Z:117.74 [[ 4.62201011e-01 -6.47369954e-01 -6.06038256e-01 2.02493428e+02] [ 3.88665661e-01 7.62166713e-01 -5.17726671e-01 -4.07924774e+01] [ 7.97062876e-01 3.74753113e-03 6.03884697e-01 1.17742315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.51, Y:-40.77, Z:117.76 [[ 4.60219848e-01 -6.57502651e-01 -5.96563455e-01 2.02506915e+02] [ 3.89236520e-01 7.53360908e-01 -5.30039880e-01 -4.07736045e+01] [ 7.97930212e-01 1.17305894e-02 6.02635686e-01 1.17759702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:-40.77, Z:117.78 [[ 4.56883994e-01 -6.56086514e-01 -6.00672542e-01 2.02520909e+02] [ 3.93067177e-01 7.54675577e-01 -5.25321776e-01 -4.07674844e+01] [ 7.97969429e-01 3.90645122e-03 6.02685266e-01 1.17783982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.53, Y:-40.76, Z:117.81 [[ 4.54753737e-01 -6.57684088e-01 -6.00541988e-01 2.02534089e+02] [ 3.95209223e-01 7.53291887e-01 -5.25700488e-01 -4.07572882e+01] [ 7.98128253e-01 1.72452900e-03 6.02485118e-01 1.17806460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:-40.75, Z:117.83 [[ 4.52788424e-01 -6.59329332e-01 -6.00222854e-01 2.02547653e+02] [ 3.97661634e-01 7.51854054e-01 -5.25909409e-01 -4.07464313e+01] [ 7.98027486e-01 -5.59908393e-04 6.02620792e-01 1.17829115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:-40.74, Z:117.85 [[ 4.51558820e-01 -6.60726552e-01 -5.99612422e-01 2.02560681e+02] [ 4.00041540e-01 7.50622813e-01 -5.25863251e-01 -4.07356547e+01] [ 7.97534575e-01 -2.41168748e-03 6.03268419e-01 1.17851626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:-40.72, Z:117.87 [[ 4.49417203e-01 -6.62631135e-01 -5.99119484e-01 2.02572973e+02] [ 4.03135512e-01 7.48928065e-01 -5.25916830e-01 -4.07246042e+01] [ 7.97186262e-01 -5.17026950e-03 6.03711298e-01 1.17874479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:-40.71, Z:117.90 [[ 4.48491463e-01 -6.63544244e-01 -5.98802508e-01 2.02585608e+02] [ 4.04364149e-01 7.48111626e-01 -5.26135563e-01 -4.07125246e+01] [ 7.97085342e-01 -6.16695841e-03 6.03835181e-01 1.17897072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:-40.70, Z:117.92 [[ 4.47403203e-01 -6.64560151e-01 -5.98489916e-01 2.02597960e+02] [ 4.05752944e-01 7.47198699e-01 -5.26363613e-01 -4.07006403e+01] [ 7.96991169e-01 -7.34227912e-03 6.03946329e-01 1.17918487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:-40.69, Z:117.94 [[ 4.45557879e-01 -6.65759396e-01 -5.98533711e-01 2.02610322e+02] [ 4.07007487e-01 7.46114256e-01 -5.26933034e-01 -4.06889749e+01] [ 7.97385153e-01 -8.82853635e-03 6.03406144e-01 1.17940470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:-40.68, Z:117.96 [[ 4.41690711e-01 -6.67977696e-01 -5.98928305e-01 2.02623063e+02] [ 4.09616838e-01 7.44081068e-01 -5.27785383e-01 -4.06770008e+01] [ 7.98200076e-01 -1.22132168e-02 6.02268607e-01 1.17962676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:-40.67, Z:117.99 [[ 4.39955683e-01 -6.69222045e-01 -5.98816208e-01 2.02635594e+02] [ 4.11178772e-01 7.42933555e-01 -5.28187231e-01 -4.06654773e+01] [ 7.98355193e-01 -1.38415393e-02 6.02027738e-01 1.17985023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.65, Y:-40.65, Z:118.01 [[ 4.38042465e-01 -6.70511608e-01 -5.98776237e-01 2.02647679e+02] [ 4.12736599e-01 7.41735779e-01 -5.28655402e-01 -4.06535271e+01] [ 7.98603342e-01 -1.55633523e-02 6.01656450e-01 1.18006197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:-40.64, Z:118.03 [[ 4.34751255e-01 -6.72473511e-01 -5.98974727e-01 2.02658836e+02] [ 4.15137498e-01 7.39889543e-01 -5.29362185e-01 -4.06410533e+01] [ 7.99157184e-01 -1.85159953e-02 6.00836877e-01 1.18027802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:-40.63, Z:118.05 [[ 4.33359802e-01 -6.73463813e-01 -5.98870415e-01 2.02670754e+02] [ 4.16245939e-01 7.38958006e-01 -5.29792774e-01 -4.06286466e+01] [ 7.99336350e-01 -1.96864865e-02 6.00561272e-01 1.18050284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:-40.62, Z:118.07 [[ 4.32690758e-01 -6.74097008e-01 -5.98641740e-01 2.02682152e+02] [ 4.16905689e-01 7.38366339e-01 -5.30098856e-01 -4.06172189e+01] [ 7.99354962e-01 -2.02082713e-02 6.00519168e-01 1.18072081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:-40.60, Z:118.10 [[ 4.33027711e-01 -6.74164605e-01 -5.98321892e-01 2.02692446e+02] [ 4.16884181e-01 7.38314478e-01 -5.30187997e-01 -4.06047992e+01] [ 7.99183697e-01 -1.98448371e-02 6.00759187e-01 1.18095108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:-40.59, Z:118.12 [[ 4.33681807e-01 -6.74044494e-01 -5.97983370e-01 2.02703202e+02] [ 4.16394840e-01 7.38446933e-01 -5.30388032e-01 -4.05926835e+01] [ 7.99084118e-01 -1.89775496e-02 6.00919650e-01 1.18116864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:-40.58, Z:118.14 [[ 4.35076258e-01 -6.73430844e-01 -5.97661734e-01 2.02714402e+02] [ 4.15013542e-01 7.39050725e-01 -5.30629613e-01 -4.05802858e+01] [ 7.99044686e-01 -1.71733662e-02 6.01026344e-01 1.18139039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:-40.57, Z:118.16 [[ 4.36898590e-01 -6.72646945e-01 -5.97214961e-01 2.02725137e+02] [ 4.13532682e-01 7.39809620e-01 -5.30728223e-01 -4.05676567e+01] [ 7.98818091e-01 -1.50934920e-02 6.01383275e-01 1.18160164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:-40.55, Z:118.18 [[ 4.40480050e-01 -6.70548701e-01 -5.96943687e-01 2.02735150e+02] [ 4.09606216e-01 7.41789598e-01 -5.31009360e-01 -4.05525746e+01] [ 7.98874254e-01 -1.06128153e-02 6.01404436e-01 1.18182312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.75, Y:-40.54, Z:118.20 [[ 4.42103483e-01 -6.69575970e-01 -5.96835431e-01 2.02745945e+02] [ 4.07423938e-01 7.42698054e-01 -5.31418230e-01 -4.05398012e+01] [ 7.99093390e-01 -8.22319089e-03 6.01150675e-01 1.18203131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:-40.53, Z:118.23 [[ 4.43433777e-01 -6.68601991e-01 -5.96940418e-01 2.02757346e+02] [ 4.05173993e-01 7.43596164e-01 -5.31882299e-01 -4.05269254e+01] [ 7.99500170e-01 -6.01015610e-03 6.00635794e-01 1.18225551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:-40.51, Z:118.25 [[ 4.44934135e-01 -6.67796434e-01 -5.96725681e-01 2.02769370e+02] [ 4.03416399e-01 7.44333523e-01 -5.32186824e-01 -4.05137409e+01] [ 7.99555392e-01 -3.94084097e-03 6.00579425e-01 1.18247738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:-40.50, Z:118.27 [[ 4.47014667e-01 -6.66002763e-01 -5.97175189e-01 2.02780027e+02] [ 3.99208869e-01 7.45949268e-01 -5.33096585e-01 -4.05002214e+01] [ 8.00506194e-01 -9.56392687e-05 5.99324474e-01 1.18269459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:-40.49, Z:118.29 [[ 4.47885573e-01 -6.65547902e-01 -5.97029734e-01 2.02791833e+02] [ 3.97908120e-01 7.46353852e-01 -5.33502630e-01 -4.04871576e+01] [ 8.00666997e-01 1.38515162e-03 5.99108037e-01 1.18291246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:-40.47, Z:118.31 [[ 4.48877527e-01 -6.65161557e-01 -5.96715233e-01 2.02804031e+02] [ 3.96974274e-01 7.46694610e-01 -5.33721449e-01 -4.04739637e+01] [ 8.00575038e-01 2.69496725e-03 5.99226456e-01 1.18313225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:-40.46, Z:118.33 [[ 4.50616775e-01 -6.64389731e-01 -5.96264042e-01 2.02815476e+02] [ 3.95573592e-01 7.47371656e-01 -5.33813771e-01 -4.04599460e+01] [ 8.00291231e-01 4.67913113e-03 5.99593238e-01 1.18334582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.83, Y:-40.45, Z:118.36 [[ 4.51190170e-01 -6.64338942e-01 -5.95886902e-01 2.02827210e+02] [ 3.95268161e-01 7.47411992e-01 -5.33983516e-01 -4.04479009e+01] [ 8.00119061e-01 5.39299270e-03 5.99816976e-01 1.18355696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:-40.44, Z:118.38 [[ 4.52123991e-01 -6.64321681e-01 -5.95197950e-01 2.02839568e+02] [ 3.95360754e-01 7.47422131e-01 -5.33900771e-01 -4.04356694e+01] [ 7.99545978e-01 6.07143730e-03 6.00574197e-01 1.18377476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:-40.42, Z:118.40 [[ 4.52669750e-01 -6.64531350e-01 -5.94548722e-01 2.02851417e+02] [ 3.95827251e-01 7.47233787e-01 -5.33818748e-01 -4.04240133e+01] [ 7.99006186e-01 6.30501259e-03 6.01289749e-01 1.18398504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:-40.41, Z:118.42 [[ 4.53575398e-01 -6.64559184e-01 -5.93826952e-01 2.02863888e+02] [ 3.96259857e-01 7.47205689e-01 -5.33537050e-01 -4.04118662e+01] [ 7.98277824e-01 6.68949683e-03 6.02252245e-01 1.18420995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:-40.40, Z:118.44 [[ 4.54260068e-01 -6.64663389e-01 -5.93186623e-01 2.02876322e+02] [ 3.96541497e-01 7.47109134e-01 -5.33463011e-01 -4.04000797e+01] [ 7.97748477e-01 7.10783233e-03 6.02948461e-01 1.18442936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:-40.39, Z:118.47 [[ 4.54087743e-01 -6.65002407e-01 -5.92938547e-01 2.02889200e+02] [ 3.96739140e-01 7.46807252e-01 -5.33738684e-01 -4.03881889e+01] [ 7.97748317e-01 7.12226570e-03 6.02948503e-01 1.18465534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:-40.38, Z:118.49 [[ 4.54168160e-01 -6.65186283e-01 -5.92670643e-01 2.02901862e+02] [ 3.96747712e-01 7.46641082e-01 -5.33964744e-01 -4.03761768e+01] [ 7.97698274e-01 7.36906356e-03 6.03011742e-01 1.18487241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:-40.36, Z:118.51 [[ 4.54406544e-01 -6.65313776e-01 -5.92344724e-01 2.02914557e+02] [ 3.96682801e-01 7.46523510e-01 -5.34177315e-01 -4.03641040e+01] [ 7.97594790e-01 7.76070339e-03 6.03143700e-01 1.18509103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:-40.35, Z:118.53 [[ 4.55024377e-01 -6.65144114e-01 -5.92060912e-01 2.02927673e+02] [ 3.96081453e-01 7.46664646e-01 -5.34426225e-01 -4.03521652e+01] [ 7.97541409e-01 8.67261372e-03 6.03201862e-01 1.18530628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:-40.34, Z:118.55 [[ 4.55028521e-01 -6.65182313e-01 -5.92014810e-01 2.02939942e+02] [ 3.95536182e-01 7.46623989e-01 -5.34886668e-01 -4.03412580e+01] [ 7.97809610e-01 9.22541158e-03 6.02838882e-01 1.18551983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:202.96, Y:-40.30, Z:118.56 [[ 4.57927583e-01 -6.88286378e-01 -5.62640374e-01 2.02956272e+02] [ 4.01204602e-01 7.24786898e-01 -5.60106080e-01 -4.03023614e+01] [ 7.93307756e-01 3.07541159e-02 6.08043575e-01 1.18556926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:-40.33, Z:118.60 [[ 4.54600761e-01 -6.47763155e-01 -6.11343638e-01 2.02965343e+02] [ 3.95234002e-01 7.61796711e-01 -5.13279510e-01 -4.03344878e+01] [ 7.98203127e-01 -8.28653693e-03 6.02331389e-01 1.18602448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.98, Y:-40.31, Z:118.62 [[ 4.54545611e-01 -6.65874907e-01 -5.91607045e-01 2.02977871e+02] [ 3.95121309e-01 7.45997588e-01 -5.36065993e-01 -4.03077545e+01] [ 7.98290322e-01 9.90989391e-03 6.02191295e-01 1.18616379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:-40.30, Z:118.64 [[ 4.53809754e-01 -6.66327689e-01 -5.91662165e-01 2.02990903e+02] [ 3.95126334e-01 7.45595392e-01 -5.36621553e-01 -4.02971085e+01] [ 7.98706384e-01 9.74279250e-03 6.01642079e-01 1.18637731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.00, Y:-40.29, Z:118.66 [[ 4.53216656e-01 -6.66989172e-01 -5.91371379e-01 2.03004051e+02] [ 3.95863373e-01 7.45010290e-01 -5.36890918e-01 -4.02857337e+01] [ 7.98678191e-01 9.22563794e-03 6.01687656e-01 1.18659533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:-40.28, Z:118.68 [[ 4.52027838e-01 -6.68192959e-01 -5.90922163e-01 2.03017300e+02] [ 3.97728545e-01 7.43948111e-01 -5.36985300e-01 -4.02758169e+01] [ 7.98425224e-01 7.70569212e-03 6.02044670e-01 1.18680840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.03, Y:-40.26, Z:118.70 [[ 4.51088731e-01 -6.69086618e-01 -5.90628526e-01 2.03030230e+02] [ 3.99072285e-01 7.43155390e-01 -5.37086006e-01 -4.02647931e+01] [ 7.98285832e-01 6.56996957e-03 6.02242947e-01 1.18702924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:-40.25, Z:118.73 [[ 4.50004178e-01 -6.70253380e-01 -5.90132736e-01 2.03043287e+02] [ 4.00947331e-01 7.42114828e-01 -5.37128308e-01 -4.02533875e+01] [ 7.97958318e-01 5.09783695e-03 6.02691078e-01 1.18725558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.06, Y:-40.24, Z:118.75 [[ 4.48896798e-01 -6.71492509e-01 -5.89567193e-01 2.03055796e+02] [ 4.03005296e-01 7.41003010e-01 -5.37123143e-01 -4.02428635e+01] [ 7.97545232e-01 3.51415725e-03 6.03248916e-01 1.18746930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:-40.23, Z:118.77 [[ 4.46255959e-01 -6.74106849e-01 -5.88587780e-01 2.03069112e+02] [ 4.07801047e-01 7.38633681e-01 -5.36766795e-01 -4.02327861e+01] [ 7.96588931e-01 -4.91331871e-04 6.04521160e-01 1.18769612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:-40.18, Z:118.76 [[ 4.47316030e-01 -7.06604019e-01 -5.48287451e-01 2.03084151e+02] [ 4.22244507e-01 7.07263476e-01 -5.66999076e-01 -4.01826830e+01] [ 7.88427515e-01 2.21164110e-02 6.14729956e-01 1.18764121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:-40.18, Z:118.79 [[ 4.47265508e-01 -6.93979900e-01 -5.64221112e-01 2.03098382e+02] [ 4.21652051e-01 7.19942332e-01 -5.51264534e-01 -4.01829113e+01] [ 7.88773170e-01 8.65662244e-03 6.14623421e-01 1.18793523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.11, Y:-40.21, Z:118.85 [[ 4.42719560e-01 -6.61516938e-01 -6.05305487e-01 2.03107884e+02] [ 4.11728634e-01 7.49668071e-01 -5.18147966e-01 -4.02137616e+01] [ 7.96541853e-01 -1.98273615e-02 6.04258184e-01 1.18845218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:-40.19, Z:118.86 [[ 4.41175607e-01 -6.77959030e-01 -5.87992889e-01 2.03120230e+02] [ 4.14146812e-01 7.35069231e-01 -5.36801308e-01 -4.01897246e+01] [ 7.96144775e-01 -6.69173796e-03 6.05069185e-01 1.18859572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:-40.15, Z:118.86 [[ 4.40527879e-01 -7.04736821e-01 -5.56130562e-01 2.03135628e+02] [ 4.27697335e-01 7.09412722e-01 -5.60186201e-01 -4.01470633e+01] [ 7.89309938e-01 8.92208005e-03 6.13930141e-01 1.18860307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:-40.15, Z:118.89 [[ 4.39309173e-01 -6.94192349e-01 -5.70179299e-01 2.03149136e+02] [ 4.29362395e-01 7.19770992e-01 -5.45506786e-01 -4.01458714e+01] [ 7.89085157e-01 -5.16741475e-03 6.14262089e-01 1.18886426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.16, Y:-40.17, Z:118.93 [[ 4.35908510e-01 -6.69584928e-01 -6.01364944e-01 2.03158718e+02] [ 4.20556213e-01 7.42297203e-01 -5.21658255e-01 -4.01658028e+01] [ 7.95686021e-01 -2.55124908e-02 6.05171769e-01 1.18930421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.17, Y:-40.10, Z:118.92 [[ 4.36377728e-01 -7.16368129e-01 -5.44418205e-01 2.03173055e+02] [ 4.33727636e-01 6.97606359e-01 -5.70285635e-01 -4.01003393e+01] [ 7.88324055e-01 1.27307285e-02 6.15128533e-01 1.18915969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.19, Y:-40.10, Z:118.94 [[ 4.35238056e-01 -7.06845893e-01 -5.57616999e-01 2.03186904e+02] [ 4.34820673e-01 7.07367567e-01 -5.57280994e-01 -4.00972919e+01] [ 7.88351962e-01 8.64981602e-05 6.15224492e-01 1.18941452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:-40.13, Z:119.00 [[ 4.30751574e-01 -6.68811578e-01 -6.05924216e-01 2.03197749e+02] [ 4.21722986e-01 7.42763474e-01 -5.20050136e-01 -4.01338458e+01] [ 7.97873928e-01 -3.15197551e-02 6.01999751e-01 1.18998042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:-40.11, Z:119.01 [[ 4.29715322e-01 -6.84807519e-01 -5.88543459e-01 2.03209796e+02] [ 4.22430726e-01 7.28528200e-01 -5.39257771e-01 -4.01088747e+01] [ 7.98058283e-01 -1.68915145e-02 6.02343468e-01 1.19012266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.22, Y:-40.10, Z:119.03 [[ 4.28760402e-01 -6.85583173e-01 -5.88336834e-01 2.03221652e+02] [ 4.23274737e-01 7.27779921e-01 -5.39606230e-01 -4.00977274e+01] [ 7.98124686e-01 -1.76663345e-02 6.02233249e-01 1.19033706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:-40.09, Z:119.06 [[ 4.27523451e-01 -6.86662854e-01 -5.87977741e-01 2.03234189e+02] [ 4.24824338e-01 7.26727496e-01 -5.39806844e-01 -4.00852231e+01] [ 7.97964899e-01 -1.90071700e-02 6.02404139e-01 1.19055850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:-40.07, Z:119.08 [[ 4.27474231e-01 -6.87135745e-01 -5.87460849e-01 2.03246257e+02] [ 4.25561163e-01 7.26274400e-01 -5.39836265e-01 -4.00736573e+01] [ 7.97598570e-01 -1.92344305e-02 6.02881877e-01 1.19077120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:-40.05, Z:119.09 [[ 4.27079471e-01 -6.95394807e-01 -5.77952583e-01 2.03258026e+02] [ 4.31247641e-01 7.18446289e-01 -5.45765886e-01 -4.00515692e+01] [ 7.94750651e-01 -1.61552820e-02 6.06721031e-01 1.19091191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.27, Y:-40.05, Z:119.12 [[ 4.27773282e-01 -6.89220598e-01 -5.84794824e-01 2.03270765e+02] [ 4.26440584e-01 7.24336861e-01 -5.41742135e-01 -4.00490168e+01] [ 7.96968285e-01 -1.76374350e-02 6.03763591e-01 1.19121704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:-40.03, Z:119.14 [[ 4.27721338e-01 -6.91290585e-01 -5.82384567e-01 2.03280669e+02] [ 4.30564236e-01 7.22319537e-01 -5.41173655e-01 -4.00339517e+01] [ 7.94776004e-01 -1.92824462e-02 6.06596482e-01 1.19139149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.29, Y:-40.02, Z:119.16 [[ 4.31429378e-01 -6.93759585e-01 -5.76685643e-01 2.03294262e+02] [ 4.25956735e-01 7.20145853e-01 -5.47677652e-01 -4.00197518e+01] [ 7.95254394e-01 -9.35890471e-03 6.06203645e-01 1.19164567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:-40.01, Z:119.19 [[ 4.32622912e-01 -6.86343621e-01 -5.84610854e-01 2.03305953e+02] [ 4.25190832e-01 7.27114581e-01 -5.38996422e-01 -4.00133825e+01] [ 7.95015832e-01 -1.53889734e-02 6.06393442e-01 1.19189725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:-40.00, Z:119.21 [[ 4.34003633e-01 -6.85672281e-01 -5.84375196e-01 2.03318041e+02] [ 4.23687503e-01 7.27784354e-01 -5.39276212e-01 -4.00002717e+01] [ 7.95065875e-01 -1.35446324e-02 6.06371831e-01 1.19212129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:-39.99, Z:119.23 [[ 4.35254424e-01 -6.85040458e-01 -5.84185893e-01 2.03329378e+02] [ 4.22167216e-01 7.28410250e-01 -5.39623340e-01 -3.99877043e+01] [ 7.95190812e-01 -1.17506863e-02 6.06245407e-01 1.19233680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:-39.97, Z:119.26 [[ 4.37699516e-01 -6.83462195e-01 -5.84207636e-01 2.03340806e+02] [ 4.18780546e-01 7.29939722e-01 -5.40195203e-01 -3.99733759e+01] [ 7.95639358e-01 -8.21161378e-03 6.05714934e-01 1.19255764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.35, Y:-39.96, Z:119.27 [[ 4.37648927e-01 -6.83689761e-01 -5.83979218e-01 2.03350189e+02] [ 4.19673965e-01 7.29719259e-01 -5.39799562e-01 -3.99597719e+01] [ 7.95196316e-01 -8.83817485e-03 6.06287643e-01 1.19274823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:-39.94, Z:119.30 [[ 4.39278877e-01 -6.89112802e-01 -5.76331167e-01 2.03364151e+02] [ 4.15857045e-01 7.24652071e-01 -5.49492761e-01 -3.99420576e+01] [ 7.96302070e-01 1.70918710e-03 6.04896762e-01 1.19295737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:-39.93, Z:119.31 [[ 4.39079779e-01 -6.90747100e-01 -5.74523622e-01 2.03374357e+02] [ 4.19404513e-01 7.23096427e-01 -5.48845526e-01 -3.99256099e+01] [ 7.94549434e-01 2.91724668e-05 6.07199470e-01 1.19311274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:-39.91, Z:119.34 [[ 4.38883461e-01 -6.90830970e-01 -5.74572780e-01 2.03386815e+02] [ 4.16384709e-01 7.23011290e-01 -5.51251712e-01 -3.99139607e+01] [ 7.96244361e-01 2.69193944e-03 6.04969149e-01 1.19335564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:-39.91, Z:119.36 [[ 4.39469387e-01 -6.84884655e-01 -5.81205357e-01 2.03400768e+02] [ 4.11434720e-01 7.28649966e-01 -5.47531459e-01 -3.99078545e+01] [ 7.98491158e-01 1.49525131e-03 6.02004680e-01 1.19363593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:-39.90, Z:119.39 [[ 4.39561841e-01 -6.81155712e-01 -5.85501736e-01 2.03412640e+02] [ 4.11167332e-01 7.32135765e-01 -5.43064127e-01 -3.98999434e+01] [ 7.98577994e-01 -2.02891929e-03 6.01887922e-01 1.19387150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:-39.89, Z:119.41 [[ 4.39801150e-01 -6.81341080e-01 -5.85106214e-01 2.03424589e+02] [ 4.11244996e-01 7.31964086e-01 -5.43236716e-01 -3.98880536e+01] [ 7.98406226e-01 -1.70587083e-03 6.02116756e-01 1.19409729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:-39.88, Z:119.43 [[ 4.40545932e-01 -6.81504480e-01 -5.84355137e-01 2.03436095e+02] [ 4.11760632e-01 7.31812647e-01 -5.43050119e-01 -3.98759841e+01] [ 7.97729568e-01 -1.37591974e-03 6.03013800e-01 1.19432902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:-39.86, Z:119.45 [[ 4.40721633e-01 -6.81684114e-01 -5.84013023e-01 2.03447364e+02] [ 4.11807211e-01 7.31645813e-01 -5.43239565e-01 -3.98643156e+01] [ 7.97608465e-01 -1.08334595e-03 6.03174571e-01 1.19454375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.46, Y:-39.85, Z:119.48 [[ 4.40517545e-01 -6.81951407e-01 -5.83854923e-01 2.03459210e+02] [ 4.11953983e-01 7.31396632e-01 -5.43463783e-01 -3.98518843e+01] [ 7.97645415e-01 -1.11602945e-03 6.03125647e-01 1.19476679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:-39.84, Z:119.50 [[ 4.40456882e-01 -6.82213247e-01 -5.83594740e-01 2.03471413e+02] [ 4.12038906e-01 7.31152607e-01 -5.43727694e-01 -3.98391231e+01] [ 7.97635051e-01 -9.75132766e-04 6.03139598e-01 1.19498749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:-39.83, Z:119.52 [[ 4.40100280e-01 -6.82044950e-01 -5.84060296e-01 2.03483137e+02] [ 4.10510020e-01 7.31310251e-01 -5.44671314e-01 -3.98268519e+01] [ 7.98619601e-01 -5.26056062e-05 6.01836132e-01 1.19521633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:-39.82, Z:119.54 [[ 4.40387531e-01 -6.81786794e-01 -5.84145179e-01 2.03495414e+02] [ 4.09300494e-01 7.31550202e-01 -5.45259029e-01 -3.98153508e+01] [ 7.99081929e-01 1.03436676e-03 6.01221258e-01 1.19543760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:-39.80, Z:119.57 [[ 4.40231391e-01 -6.81567960e-01 -5.84518124e-01 2.03507233e+02] [ 4.07793950e-01 7.31751935e-01 -5.46116471e-01 -3.98037211e+01] [ 7.99937758e-01 2.05465889e-03 6.00079463e-01 1.19566329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.52, Y:-39.79, Z:119.59 [[ 4.40927271e-01 -6.81125702e-01 -5.84509128e-01 2.03518669e+02] [ 4.06391007e-01 7.32158229e-01 -5.46617486e-01 -3.97923199e+01] [ 8.00268387e-01 3.47930339e-03 5.99631890e-01 1.19587550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:-39.78, Z:119.61 [[ 4.42793807e-01 -6.79469144e-01 -5.85025920e-01 2.03529525e+02] [ 4.02269596e-01 7.33669214e-01 -5.47639166e-01 -3.97794916e+01] [ 8.01319422e-01 7.15309121e-03 5.98193963e-01 1.19609656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.54, Y:-39.77, Z:119.63 [[ 4.44255533e-01 -6.78692544e-01 -5.84819162e-01 2.03541553e+02] [ 4.00548909e-01 7.34365027e-01 -5.47967681e-01 -3.97668078e+01] [ 8.01372319e-01 9.18899674e-03 5.98095284e-01 1.19632267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:-39.75, Z:119.65 [[ 4.45749006e-01 -6.77918678e-01 -5.84580268e-01 2.03553394e+02] [ 3.98880812e-01 7.35051423e-01 -5.48264081e-01 -3.97547051e+01] [ 8.01375020e-01 1.12103171e-02 5.98057194e-01 1.19653609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:-39.74, Z:119.68 [[ 4.48691363e-01 -6.76167501e-01 -5.84357400e-01 2.03564929e+02] [ 3.95553057e-01 7.36595027e-01 -5.48603267e-01 -3.97432358e+01] [ 8.01382455e-01 1.50091920e-02 5.97963949e-01 1.19676377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:-39.73, Z:119.70 [[ 4.49621330e-01 -6.75672606e-01 -5.84215020e-01 2.03577002e+02] [ 3.94235997e-01 7.37016777e-01 -5.48984744e-01 -3.97316809e+01] [ 8.01510223e-01 1.65166598e-02 5.97752927e-01 1.19699151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:-39.72, Z:119.72 [[ 4.50537336e-01 -6.75132593e-01 -5.84133624e-01 2.03589292e+02] [ 3.92755060e-01 7.37473870e-01 -5.49432210e-01 -3.97204065e+01] [ 8.01722877e-01 1.81182882e-02 5.97421255e-01 1.19721681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:-39.71, Z:119.74 [[ 4.52169562e-01 -6.74114660e-01 -5.84048040e-01 2.03601434e+02] [ 3.90493200e-01 7.38340162e-01 -5.49880774e-01 -3.97096606e+01] [ 8.01908815e-01 2.05725606e-02 5.97092139e-01 1.19743402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:-39.70, Z:119.76 [[ 4.52570880e-01 -6.74147687e-01 -5.83698975e-01 2.03613466e+02] [ 3.90262260e-01 7.38293201e-01 -5.50107733e-01 -3.96979484e+01] [ 8.01794841e-01 2.11670597e-02 5.97224404e-01 1.19764809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:-39.69, Z:119.79 [[ 4.52982730e-01 -6.74076434e-01 -5.83461745e-01 2.03626423e+02] [ 3.89952819e-01 7.38341709e-01 -5.50262046e-01 -3.96860043e+01] [ 8.01712819e-01 2.17366514e-02 5.97314049e-01 1.19787310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.64, Y:-39.69, Z:119.82 [[ 4.51040543e-01 -6.64599628e-01 -5.95709462e-01 2.03636790e+02] [ 3.88347015e-01 7.47103638e-01 -5.39465245e-01 -3.96855118e+01] [ 8.03585107e-01 1.19787060e-02 5.95069312e-01 1.19816530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:-39.67, Z:119.84 [[ 4.50595450e-01 -6.70165524e-01 -5.89781240e-01 2.03648869e+02] [ 3.86118352e-01 7.41962197e-01 -5.48091886e-01 -3.96719374e+01] [ 8.04907671e-01 1.92423500e-02 5.93087998e-01 1.19839742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:-39.64, Z:119.85 [[ 4.53638674e-01 -6.89701618e-01 -5.64378979e-01 2.03664437e+02] [ 3.91888716e-01 7.23156444e-01 -5.68742466e-01 -3.96406321e+01] [ 8.00396894e-01 3.68298250e-02 5.98338012e-01 1.19848310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.68, Y:-39.64, Z:119.88 [[ 4.52830001e-01 -6.75769700e-01 -5.81618691e-01 2.03677769e+02] [ 3.93178412e-01 7.36831233e-01 -5.49991336e-01 -3.96435229e+01] [ 8.00222298e-01 2.03726642e-02 5.99357346e-01 1.19876377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:-39.63, Z:119.90 [[ 4.52103520e-01 -6.76569624e-01 -5.81253775e-01 2.03690809e+02] [ 3.94218087e-01 7.36117570e-01 -5.50202711e-01 -3.96324241e+01] [ 8.00121558e-01 1.96078316e-02 5.99517327e-01 1.19898763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:-39.62, Z:119.92 [[ 4.51261399e-01 -6.77558111e-01 -5.80756538e-01 2.03703443e+02] [ 3.95768408e-01 7.35237309e-01 -5.50266723e-01 -3.96215391e+01] [ 7.99831555e-01 1.84690409e-02 5.99940312e-01 1.19920226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:-39.62, Z:119.95 [[ 4.49119237e-01 -6.71661509e-01 -5.89205167e-01 2.03715035e+02] [ 3.95654968e-01 7.40781058e-01 -5.42863308e-01 -3.96178646e+01] [ 8.01092415e-01 1.06884037e-02 5.98445236e-01 1.19947021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:-39.59, Z:119.96 [[ 4.48348429e-01 -6.87431569e-01 -5.71333112e-01 2.03730444e+02] [ 3.98409535e-01 7.25860079e-01 -5.60711146e-01 -3.95911714e+01] [ 8.00158440e-01 2.37694024e-02 5.99317518e-01 1.19960508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:-39.59, Z:119.99 [[ 4.46714657e-01 -6.80522047e-01 -5.80806129e-01 2.03743962e+02] [ 3.98832089e-01 7.32578866e-01 -5.51598741e-01 -3.95864498e+01] [ 8.00861399e-01 1.47631206e-02 5.98667746e-01 1.19986277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:-39.58, Z:120.01 [[ 4.45725130e-01 -6.81241849e-01 -5.80722525e-01 2.03757065e+02] [ 3.99417921e-01 7.31922438e-01 -5.52046075e-01 -3.95750712e+01] [ 8.01120735e-01 1.41098248e-02 5.98336427e-01 1.20007538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:-39.56, Z:120.03 [[ 4.44583336e-01 -6.82001464e-01 -5.80706174e-01 2.03770117e+02] [ 3.99944136e-01 7.31227665e-01 -5.52585549e-01 -3.95635596e+01] [ 8.01492573e-01 1.34202979e-02 5.97854121e-01 1.20029705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:-39.55, Z:120.05 [[ 4.42909674e-01 -6.83041687e-01 -5.80762494e-01 2.03783444e+02] [ 4.00882714e-01 7.30277778e-01 -5.53161294e-01 -3.95526716e+01] [ 8.01950167e-01 1.21828436e-02 5.97266698e-01 1.20051040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:-39.54, Z:120.07 [[ 4.41980853e-01 -6.83857542e-01 -5.80509939e-01 2.03795793e+02] [ 4.01820351e-01 7.29527068e-01 -5.53471465e-01 -3.95415483e+01] [ 8.01993349e-01 1.13630829e-02 5.97224873e-01 1.20072437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:-39.53, Z:120.09 [[ 4.41008968e-01 -6.84675854e-01 -5.80284468e-01 2.03808604e+02] [ 4.02734725e-01 7.28771620e-01 -5.53802011e-01 -3.95302435e+01] [ 8.02069717e-01 1.05309481e-02 5.97137562e-01 1.20094680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:-39.52, Z:120.12 [[ 4.38550271e-01 -6.86289366e-01 -5.80241816e-01 2.03821834e+02] [ 4.04769045e-01 7.27282223e-01 -5.54276635e-01 -3.95196174e+01] [ 8.02393719e-01 8.21424250e-03 5.96738508e-01 1.20115977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.84, Y:-39.51, Z:120.14 [[ 4.37130848e-01 -6.87461008e-01 -5.79925844e-01 2.03835159e+02] [ 4.06395605e-01 7.26190220e-01 -5.54518148e-01 -3.95082022e+01] [ 8.02346081e-01 6.71767368e-03 5.96821279e-01 1.20138483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:-39.50, Z:120.16 [[ 4.35059773e-01 -6.88919461e-01 -5.79752508e-01 2.03848467e+02] [ 4.08372015e-01 7.24823043e-01 -5.54854804e-01 -3.94969847e+01] [ 8.02468249e-01 4.64030482e-03 5.96676777e-01 1.20160952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:-39.49, Z:120.18 [[ 4.33107419e-01 -6.90333446e-01 -5.79532308e-01 2.03861471e+02] [ 4.10339259e-01 7.23486556e-01 -5.55147634e-01 -3.94864709e+01] [ 8.02520813e-01 2.63370067e-03 5.96618310e-01 1.20182499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:-39.45, Z:120.19 [[ 4.33081137e-01 -7.11596892e-01 -5.53236470e-01 2.03875698e+02] [ 4.19953793e-01 7.02392809e-01 -5.74702665e-01 -3.94504380e+01] [ 7.97545949e-01 1.65591298e-02 6.03030890e-01 1.20187373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:-39.45, Z:120.22 [[ 4.32806867e-01 -7.02291717e-01 -5.65211961e-01 2.03889274e+02] [ 4.19711634e-01 7.11859660e-01 -5.63114526e-01 -3.94472141e+01] [ 7.97822261e-01 6.49379842e-03 6.02857753e-01 1.20215360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:-39.46, Z:120.26 [[ 4.28029690e-01 -6.82827011e-01 -5.92062377e-01 2.03900077e+02] [ 4.14496904e-01 7.30463000e-01 -5.42785521e-01 -3.94630704e+01] [ 8.03108275e-01 -1.30797041e-02 5.95689534e-01 1.20255176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:-39.39, Z:120.24 [[ 4.26794359e-01 -7.34996406e-01 -5.26903083e-01 2.03913832e+02] [ 4.34094584e-01 6.77623560e-01 -5.93622947e-01 -3.93937872e+01] [ 7.93352675e-01 2.46291500e-02 6.08263872e-01 1.20237447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:-39.45, Z:120.30 [[ 4.21760622e-01 -6.81191410e-01 -5.98411431e-01 2.03926560e+02] [ 4.23058571e-01 7.31581716e-01 -5.34611671e-01 -3.94487086e+01] [ 8.01959739e-01 -2.76849337e-02 5.96736224e-01 1.20301711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:-39.42, Z:120.31 [[ 4.19771025e-01 -6.99789766e-01 -5.78002224e-01 2.03938579e+02] [ 4.25400693e-01 7.14238081e-01 -5.55786122e-01 -3.94226440e+01] [ 8.01764640e-01 -1.25796369e-02 5.97507503e-01 1.20314899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.95, Y:-39.41, Z:120.34 [[ 4.17378479e-01 -7.01522987e-01 -5.77633711e-01 2.03951295e+02] [ 4.28052365e-01 7.12484818e-01 -5.56000502e-01 -3.94117413e+01] [ 8.01602382e-01 -1.51948322e-02 5.97664403e-01 1.20336969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:-39.40, Z:120.36 [[ 4.13696336e-01 -7.04269352e-01 -5.76940224e-01 2.03964754e+02] [ 4.32925939e-01 7.09656107e-01 -5.55844710e-01 -3.94015505e+01] [ 8.00893547e-01 -1.98214680e-02 5.98478601e-01 1.20359170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.98, Y:-39.39, Z:120.38 [[ 4.11901157e-01 -7.05707991e-01 -5.76466537e-01 2.03976934e+02] [ 4.35267243e-01 7.08163246e-01 -5.55920178e-01 -3.93908614e+01] [ 8.00549726e-01 -2.19328357e-02 5.98864832e-01 1.20380602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:-39.38, Z:120.40 [[ 4.10532281e-01 -7.06829596e-01 -5.76068719e-01 2.03989419e+02] [ 4.36935806e-01 7.06996405e-01 -5.56096382e-01 -3.93794707e+01] [ 8.00343894e-01 -2.34095337e-02 5.99084006e-01 1.20403244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:-39.37, Z:120.42 [[ 4.09781318e-01 -7.07687417e-01 -5.75549991e-01 2.04001014e+02] [ 4.38342256e-01 7.06104247e-01 -5.56123061e-01 -3.93678609e+01] [ 7.99959585e-01 -2.43990403e-02 5.99557628e-01 1.20424249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:-39.36, Z:120.45 [[ 4.08817076e-01 -7.08551602e-01 -5.75172344e-01 2.04012055e+02] [ 4.39550569e-01 7.05202200e-01 -5.56313900e-01 -3.93557120e+01] [ 7.99789907e-01 -2.53867092e-02 5.99742961e-01 1.20445358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.02, Y:-39.34, Z:120.47 [[ 4.08399535e-01 -7.08990736e-01 -5.74927783e-01 2.04024349e+02] [ 4.39883722e-01 7.04753769e-01 -5.56618754e-01 -3.93430271e+01] [ 7.99820062e-01 -2.55785331e-02 5.99694595e-01 1.20467842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:-39.33, Z:120.49 [[ 4.07945646e-01 -7.09421582e-01 -5.74718513e-01 2.04036181e+02] [ 4.40186440e-01 7.04312614e-01 -5.56937735e-01 -3.93303551e+01] [ 7.99885147e-01 -2.57829717e-02 5.99599025e-01 1.20489984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.05, Y:-39.32, Z:120.51 [[ 4.07534004e-01 -7.09774088e-01 -5.74575304e-01 2.04048107e+02] [ 4.40269256e-01 7.03955304e-01 -5.57323885e-01 -3.93175216e+01] [ 8.00049384e-01 -2.58394073e-02 5.99377433e-01 1.20512451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:-39.30, Z:120.53 [[ 4.07386453e-01 -7.10023387e-01 -5.74371890e-01 2.04059405e+02] [ 4.40251933e-01 7.03709323e-01 -5.57648118e-01 -3.93049581e+01] [ 8.00134060e-01 -2.56900457e-02 5.99270814e-01 1.20533994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.07, Y:-39.29, Z:120.56 [[ 4.08188654e-01 -7.09641053e-01 -5.74274846e-01 2.04070029e+02] [ 4.38977186e-01 7.04144837e-01 -5.58103108e-01 -3.92911212e+01] [ 8.00425545e-01 -2.42821996e-02 5.98940165e-01 1.20556533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:-39.28, Z:120.58 [[ 4.08986097e-01 -7.09361818e-01 -5.74052423e-01 2.04080783e+02] [ 4.38083863e-01 7.04465725e-01 -5.58400010e-01 -3.92779687e+01] [ 8.00507902e-01 -2.31052624e-02 5.98876653e-01 1.20578735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.09, Y:-39.27, Z:120.60 [[ 4.09748932e-01 -7.09008783e-01 -5.73944560e-01 2.04091305e+02] [ 4.36913626e-01 7.04862919e-01 -5.58815487e-01 -3.92652083e+01] [ 8.00757327e-01 -2.17901495e-02 5.98592427e-01 1.20600071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:-39.25, Z:120.62 [[ 4.12613592e-01 -7.07851814e-01 -5.73320010e-01 2.04101267e+02] [ 4.34973490e-01 7.06109956e-01 -5.58754680e-01 -3.92503082e+01] [ 8.00342481e-01 -1.88292303e-02 5.99247339e-01 1.20622407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.11, Y:-39.24, Z:120.64 [[ 4.13761337e-01 -7.07369907e-01 -5.73087577e-01 2.04111861e+02] [ 4.33749983e-01 7.06632660e-01 -5.59044933e-01 -3.92373045e+01] [ 8.00413961e-01 -1.72655476e-02 5.99198959e-01 1.20644488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:-39.22, Z:120.67 [[ 4.14840403e-01 -7.06890407e-01 -5.72899112e-01 2.04122151e+02] [ 4.32456677e-01 7.07148941e-01 -5.59393955e-01 -3.92244575e+01] [ 8.00555221e-01 -1.56948323e-02 5.99053428e-01 1.20665919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.13, Y:-39.21, Z:120.69 [[ 4.16091777e-01 -7.06337474e-01 -5.72673560e-01 2.04132994e+02] [ 4.31050861e-01 7.07737772e-01 -5.59734224e-01 -3.92107697e+01] [ 8.00663967e-01 -1.39506230e-02 5.98951243e-01 1.20688425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:-39.20, Z:120.71 [[ 4.19054051e-01 -7.04721975e-01 -5.72503834e-01 2.04142710e+02] [ 4.27826133e-01 7.09409908e-01 -5.60091406e-01 -3.91954861e+01] [ 8.00848614e-01 -1.02235290e-02 5.98779573e-01 1.20710070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:-39.18, Z:120.73 [[ 4.20220327e-01 -7.04048693e-01 -5.72477348e-01 2.04153178e+02] [ 4.26007492e-01 7.10103141e-01 -5.60598917e-01 -3.91820416e+01] [ 8.01206898e-01 -8.30457946e-03 5.98329792e-01 1.20731134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.16, Y:-39.17, Z:120.75 [[ 4.21384528e-01 -7.03348101e-01 -5.72482775e-01 2.04163728e+02] [ 4.24064696e-01 7.10817642e-01 -5.61166119e-01 -3.91683543e+01] [ 8.01625981e-01 -6.30301410e-03 5.97792656e-01 1.20753254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:-39.15, Z:120.78 [[ 4.22792170e-01 -7.02615431e-01 -5.72344596e-01 2.04174446e+02] [ 4.22316823e-01 7.11556833e-01 -5.61547304e-01 -3.91548548e+01] [ 8.01807509e-01 -4.29294838e-03 5.97566975e-01 1.20775229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:-39.14, Z:120.80 [[ 4.25697933e-01 -7.00956916e-01 -5.72224320e-01 2.04184516e+02] [ 4.18984194e-01 7.13203422e-01 -5.61954734e-01 -3.91401013e+01] [ 8.02018401e-01 -5.29976270e-04 5.97299091e-01 1.20797821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:-39.13, Z:120.82 [[ 4.27430312e-01 -7.00245605e-01 -5.71803655e-01 2.04195685e+02] [ 4.17649020e-01 7.13900587e-01 -5.62063384e-01 -3.91272838e+01] [ 8.01793380e-01 1.42969133e-03 5.97599642e-01 1.20819611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:-39.11, Z:120.84 [[ 4.28692973e-01 -6.99519682e-01 -5.71746928e-01 2.04206564e+02] [ 4.15809628e-01 7.14605170e-01 -5.62531602e-01 -3.91148587e+01] [ 8.02075238e-01 3.41546736e-03 5.97213234e-01 1.20842243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:-39.10, Z:120.86 [[ 4.30330052e-01 -6.98803207e-01 -5.71393143e-01 2.04217291e+02] [ 4.14375316e-01 7.15293725e-01 -5.62714834e-01 -3.91025843e+01] [ 8.01940860e-01 5.38189012e-03 5.97379186e-01 1.20863703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:-39.09, Z:120.89 [[ 4.32388303e-01 -6.97832496e-01 -5.71025536e-01 2.04228252e+02] [ 4.12505901e-01 7.16218023e-01 -5.62912627e-01 -3.90900101e+01] [ 8.01797504e-01 7.84543283e-03 5.97544318e-01 1.20885801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:-39.10, Z:120.92 [[ 4.31746788e-01 -6.78524830e-01 -5.94305280e-01 2.04231757e+02] [ 4.06464853e-01 7.34544362e-01 -5.43351546e-01 -3.90959249e+01] [ 8.05221109e-01 -6.97392343e-03 5.92933665e-01 1.20917355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:-39.04, Z:120.92 [[ 4.39497732e-01 -7.20098907e-01 -5.36935106e-01 2.04247896e+02] [ 4.06958709e-01 6.92520530e-01 -5.95650841e-01 -3.90385869e+01] [ 8.00766104e-01 4.32767763e-02 5.97411724e-01 1.20918188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:-39.05, Z:120.95 [[ 4.40013716e-01 -6.93465487e-01 -5.70520419e-01 2.04261690e+02] [ 4.04502007e-01 7.20284871e-01 -5.63531570e-01 -3.90506784e+01] [ 8.01726921e-01 1.71849658e-02 5.97443404e-01 1.20950952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:-39.08, Z:121.00 [[ 4.31801329e-01 -6.50831966e-01 -6.24472068e-01 2.04264222e+02] [ 3.93886491e-01 7.58901571e-01 -5.18576743e-01 -3.90845858e+01] [ 8.11419155e-01 -2.20489842e-02 5.84048626e-01 1.21002960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:-38.98, Z:120.98 [[ 4.44940305e-01 -7.33206876e-01 -5.14233217e-01 2.04281182e+02] [ 4.00501379e-01 6.76492439e-01 -6.18026396e-01 -3.89844303e+01] [ 8.01016086e-01 6.90337411e-02 5.94649117e-01 1.20976953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:-39.06, Z:121.05 [[ 4.33007564e-01 -6.46428971e-01 -6.28199042e-01 2.04288322e+02] [ 3.89044417e-01 7.62693925e-01 -5.16664707e-01 -3.90630240e+01] [ 8.13110627e-01 -2.06776037e-02 5.81741820e-01 1.21050085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:-38.96, Z:121.02 [[ 4.45995661e-01 -7.34885297e-01 -5.10912390e-01 2.04306043e+02] [ 3.99566796e-01 6.74268000e-01 -6.21054780e-01 -3.89577155e+01] [ 8.00895902e-01 7.28441103e-02 5.94356365e-01 1.21021301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:-39.05, Z:121.10 [[ 4.31647624e-01 -6.39726023e-01 -6.35948854e-01 2.04312057e+02] [ 3.87098292e-01 7.68161727e-01 -5.09982818e-01 -3.90469777e+01] [ 8.14760849e-01 -2.60418437e-02 5.79212034e-01 1.21102437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.33, Y:-38.93, Z:121.07 [[ 4.45732780e-01 -7.39081701e-01 -5.05054976e-01 2.04330627e+02] [ 4.00609473e-01 6.69245354e-01 -6.25797656e-01 -3.89311903e+01] [ 8.00521292e-01 7.66087209e-02 5.94387723e-01 1.21065799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:-38.97, Z:121.11 [[ 4.42755699e-01 -6.92398711e-01 -5.69694142e-01 2.04348849e+02] [ 4.00377545e-01 7.21173048e-01 -5.65338179e-01 -3.89662270e+01] [ 8.02287487e-01 2.22139588e-02 5.96524373e-01 1.21109541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:-38.95, Z:121.13 [[ 4.41770288e-01 -6.93171724e-01 -5.69519072e-01 2.04361514e+02] [ 4.01161028e-01 7.20453510e-01 -5.65700070e-01 -3.89546454e+01] [ 8.02439308e-01 2.14406267e-02 5.96348436e-01 1.21131881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.37, Y:-38.97, Z:121.17 [[ 4.34313549e-01 -6.73379126e-01 -5.98274431e-01 2.04368348e+02] [ 3.98793252e-01 7.39291530e-01 -5.42597434e-01 -3.89701046e+01] [ 8.07673005e-01 -2.93038894e-03 5.89623379e-01 1.21168822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:-38.91, Z:121.16 [[ 4.39012796e-01 -7.22282957e-01 -5.34392267e-01 2.04385692e+02] [ 4.05322711e-01 6.90022294e-01 -5.99652177e-01 -3.89079947e+01] [ 8.01861125e-01 4.66536565e-02 5.95686303e-01 1.21164157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:-38.92, Z:121.20 [[ 4.35673973e-01 -6.97412959e-01 -5.69037216e-01 2.04401207e+02] [ 4.07019893e-01 7.16508055e-01 -5.66525387e-01 -3.89219265e+01] [ 8.02821896e-01 1.52108995e-02 5.96024859e-01 1.21198601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.41, Y:-38.92, Z:121.23 [[ 4.31554275e-01 -6.89372045e-01 -5.81830809e-01 2.04410311e+02] [ 4.08425390e-01 7.24404614e-01 -5.55361734e-01 -3.89225018e+01] [ 8.04331778e-01 2.03425571e-03 5.94176955e-01 1.21226909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:-38.88, Z:121.24 [[ 4.31624179e-01 -7.17082843e-01 -5.47259321e-01 2.04426411e+02] [ 4.12737420e-01 6.96445030e-01 -5.87036747e-01 -3.88841486e+01] [ 8.02090014e-01 2.75048540e-02 5.96569437e-01 1.21236209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:-38.90, Z:121.27 [[ 4.23049689e-01 -6.97001663e-01 -5.78979828e-01 2.04436613e+02] [ 4.18718052e-01 7.17038362e-01 -5.57253247e-01 -3.88999684e+01] [ 8.03557188e-01 -6.68349289e-03 5.95190035e-01 1.21270299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:-38.86, Z:121.28 [[ 4.21995272e-01 -7.27906460e-01 -5.40437024e-01 2.04449728e+02] [ 4.25101918e-01 6.85392068e-01 -5.91207301e-01 -3.88581665e+01] [ 8.00754863e-01 1.97458704e-02 5.98666644e-01 1.21275362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:-38.87, Z:121.31 [[ 4.16723059e-01 -7.06457392e-01 -5.72066295e-01 2.04462034e+02] [ 4.24522509e-01 7.07715631e-01 -5.64729338e-01 -3.88734393e+01] [ 8.03817474e-01 -7.51928202e-03 5.94828487e-01 1.21312761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:-38.85, Z:121.33 [[ 4.13673725e-01 -7.17330808e-01 -5.60634071e-01 2.04474423e+02] [ 4.26581553e-01 6.96732493e-01 -5.76707908e-01 -3.88545128e+01] [ 8.04302324e-01 -5.87244207e-04 5.94220016e-01 1.21331076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:-38.83, Z:121.35 [[ 4.13314806e-01 -7.28842580e-01 -5.45856543e-01 2.04492310e+02] [ 4.30914692e-01 6.84637385e-01 -5.87864083e-01 -3.88305573e+01] [ 8.02174171e-01 7.75532497e-03 5.97039743e-01 1.21346459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:-38.84, Z:121.38 [[ 4.08193548e-01 -7.15719548e-01 -5.66677647e-01 2.04507543e+02] [ 4.36363993e-01 6.98213161e-01 -5.67525195e-01 -3.88353184e+01] [ 8.01850668e-01 -1.56175970e-02 5.97320348e-01 1.21376629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:-38.82, Z:121.40 [[ 4.05684421e-01 -7.17420610e-01 -5.66328367e-01 2.04520029e+02] [ 4.39018295e-01 6.96399376e-01 -5.67706654e-01 -3.88237006e+01] [ 8.01675176e-01 -1.83187694e-02 5.97479151e-01 1.21398758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:-38.81, Z:121.42 [[ 4.03372472e-01 -7.18930833e-01 -5.66064578e-01 2.04532201e+02] [ 4.41246781e-01 6.94774195e-01 -5.67970154e-01 -3.88125324e+01] [ 8.01618317e-01 -2.06706482e-02 5.97478701e-01 1.21420259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:-38.80, Z:121.44 [[ 3.99365344e-01 -7.21475928e-01 -5.65667577e-01 2.04545377e+02] [ 4.45404292e-01 6.91985907e-01 -5.68128965e-01 -3.88015506e+01] [ 8.01325363e-01 -2.50597471e-02 5.97703665e-01 1.21442341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:-38.81, Z:121.48 [[ 3.93946316e-01 -7.04867789e-01 -5.89887870e-01 2.04552025e+02] [ 4.43415039e-01 7.07910779e-01 -5.49768526e-01 -3.88126052e+01] [ 8.05102107e-01 -4.49858676e-02 5.91427822e-01 1.21478780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.57, Y:-38.76, Z:121.48 [[ 3.96067240e-01 -7.41976242e-01 -5.40926980e-01 2.04568462e+02] [ 4.48100418e-01 6.70376761e-01 -5.91439780e-01 -3.87602176e+01] [ 8.01459142e-01 -8.13968466e-03 5.97994138e-01 1.21477526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:-38.77, Z:121.51 [[ 3.95600823e-01 -7.24375148e-01 -5.64606618e-01 2.04581559e+02] [ 4.49943970e-01 6.88788732e-01 -5.68436898e-01 -3.87662244e+01] [ 8.00656239e-01 -2.91672389e-02 5.98413619e-01 1.21507494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:-38.75, Z:121.53 [[ 3.94808140e-01 -7.24965113e-01 -5.64404214e-01 2.04593517e+02] [ 4.50698230e-01 6.88137309e-01 -5.68628306e-01 -3.87536026e+01] [ 8.00623281e-01 -2.98768965e-02 5.98422704e-01 1.21529912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:-38.74, Z:121.55 [[ 3.94639687e-01 -7.25063559e-01 -5.64395564e-01 2.04605253e+02] [ 4.50164717e-01 6.88051554e-01 -5.69154449e-01 -3.87408010e+01] [ 8.01006396e-01 -2.94600356e-02 5.97930481e-01 1.21552115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:-38.75, Z:121.59 [[ 3.91602938e-01 -7.09478079e-01 -5.85907838e-01 2.04612217e+02] [ 4.46195717e-01 7.03307754e-01 -5.53414479e-01 -3.87483060e+01] [ 8.04708967e-01 -4.47108319e-02 5.91983463e-01 1.21587073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:-38.70, Z:121.59 [[ 3.95506338e-01 -7.40165199e-01 -5.43810825e-01 2.04627042e+02] [ 4.47675118e-01 6.72346327e-01 -5.89523032e-01 -3.87001248e+01] [ 8.01973644e-01 -1.02904793e-02 5.97270777e-01 1.21588554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:-38.70, Z:121.62 [[ 3.95582979e-01 -7.24860854e-01 -5.63995433e-01 2.04640402e+02] [ 4.48656523e-01 6.88343748e-01 -5.69991412e-01 -3.87025730e+01] [ 8.01387191e-01 -2.75613295e-02 5.97510621e-01 1.21618709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:-38.69, Z:121.64 [[ 3.96536404e-01 -7.24488643e-01 -5.63804121e-01 2.04651681e+02] [ 4.47598175e-01 6.88787929e-01 -5.70286825e-01 -3.86896061e+01] [ 8.01507801e-01 -2.62182087e-02 5.97409283e-01 1.21640828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:-38.68, Z:121.66 [[ 3.99655475e-01 -7.23286457e-01 -5.63144921e-01 2.04662243e+02] [ 4.45659005e-01 6.90161340e-01 -5.70145049e-01 -3.86761410e+01] [ 8.01039046e-01 -2.31090147e-02 5.98165880e-01 1.21663483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:-38.66, Z:121.68 [[ 4.01711895e-01 -7.22724912e-01 -5.62402218e-01 2.04672925e+02] [ 4.44935925e-01 6.90807919e-01 -5.69926698e-01 -3.86633073e+01] [ 8.00412129e-01 -2.12866172e-02 5.99072036e-01 1.21684984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:-38.67, Z:121.72 [[ 4.00982674e-01 -7.09121512e-01 -5.79965151e-01 2.04680886e+02] [ 4.40885997e-01 7.04331886e-01 -5.56359714e-01 -3.86665525e+01] [ 8.03014591e-01 -3.26079081e-02 5.95066628e-01 1.21717882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:-38.62, Z:121.72 [[ 4.05690527e-01 -7.33907877e-01 -5.44788422e-01 2.04693355e+02] [ 4.41762798e-01 6.79242805e-01 -5.86067268e-01 -3.86246280e+01] [ 8.00163000e-01 -2.90531886e-03 5.99775569e-01 1.21722666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.71, Y:-38.62, Z:121.75 [[ 4.08085449e-01 -7.20271315e-01 -5.60959446e-01 2.04705274e+02] [ 4.40699726e-01 6.93537841e-01 -5.69902636e-01 -3.86231516e+01] [ 7.99531124e-01 -1.46457009e-02 6.00446073e-01 1.21751101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.71, Y:-38.62, Z:121.78 [[ 4.10085914e-01 -7.07489682e-01 -5.75576140e-01 2.04712964e+02] [ 4.34738332e-01 7.06406636e-01 -5.58562662e-01 -3.86217299e+01] [ 8.01768125e-01 -2.11663309e-02 5.97260296e-01 1.21782749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:-38.58, Z:121.79 [[ 4.14138486e-01 -7.27199713e-01 -5.47421128e-01 2.04724891e+02] [ 4.35154480e-01 6.86419030e-01 -5.82640107e-01 -3.85846693e+01] [ 7.99455998e-01 3.08093519e-03 6.00716751e-01 1.21791052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:-38.58, Z:121.82 [[ 4.15581165e-01 -7.16532066e-01 -5.60244673e-01 2.04736335e+02] [ 4.33565840e-01 6.97529933e-01 -5.70502108e-01 -3.85806365e+01] [ 7.99570483e-01 -5.81302106e-03 6.00544129e-01 1.21817615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:-38.57, Z:121.84 [[ 4.16695022e-01 -7.15871761e-01 -5.60261439e-01 2.04746543e+02] [ 4.31728094e-01 6.98220741e-01 -5.71050480e-01 -3.85673868e+01] [ 7.99985070e-01 -3.92671112e-03 6.00007058e-01 1.21839343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:-38.55, Z:121.86 [[ 4.19461429e-01 -7.14192912e-01 -5.60339713e-01 2.04756352e+02] [ 4.28066829e-01 6.99948913e-01 -5.71690747e-01 -3.85524157e+01] [ 8.00506652e-01 -6.06262035e-05 5.99323866e-01 1.21861399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.77, Y:-38.54, Z:121.88 [[ 4.20571051e-01 -7.13542993e-01 -5.60335961e-01 2.04767176e+02] [ 4.26275006e-01 7.00609128e-01 -5.72220648e-01 -3.85389246e+01] [ 8.00880522e-01 1.80222396e-03 5.98821460e-01 1.21883642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:-38.53, Z:121.91 [[ 4.21507073e-01 -7.12927938e-01 -5.60415510e-01 2.04778065e+02] [ 4.24427816e-01 7.01228072e-01 -5.72835247e-01 -3.85253190e+01] [ 8.01369339e-01 3.59817736e-03 5.98159039e-01 1.21906015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:-38.51, Z:121.93 [[ 4.22882063e-01 -7.12325655e-01 -5.60145447e-01 2.04789243e+02] [ 4.23084544e-01 7.01828618e-01 -5.73093412e-01 -3.85118831e+01] [ 8.01355245e-01 5.36204385e-03 5.98164709e-01 1.21927885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:-38.50, Z:121.95 [[ 4.24626239e-01 -7.12142622e-01 -5.59057639e-01 2.04799893e+02] [ 4.20798018e-01 7.01980472e-01 -5.74588936e-01 -3.84968692e+01] [ 8.01636817e-01 8.73519251e-03 5.97747531e-01 1.21949398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:-38.49, Z:121.97 [[ 4.25426613e-01 -7.10324521e-01 -5.60759549e-01 2.04811082e+02] [ 4.20733581e-01 7.03833636e-01 -5.72364802e-01 -3.84860398e+01] [ 8.01246186e-01 7.56884566e-03 5.98286939e-01 1.21971310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:204.82, Y:-38.47, Z:121.99 [[ 4.26144717e-01 -7.10544251e-01 -5.59935307e-01 2.04822349e+02] [ 4.20075077e-01 7.03594621e-01 -5.73141814e-01 -3.84735363e+01] [ 8.01210091e-01 9.02648866e-03 5.98315061e-01 1.21992161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:-38.46, Z:122.01 [[ 4.25597012e-01 -7.13217208e-01 -5.56945596e-01 2.04833131e+02] [ 4.20550905e-01 7.00857099e-01 -5.76139101e-01 -3.84595423e+01] [ 8.01251596e-01 1.09791051e-02 5.98226829e-01 1.22012389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:-38.45, Z:122.04 [[ 4.25401924e-01 -7.12051380e-01 -5.58583955e-01 2.04845616e+02] [ 4.21370145e-01 7.02071777e-01 -5.74057855e-01 -3.84494106e+01] [ 8.00924718e-01 8.83471414e-03 5.98699878e-01 1.22035420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:-38.44, Z:122.06 [[ 4.24805840e-01 -7.12539538e-01 -5.58415083e-01 2.04857248e+02] [ 4.21703018e-01 7.01580115e-01 -5.74414403e-01 -3.84380222e+01] [ 8.01065892e-01 8.52926662e-03 5.98515404e-01 1.22057135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:-38.43, Z:122.08 [[ 4.24689358e-01 -7.12771718e-01 -5.58207334e-01 2.04869176e+02] [ 4.21856934e-01 7.01344119e-01 -5.74589552e-01 -3.84264146e+01] [ 8.01046613e-01 8.53843393e-03 5.98541075e-01 1.22079255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.88, Y:-38.41, Z:122.10 [[ 4.24529442e-01 -7.13032932e-01 -5.57995332e-01 2.04881435e+02] [ 4.21879103e-01 7.01077121e-01 -5.74899029e-01 -3.84141895e+01] [ 8.01119701e-01 8.65499430e-03 5.98441573e-01 1.22101817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:-38.40, Z:122.12 [[ 4.24722543e-01 -7.13172970e-01 -5.57669326e-01 2.04893350e+02] [ 4.21862891e-01 7.00930403e-01 -5.75089794e-01 -3.84024778e+01] [ 8.01025882e-01 8.99360612e-03 5.98562154e-01 1.22122841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.91, Y:-38.39, Z:122.14 [[ 4.24495977e-01 -7.13569131e-01 -5.57334963e-01 2.04905393e+02] [ 4.22243967e-01 7.00528530e-01 -5.75299758e-01 -3.83899490e+01] [ 8.00945191e-01 8.88110711e-03 5.98671803e-01 1.22144993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:-38.38, Z:122.17 [[ 4.24246477e-01 -7.14037048e-01 -5.56925507e-01 2.04917368e+02] [ 4.22874017e-01 7.00054998e-01 -5.75413387e-01 -3.83778264e+01] [ 8.00744961e-01 8.60777532e-03 5.98943582e-01 1.22166717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:-38.37, Z:122.19 [[ 4.23891004e-01 -7.14493931e-01 -5.56610132e-01 2.04929634e+02] [ 4.23315417e-01 6.99591303e-01 -5.75652732e-01 -3.83661819e+01] [ 8.00699990e-01 8.39236421e-03 5.99006756e-01 1.22188687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:-38.36, Z:122.21 [[ 4.22958915e-01 -7.15246622e-01 -5.56352430e-01 2.04943133e+02] [ 4.24204300e-01 6.98830989e-01 -5.75921837e-01 -3.83552373e+01] [ 8.00722467e-01 7.58418180e-03 5.98987489e-01 1.22211342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:-38.34, Z:122.23 [[ 4.22194098e-01 -7.15865010e-01 -5.56137960e-01 2.04955294e+02] [ 4.24801425e-01 6.98203231e-01 -5.76243002e-01 -3.83441021e+01] [ 8.00809523e-01 7.03819655e-03 5.98877760e-01 1.22233424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:-38.33, Z:122.25 [[ 4.21714916e-01 -7.16431155e-01 -5.55772372e-01 2.04966743e+02] [ 4.25486878e-01 6.97626408e-01 -5.76435869e-01 -3.83334866e+01] [ 8.00698099e-01 6.61775285e-03 5.99031518e-01 1.22253967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:-38.32, Z:122.28 [[ 4.21027667e-01 -7.16970048e-01 -5.55598465e-01 2.04978635e+02] [ 4.26038414e-01 6.97077308e-01 -5.76692723e-01 -3.83222118e+01] [ 8.00766491e-01 6.09730307e-03 5.98945615e-01 1.22275909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:-38.31, Z:122.30 [[ 4.20673458e-01 -7.17562259e-01 -5.55102014e-01 2.04991067e+02] [ 4.26961313e-01 6.96471751e-01 -5.76741830e-01 -3.83102855e+01] [ 8.00461042e-01 5.61289533e-03 5.99358504e-01 1.22297934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.00, Y:-38.30, Z:122.32 [[ 4.19574893e-01 -7.18553749e-01 -5.54650717e-01 2.05003655e+02] [ 4.28513854e-01 6.95457881e-01 -5.76813846e-01 -3.82992246e+01] [ 8.00207964e-01 4.34109130e-03 5.99706903e-01 1.22319481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:-38.29, Z:122.34 [[ 4.19077030e-01 -7.19158765e-01 -5.54242830e-01 2.05015804e+02] [ 4.29328636e-01 6.94835192e-01 -5.76958386e-01 -3.82881567e+01] [ 8.00032103e-01 3.83768856e-03 5.99944920e-01 1.22341092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:205.03, Y:-38.24, Z:122.34 [[ 4.19749538e-01 -7.43672874e-01 -5.20346982e-01 2.05028244e+02] [ 4.40176219e-01 6.68156851e-01 -5.99842744e-01 -3.82444594e+01] [ 7.93760179e-01 2.27393476e-02 6.07805644e-01 1.22340692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:-38.25, Z:122.37 [[ 4.16779536e-01 -7.31616473e-01 -5.39473962e-01 2.05043275e+02] [ 4.40190431e-01 6.81689191e-01 -5.84407590e-01 -3.82480870e+01] [ 7.95315788e-01 6.09784866e-03 6.06164675e-01 1.22371375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.05, Y:-38.22, Z:122.38 [[ 4.16255429e-01 -7.44103117e-01 -5.22534179e-01 2.05054302e+02] [ 4.45299953e-01 6.67883747e-01 -5.96354972e-01 -3.82217691e+01] [ 7.92741679e-01 1.55515494e-02 6.09359319e-01 1.22383511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:-38.26, Z:122.44 [[ 4.12423352e-01 -7.08443040e-01 -5.72726320e-01 2.05068095e+02] [ 4.34195200e-01 7.05546287e-01 -5.60070501e-01 -3.82567101e+01] [ 8.00862977e-01 -1.76888659e-02 5.98586332e-01 1.22437842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.08, Y:-38.19, Z:122.43 [[ 4.12984939e-01 -7.52329687e-01 -5.13267458e-01 2.05078621e+02] [ 4.47819414e-01 6.58484747e-01 -6.04859992e-01 -3.81929902e+01] [ 7.93032921e-01 1.99469346e-02 6.08852122e-01 1.22426613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.09, Y:-38.19, Z:122.46 [[ 4.10009519e-01 -7.41902511e-01 -5.30540157e-01 2.05093560e+02] [ 4.49813865e-01 6.70499838e-01 -5.89997842e-01 -3.81946536e+01] [ 7.93447970e-01 3.26041274e-03 6.08629352e-01 1.22455978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:-38.18, Z:122.48 [[ 4.07928037e-01 -7.42629331e-01 -5.31127474e-01 2.05105813e+02] [ 4.51286209e-01 6.69702077e-01 -5.89779523e-01 -3.81826611e+01] [ 7.93684745e-01 8.97098587e-04 6.08328629e-01 1.22477791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:-38.18, Z:122.51 [[ 4.05791944e-01 -7.37400227e-01 -5.39975744e-01 2.05119535e+02] [ 4.49020524e-01 6.75436875e-01 -5.84949226e-01 -3.81797349e+01] [ 7.96061221e-01 -5.09250771e-03 6.05194678e-01 1.22507023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:-38.17, Z:122.53 [[ 4.03886949e-01 -7.38114398e-01 -5.40428042e-01 2.05131591e+02] [ 4.49676761e-01 6.74643311e-01 -5.85360755e-01 -3.81694405e+01] [ 7.96659365e-01 -6.59836175e-03 6.04392520e-01 1.22529609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.14, Y:-38.16, Z:122.56 [[ 4.01705361e-01 -7.34904563e-01 -5.46395541e-01 2.05143528e+02] [ 4.48678303e-01 6.78076351e-01 -5.82151392e-01 -3.81635347e+01] [ 7.98323609e-01 -1.13024888e-02 6.02122637e-01 1.22556103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:-38.17, Z:122.59 [[ 3.98683681e-01 -7.21168603e-01 -5.66539644e-01 2.05155344e+02] [ 4.42973587e-01 6.92347977e-01 -5.69586411e-01 -3.81738399e+01] [ 8.03010413e-01 -2.38772912e-02 5.95486483e-01 1.22593472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:-38.15, Z:122.61 [[ 3.97824982e-01 -7.29235600e-01 -5.56732183e-01 2.05167324e+02] [ 4.43980647e-01 6.84053058e-01 -5.78750895e-01 -3.81543480e+01] [ 8.02880108e-01 -1.69367504e-02 5.95899889e-01 1.22612285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:-38.12, Z:122.62 [[ 3.98087238e-01 -7.44666599e-01 -5.35722136e-01 2.05179445e+02] [ 4.51097502e-01 6.67411511e-01 -5.92514067e-01 -3.81216772e+01] [ 7.98772555e-01 -5.79062899e-03 6.01605248e-01 1.22619970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.19, Y:-38.12, Z:122.65 [[ 3.97608463e-01 -7.37132142e-01 -5.46391541e-01 2.05191906e+02] [ 4.50083594e-01 6.75608817e-01 -5.83932774e-01 -3.81183382e+01] [ 7.99582559e-01 -1.37452562e-02 6.00398867e-01 1.22647786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:-38.12, Z:122.68 [[ 3.97719158e-01 -7.29674580e-01 -5.56232397e-01 2.05203726e+02] [ 4.46637123e-01 6.83535413e-01 -5.77316741e-01 -3.81163567e+01] [ 8.01457892e-01 -1.88241096e-02 5.97754883e-01 1.22677600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:-38.10, Z:122.70 [[ 3.98913242e-01 -7.33065460e-01 -5.50893144e-01 2.05215809e+02] [ 4.45468205e-01 6.80031850e-01 -5.82335609e-01 -3.81004826e+01] [ 8.01515005e-01 -1.31039941e-02 5.97831065e-01 1.22699329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:-38.09, Z:122.72 [[ 4.00253670e-01 -7.31701929e-01 -5.51732985e-01 2.05228082e+02] [ 4.43827651e-01 6.81519330e-01 -5.81849138e-01 -3.80891727e+01] [ 8.01756831e-01 -1.19871012e-02 5.97530161e-01 1.22723220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:-38.08, Z:122.75 [[ 4.01869725e-01 -7.30717853e-01 -5.51862431e-01 2.05239722e+02] [ 4.42709969e-01 6.82596468e-01 -5.81437826e-01 -3.80772802e+01] [ 8.01566347e-01 -1.06527406e-02 5.97810932e-01 1.22745796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:-38.07, Z:122.77 [[ 4.05870120e-01 -7.25149798e-01 -5.56261824e-01 2.05251708e+02] [ 4.37204538e-01 6.88540296e-01 -5.78588328e-01 -3.80701013e+01] [ 8.02571890e-01 -8.36848002e-03 5.96496715e-01 1.22772183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:-38.06, Z:122.79 [[ 4.07498693e-01 -7.24647416e-01 -5.55725596e-01 2.05263131e+02] [ 4.35295230e-01 6.89095295e-01 -5.79366669e-01 -3.80577014e+01] [ 8.02784453e-01 -5.81354121e-03 5.96240996e-01 1.22794043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:-38.05, Z:122.82 [[ 4.09525728e-01 -7.23737471e-01 -5.55421238e-01 2.05274810e+02] [ 4.33396766e-01 6.90067313e-01 -5.79632941e-01 -3.80454315e+01] [ 8.02780120e-01 -3.34316621e-03 5.96265798e-01 1.22816117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:-38.02, Z:122.83 [[ 4.14817916e-01 -7.31111810e-01 -5.41665597e-01 2.05287094e+02] [ 4.32834521e-01 6.82184344e-01 -5.89303656e-01 -3.80202441e+01] [ 8.00362652e-01 1.00021450e-02 5.99432718e-01 1.22829581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:-38.01, Z:122.85 [[ 4.17283324e-01 -7.27603550e-01 -5.44488476e-01 2.05299757e+02] [ 4.31682645e-01 6.85933564e-01 -5.85786001e-01 -3.80091422e+01] [ 7.99702896e-01 9.39250423e-03 6.00322463e-01 1.22852518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:-38.00, Z:122.88 [[ 4.19087685e-01 -7.20764895e-01 -5.52144436e-01 2.05311602e+02] [ 4.28138846e-01 6.93147997e-01 -5.79864624e-01 -3.80029877e+01] [ 8.00663875e-01 6.61964136e-03 5.99077240e-01 1.22879212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.32, Y:-38.00, Z:122.91 [[ 4.19684155e-01 -7.11242308e-01 -5.63914522e-01 2.05321586e+02] [ 4.22353981e-01 7.02944083e-01 -5.72264564e-01 -3.80023969e+01] [ 8.03419146e-01 1.99882710e-03 5.95410514e-01 1.22909276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:-37.97, Z:122.92 [[ 4.24049481e-01 -7.28649006e-01 -5.37822149e-01 2.05334337e+02] [ 4.21618873e-01 6.84413213e-01 -5.94824411e-01 -3.79662560e+01] [ 8.01510801e-01 2.54790140e-02 5.97437240e-01 1.22918351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:-37.98, Z:122.96 [[ 4.24678148e-01 -7.04281792e-01 -5.68889821e-01 2.05345129e+02] [ 4.17023493e-01 7.09910425e-01 -5.67554927e-01 -3.79806096e+01] [ 8.03579415e-01 3.78775516e-03 5.95185497e-01 1.22956328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:-37.94, Z:122.97 [[ 4.27277694e-01 -7.24771306e-01 -5.40500071e-01 2.05357381e+02] [ 4.19618782e-01 6.88501190e-01 -5.91511783e-01 -3.79444157e+01] [ 8.00845710e-01 2.59358090e-02 5.98308853e-01 1.22965131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.37, Y:-37.95, Z:123.00 [[ 4.26864716e-01 -7.06606554e-01 -5.64352454e-01 2.05367954e+02] [ 4.15005986e-01 7.07536714e-01 -5.71980620e-01 -3.79533203e+01] [ 8.03465336e-01 9.94869805e-03 5.95268408e-01 1.22999320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:-37.93, Z:123.02 [[ 4.26879742e-01 -7.14442337e-01 -5.54387800e-01 2.05379450e+02] [ 4.14357701e-01 6.99439991e-01 -5.82315545e-01 -3.79334303e+01] [ 8.03791877e-01 1.88638559e-02 5.94611448e-01 1.23018048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:-37.92, Z:123.04 [[ 4.26692807e-01 -7.14771343e-01 -5.54107548e-01 2.05391218e+02] [ 4.14550899e-01 6.99103393e-01 -5.82582181e-01 -3.79207328e+01] [ 8.03791515e-01 1.88778442e-02 5.94611492e-01 1.23040823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:-37.89, Z:123.05 [[ 4.27095854e-01 -7.25262888e-01 -5.39984143e-01 2.05404251e+02] [ 4.18230505e-01 6.87922558e-01 -5.93165912e-01 -3.78947299e+01] [ 8.01668495e-01 2.75008610e-02 5.97135937e-01 1.23054542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:-37.90, Z:123.09 [[ 4.24792010e-01 -7.08404036e-01 -5.63662550e-01 2.05415159e+02] [ 4.14445742e-01 7.05729277e-01 -5.74613709e-01 -3.79028521e+01] [ 8.04851834e-01 1.04837688e-02 5.93383195e-01 1.23088944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.43, Y:-37.87, Z:123.10 [[ 4.24829652e-01 -7.24845561e-01 -5.42327097e-01 2.05427320e+02] [ 4.17530014e-01 6.88438858e-01 -5.93060390e-01 -3.78728561e+01] [ 8.03236238e-01 2.55117991e-02 5.95114017e-01 1.23100085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:-37.88, Z:123.13 [[ 4.23203569e-01 -7.11001681e-01 -5.61582896e-01 2.05438638e+02] [ 4.13688083e-01 7.03079933e-01 -5.78395002e-01 -3.78780556e+01] [ 8.06077483e-01 1.24586777e-02 5.91678859e-01 1.23132773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:-37.86, Z:123.15 [[ 4.22977543e-01 -7.16458525e-01 -5.54776694e-01 2.05449761e+02] [ 4.13413085e-01 6.97390290e-01 -5.85436935e-01 -3.78615039e+01] [ 8.06337162e-01 1.82747317e-02 5.91173761e-01 1.23152022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:-37.84, Z:123.17 [[ 4.22741486e-01 -7.24242668e-01 -5.44758841e-01 2.05462105e+02] [ 4.16059273e-01 6.89121766e-01 -5.93300828e-01 -3.78394308e+01] [ 8.05098949e-01 2.41609065e-02 5.92648237e-01 1.23168027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.47, Y:-37.83, Z:123.19 [[ 4.21065392e-01 -7.19914318e-01 -5.51749318e-01 2.05474347e+02] [ 4.15699668e-01 6.93823082e-01 -5.88050437e-01 -3.78330271e+01] [ 8.06162342e-01 1.82456799e-02 5.91413032e-01 1.23193391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:-37.82, Z:123.21 [[ 4.20372891e-01 -7.22026287e-01 -5.49513124e-01 2.05485423e+02] [ 4.16408924e-01 6.91597272e-01 -5.90166774e-01 -3.78202519e+01] [ 8.06157702e-01 1.92679437e-02 5.91386934e-01 1.23214054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.50, Y:-37.81, Z:123.24 [[ 4.19475959e-01 -7.22566612e-01 -5.49488318e-01 2.05497167e+02] [ 4.16658038e-01 6.91045366e-01 -5.90637267e-01 -3.78085645e+01] [ 8.06496125e-01 1.88094094e-02 5.90940104e-01 1.23236837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:-37.80, Z:123.26 [[ 4.18129312e-01 -7.22872258e-01 -5.50112331e-01 2.05508606e+02] [ 4.16934063e-01 6.90755920e-01 -5.90781047e-01 -3.77973679e+01] [ 8.07052579e-01 1.76623035e-02 5.90215366e-01 1.23260068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:-37.79, Z:123.28 [[ 4.16581644e-01 -7.23533440e-01 -5.50417202e-01 2.05520629e+02] [ 4.17890753e-01 6.90100813e-01 -5.90870702e-01 -3.77867796e+01] [ 8.07358070e-01 1.61316292e-02 5.89841265e-01 1.23282776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:-37.78, Z:123.31 [[ 4.15493431e-01 -7.23904740e-01 -5.50751429e-01 2.05531676e+02] [ 4.18701062e-01 6.89740332e-01 -5.90717949e-01 -3.77756144e+01] [ 8.07498997e-01 1.48392194e-02 5.89682260e-01 1.23305695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:-37.77, Z:123.33 [[ 4.15273608e-01 -7.21169220e-01 -5.54493270e-01 2.05543313e+02] [ 4.17126991e-01 6.92635655e-01 -5.88439396e-01 -3.77678267e+01] [ 8.08426189e-01 1.30692420e-02 5.88452455e-01 1.23331413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:-37.76, Z:123.35 [[ 4.13689028e-01 -7.22002785e-01 -5.54592974e-01 2.05554920e+02] [ 4.18299355e-01 6.91794402e-01 -5.88596767e-01 -3.77562658e+01] [ 8.08632820e-01 1.15101412e-02 5.88201053e-01 1.23354594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:-37.75, Z:123.38 [[ 4.13286892e-01 -7.22440572e-01 -5.54322618e-01 2.05565917e+02] [ 4.18674909e-01 6.91340868e-01 -5.88862568e-01 -3.77451782e+01] [ 8.08644091e-01 1.12882084e-02 5.88189860e-01 1.23376585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.58, Y:-37.73, Z:123.40 [[ 4.12032909e-01 -7.22531481e-01 -5.55137046e-01 2.05575179e+02] [ 4.20238813e-01 6.91280597e-01 -5.87818405e-01 -3.77340981e+01] [ 8.08472772e-01 8.91039410e-03 5.88466127e-01 1.23398193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.59, Y:-37.72, Z:123.42 [[ 4.12330811e-01 -7.24012123e-01 -5.52982593e-01 2.05586464e+02] [ 4.19254601e-01 6.89689819e-01 -5.90384226e-01 -3.77212119e+01] [ 8.08831801e-01 1.15931104e-02 5.87925776e-01 1.23421942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:-37.71, Z:123.44 [[ 4.12627105e-01 -7.26124101e-01 -5.49984238e-01 2.05597149e+02] [ 4.19065296e-01 6.87415429e-01 -5.93164654e-01 -3.77055719e+01] [ 8.08778801e-01 1.42765065e-02 5.87939650e-01 1.23443128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:-37.70, Z:123.47 [[ 4.12038960e-01 -7.22475229e-01 -5.55205762e-01 2.05607551e+02] [ 4.17106093e-01 6.91300621e-01 -5.90021999e-01 -3.76974071e+01] [ 8.10090367e-01 1.15323449e-02 5.86191609e-01 1.23467990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.62, Y:-37.68, Z:123.49 [[ 4.13031779e-01 -7.25874490e-01 -5.50009977e-01 2.05618930e+02] [ 4.16374494e-01 6.87625214e-01 -5.94814126e-01 -3.76802700e+01] [ 8.09961129e-01 1.66670106e-02 5.86246689e-01 1.23488531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:-37.68, Z:123.52 [[ 4.12283292e-01 -7.17427490e-01 -5.61533868e-01 2.05629512e+02] [ 4.13430131e-01 6.96566903e-01 -5.86404362e-01 -3.76769159e+01] [ 8.11848517e-01 9.60970024e-03 5.83789037e-01 1.23517610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:-37.66, Z:123.54 [[ 4.14686992e-01 -7.22729222e-01 -5.52898879e-01 2.05639239e+02] [ 4.11065064e-01 6.90860053e-01 -5.94758691e-01 -3.76567202e+01] [ 8.11825235e-01 1.93612794e-02 5.83579411e-01 1.23536552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:-37.65, Z:123.56 [[ 4.14983767e-01 -7.17663715e-01 -5.59238111e-01 2.05649037e+02] [ 4.09377809e-01 6.96211476e-01 -5.89660402e-01 -3.76488765e+01] [ 8.12525866e-01 1.57598221e-02 5.82712060e-01 1.23562243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:-37.61, Z:123.57 [[ 4.19924327e-01 -7.35120821e-01 -5.32222639e-01 2.05661851e+02] [ 4.11987396e-01 6.76933324e-01 -6.09940702e-01 -3.76126628e+01] [ 8.08659350e-01 3.68599195e-02 5.87121284e-01 1.23570987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:-37.61, Z:123.60 [[ 4.20439259e-01 -7.19418163e-01 -5.52872802e-01 2.05673109e+02] [ 4.10925639e-01 6.94252234e-01 -5.90892506e-01 -3.76147572e+01] [ 8.08931980e-01 2.12447980e-02 5.87518264e-01 1.23600354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.68, Y:-37.60, Z:123.62 [[ 4.21672258e-01 -7.19033736e-01 -5.52433700e-01 2.05683332e+02] [ 4.10127329e-01 6.94605865e-01 -5.91031527e-01 -3.76014258e+01] [ 8.08695296e-01 2.26534409e-02 5.87791409e-01 1.23622716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:-37.59, Z:123.65 [[ 4.24659151e-01 -7.17883369e-01 -5.51641255e-01 2.05692178e+02] [ 4.08675469e-01 6.95698927e-01 -5.90751524e-01 -3.75868106e+01] [ 8.07866924e-01 2.54257924e-02 5.88816238e-01 1.23645856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:-37.57, Z:123.67 [[ 4.25964264e-01 -7.17565920e-01 -5.51047726e-01 2.05701694e+02] [ 4.08285645e-01 6.95981423e-01 -5.90688319e-01 -3.75737692e+01] [ 8.07376788e-01 2.66272387e-02 5.89435079e-01 1.23667427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.71, Y:-37.56, Z:123.69 [[ 4.26895323e-01 -7.17425252e-01 -5.50510119e-01 2.05711355e+02] [ 4.08058783e-01 6.96091175e-01 -5.90715757e-01 -3.75601926e+01] [ 8.06999636e-01 2.75333048e-02 5.89909743e-01 1.23689731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:-37.54, Z:123.71 [[ 4.28609715e-01 -7.17030627e-01 -5.49691543e-01 2.05719870e+02] [ 4.07913334e-01 6.96445442e-01 -5.90398559e-01 -3.75447628e+01] [ 8.06164018e-01 2.88240481e-02 5.90989636e-01 1.23712488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:-37.53, Z:123.73 [[ 4.29349632e-01 -7.16984490e-01 -5.49174048e-01 2.05729638e+02] [ 4.07878380e-01 6.96464991e-01 -5.90399647e-01 -3.75309535e+01] [ 8.05787888e-01 2.94916501e-02 5.91469459e-01 1.23734718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:-37.52, Z:123.76 [[ 4.30229899e-01 -7.16865186e-01 -5.48640628e-01 2.05739821e+02] [ 4.07744145e-01 6.96553196e-01 -5.90388311e-01 -3.75167639e+01] [ 8.05386209e-01 3.02976997e-02 5.91975594e-01 1.23757340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:-37.50, Z:123.78 [[ 4.31128143e-01 -7.16377747e-01 -5.48572191e-01 2.05748008e+02] [ 4.06281333e-01 6.96984209e-01 -5.90887883e-01 -3.75016635e+01] [ 8.05645085e-01 3.18737545e-02 5.91540414e-01 1.23778874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:-37.49, Z:123.80 [[ 4.30990035e-01 -7.16397248e-01 -5.48655240e-01 2.05758223e+02] [ 4.05609189e-01 6.96942343e-01 -5.91398813e-01 -3.74874621e+01] [ 8.06057551e-01 3.23473882e-02 5.90952512e-01 1.23801286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:-37.47, Z:123.82 [[ 4.30034007e-01 -7.16820739e-01 -5.48852240e-01 2.05768488e+02] [ 4.05211693e-01 6.96511017e-01 -5.92178932e-01 -3.74732385e+01] [ 8.06767771e-01 3.22557339e-02 5.89987568e-01 1.23823177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:-37.46, Z:123.84 [[ 4.29107659e-01 -7.17339178e-01 -5.48899919e-01 2.05778432e+02] [ 4.05189398e-01 6.95990282e-01 -5.92806106e-01 -3.74599178e+01] [ 8.07272054e-01 3.19692129e-02 5.89312990e-01 1.23844215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:-37.45, Z:123.87 [[ 4.26981624e-01 -7.18655694e-01 -5.48835755e-01 2.05788687e+02] [ 4.06596872e-01 6.94710331e-01 -5.93343526e-01 -3.74461296e+01] [ 8.07691573e-01 3.01918807e-02 5.88831703e-01 1.23866696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:-37.43, Z:123.89 [[ 4.25744130e-01 -7.19714881e-01 -5.48408995e-01 2.05799787e+02] [ 4.08213863e-01 6.93672623e-01 -5.93447330e-01 -3.74335544e+01] [ 8.07529180e-01 2.87885630e-02 5.89124640e-01 1.23889407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:-37.42, Z:123.91 [[ 4.24242501e-01 -7.20978125e-01 -5.47913173e-01 2.05810420e+02] [ 4.10273876e-01 6.92432281e-01 -5.93475259e-01 -3.74214797e+01] [ 8.07275447e-01 2.69829666e-02 5.89557692e-01 1.23911343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:-37.38, Z:123.91 [[ 4.24842490e-01 -7.45286772e-01 -5.13864269e-01 2.05819046e+02] [ 4.21891463e-01 6.65229461e-01 -6.16017336e-01 -3.73789773e+01] [ 8.00947222e-01 4.49153903e-02 5.97047867e-01 1.23911926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.83, Y:-37.40, Z:123.96 [[ 4.17775579e-01 -7.16818565e-01 -5.58242520e-01 2.05833411e+02] [ 4.16579821e-01 6.97169795e-01 -5.83451394e-01 -3.74039187e+01] [ 8.07418614e-01 1.11991746e-02 5.89872664e-01 1.23959344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:-37.36, Z:123.96 [[ 4.17377971e-01 -7.43699387e-01 -5.22213415e-01 2.05841961e+02] [ 4.26698552e-01 6.67759940e-01 -6.09938529e-01 -3.73617971e+01] [ 8.02324109e-01 3.17471977e-02 5.96043740e-01 1.23961408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:-37.38, Z:124.00 [[ 4.13438617e-01 -7.22718378e-01 -5.53847141e-01 2.05856249e+02] [ 4.21411630e-01 6.91078984e-01 -5.87215527e-01 -3.73766506e+01] [ 8.07143573e-01 9.37994917e-03 5.90280669e-01 1.24002622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:-37.36, Z:124.02 [[ 4.08870657e-01 -7.30580768e-01 -5.46878896e-01 2.05867896e+02] [ 4.25974424e-01 6.82756548e-01 -5.93623859e-01 -3.73607226e+01] [ 8.07075322e-01 9.75895447e-03 5.90367840e-01 1.24022772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:-37.35, Z:124.05 [[ 4.06567851e-01 -7.32157722e-01 -5.46486645e-01 2.05879415e+02] [ 4.28427398e-01 6.81096268e-01 -5.93765811e-01 -3.73487824e+01] [ 8.06940238e-01 7.27623875e-03 5.90588274e-01 1.24045062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:-37.34, Z:124.07 [[ 4.04270046e-01 -7.33655406e-01 -5.46182639e-01 2.05890656e+02] [ 4.30622305e-01 6.79503754e-01 -5.94002592e-01 -3.73368751e+01] [ 8.06926366e-01 4.93902868e-03 5.90631395e-01 1.24067051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:-37.32, Z:124.09 [[ 4.01832597e-01 -7.35091992e-01 -5.46049748e-01 2.05902303e+02] [ 4.32672210e-01 6.77962626e-01 -5.94273874e-01 -3.73247665e+01] [ 8.07047287e-01 2.53806260e-03 5.90481359e-01 1.24089132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:-37.31, Z:124.11 [[ 3.97890303e-01 -7.37290822e-01 -5.45972115e-01 2.05914505e+02] [ 4.35744114e-01 6.75574317e-01 -5.94749031e-01 -3.73133233e+01] [ 8.07347741e-01 -1.25926313e-03 5.90074605e-01 1.24111407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:-37.30, Z:124.13 [[ 3.96293341e-01 -7.38307494e-01 -5.45759684e-01 2.05926369e+02] [ 4.37027400e-01 6.74458907e-01 -5.95073302e-01 -3.73011998e+01] [ 8.07439558e-01 -2.68834903e-03 5.89944178e-01 1.24133805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:-37.29, Z:124.16 [[ 3.95060880e-01 -7.39156680e-01 -5.45503715e-01 2.05938042e+02] [ 4.38072820e-01 6.73522996e-01 -5.95364576e-01 -3.72895215e+01] [ 8.07477000e-01 -3.76509739e-03 5.89887039e-01 1.24155615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:-37.28, Z:124.18 [[ 3.93867389e-01 -7.39948799e-01 -5.45292815e-01 2.05949852e+02] [ 4.38914362e-01 6.72646803e-01 -5.95735228e-01 -3.72777503e+01] [ 8.07603035e-01 -4.69616923e-03 5.89707795e-01 1.24177864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:-37.27, Z:124.20 [[ 3.93583524e-01 -7.40603497e-01 -5.44608548e-01 2.05962200e+02] [ 4.40273563e-01 6.71920787e-01 -5.95551548e-01 -3.72653885e+01] [ 8.07001363e-01 -5.37746930e-03 5.90525091e-01 1.24200076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.97, Y:-37.25, Z:124.22 [[ 3.93680176e-01 -7.40806734e-01 -5.44262162e-01 2.05973348e+02] [ 4.40367068e-01 6.71698514e-01 -5.95733122e-01 -3.72530658e+01] [ 8.06903194e-01 -5.14681255e-03 5.90661279e-01 1.24222457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:-37.24, Z:124.24 [[ 3.94210483e-01 -7.40900076e-01 -5.43751020e-01 2.05984196e+02] [ 4.40505483e-01 6.71598988e-01 -5.95742997e-01 -3.72410231e+01] [ 8.06568667e-01 -4.67717090e-03 5.91121908e-01 1.24243732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:-37.23, Z:124.27 [[ 3.94579474e-01 -7.40848860e-01 -5.43553130e-01 2.05994859e+02] [ 4.39892303e-01 6.71660531e-01 -5.96126574e-01 -3.72291228e+01] [ 8.06722877e-01 -3.88552844e-03 5.90917170e-01 1.24265097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:-37.22, Z:124.29 [[ 3.96539576e-01 -7.39927560e-01 -5.43381607e-01 2.06006008e+02] [ 4.37772795e-01 6.72685245e-01 -5.96531258e-01 -3.72169025e+01] [ 8.06914707e-01 -1.32943221e-03 5.90666478e-01 1.24287689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:-37.22, Z:124.32 [[ 3.95610167e-01 -7.28648763e-01 -5.59073856e-01 2.06016053e+02] [ 4.30567873e-01 6.84839114e-01 -5.87883232e-01 -3.72200720e+01] [ 8.11236034e-01 -8.14665788e-03 5.84662064e-01 1.24320283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:-37.21, Z:124.34 [[ 3.97207981e-01 -7.27616621e-01 -5.59285145e-01 2.06025523e+02] [ 4.32264347e-01 6.85921702e-01 -5.85370782e-01 -3.72077898e+01] [ 8.09551329e-01 -9.24508177e-03 5.86976298e-01 1.24341327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:206.04, Y:-37.19, Z:124.36 [[ 4.01966958e-01 -7.34247852e-01 -5.47085602e-01 2.06039228e+02] [ 4.27303013e-01 6.78852661e-01 -5.97135831e-01 -3.71873144e+01] [ 8.09836218e-01 6.25754680e-03 5.86622659e-01 1.24363712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:-37.19, Z:124.39 [[ 4.01427260e-01 -7.21728587e-01 -5.63882968e-01 2.06047647e+02] [ 4.28456633e-01 6.92124833e-01 -5.80851211e-01 -3.71860795e+01] [ 8.09494329e-01 -8.42988771e-03 5.87067176e-01 1.24388443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:206.06, Y:-37.16, Z:124.41 [[ 4.05049961e-01 -7.35246382e-01 -5.43458635e-01 2.06061410e+02] [ 4.26424977e-01 6.77712239e-01 -5.99055807e-01 -3.71588955e+01] [ 8.08762183e-01 1.09031952e-02 5.88034737e-01 1.24407303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:206.07, Y:-37.15, Z:124.43 [[ 4.06361895e-01 -7.29656785e-01 -5.49973623e-01 2.06072937e+02] [ 4.26014019e-01 6.83783252e-01 -5.92412457e-01 -3.71509405e+01] [ 8.08320522e-01 6.43737517e-03 5.88707478e-01 1.24429905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53999999999996 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:206.08, Y:-37.14, Z:124.45 [[ 4.06033079e-01 -7.26919242e-01 -5.53828091e-01 2.06084243e+02] [ 4.26659198e-01 6.86717759e-01 -5.88541119e-01 -3.71409203e+01] [ 8.08145449e-01 2.67131322e-03 5.88976907e-01 1.24453340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:-37.11, Z:124.46 [[ 4.07696989e-01 -7.39259122e-01 -5.35984250e-01 2.06092073e+02] [ 4.28307481e-01 6.73226750e-01 -6.02759028e-01 -3.71126333e+01] [ 8.06434044e-01 1.61769770e-02 5.91102731e-01 1.24463238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59999999999997 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:206.11, Y:-37.12, Z:124.50 [[ 4.09263257e-01 -7.21388864e-01 -5.58660624e-01 2.06106166e+02] [ 4.23937112e-01 6.92527210e-01 -5.83680896e-01 -3.71201321e+01] [ 8.07948582e-01 2.04217284e-03 5.89249454e-01 1.24499489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:206.11, Y:-37.09, Z:124.51 [[ 4.09864754e-01 -7.39888271e-01 -5.33456869e-01 2.06113731e+02] [ 4.27133193e-01 6.72435523e-01 -6.04473079e-01 -3.70863771e+01] [ 8.05957889e-01 1.98950739e-02 5.91638459e-01 1.24506006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:-37.08, Z:124.53 [[ 4.10528466e-01 -7.35430609e-01 -5.39080882e-01 2.06125144e+02] [ 4.26976781e-01 6.77417439e-01 -5.98996195e-01 -3.70781305e+01] [ 8.05702927e-01 1.57299691e-02 5.92110937e-01 1.24529118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:-37.07, Z:124.55 [[ 4.11331172e-01 -7.35436159e-01 -5.38461069e-01 2.06136919e+02] [ 4.26919521e-01 6.77392247e-01 -5.99065494e-01 -3.70659371e+01] [ 8.05323780e-01 1.65347705e-02 5.92604600e-01 1.24551168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:-37.05, Z:124.57 [[ 4.11146532e-01 -7.35782165e-01 -5.38129291e-01 2.06148221e+02] [ 4.27234483e-01 6.77017784e-01 -5.99264230e-01 -3.70541251e+01] [ 8.05251033e-01 1.64780201e-02 5.92705027e-01 1.24572917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:-37.04, Z:124.60 [[ 4.10743323e-01 -7.36277907e-01 -5.37759023e-01 2.06160036e+02] [ 4.27811712e-01 6.76486251e-01 -5.99452659e-01 -3.70416509e+01] [ 8.05150334e-01 1.61615691e-02 5.92850523e-01 1.24595649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:-37.03, Z:124.62 [[ 4.10590599e-01 -7.36694874e-01 -5.37304404e-01 2.06171700e+02] [ 4.28443553e-01 6.76037227e-01 -5.99507956e-01 -3.70295213e+01] [ 8.04892218e-01 1.59477228e-02 5.93206699e-01 1.24617633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:-37.02, Z:124.64 [[ 4.09940874e-01 -7.37334556e-01 -5.36922930e-01 2.06183197e+02] [ 4.29322835e-01 6.75354309e-01 -5.99648615e-01 -3.70177754e+01] [ 8.04754859e-01 1.53072031e-02 5.93409898e-01 1.24639521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:-37.01, Z:124.66 [[ 4.09767600e-01 -7.37802421e-01 -5.36412250e-01 2.06194420e+02] [ 4.30078470e-01 6.74849420e-01 -5.99675554e-01 -3.70051275e+01] [ 8.04439571e-01 1.50282528e-02 5.93844363e-01 1.24661490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:-36.99, Z:124.68 [[ 4.09263498e-01 -7.38326009e-01 -5.36076575e-01 2.06205808e+02] [ 4.30685496e-01 6.74285383e-01 -5.99874342e-01 -3.69926272e+01] [ 8.04371427e-01 1.46262659e-02 5.93946698e-01 1.24683686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:-36.98, Z:124.71 [[ 4.07465976e-01 -7.39327706e-01 -5.36065315e-01 2.06217682e+02] [ 4.31579058e-01 6.73214376e-01 -6.00434776e-01 -3.69802577e+01] [ 8.04804942e-01 1.33021783e-02 5.93390307e-01 1.24705746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:-36.97, Z:124.73 [[ 4.06401697e-01 -7.40012963e-01 -5.35927677e-01 2.06229134e+02] [ 4.32146541e-01 6.72474775e-01 -6.00855260e-01 -3.69680047e+01] [ 8.05038526e-01 1.25893056e-02 5.93088932e-01 1.24727584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:-36.96, Z:124.75 [[ 4.05065027e-01 -7.40722886e-01 -5.35958889e-01 2.06241132e+02] [ 4.32702374e-01 6.71709510e-01 -6.01311060e-01 -3.69557552e+01] [ 8.05413546e-01 1.16593974e-02 5.92598582e-01 1.24750135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:-36.94, Z:124.77 [[ 4.03349991e-01 -7.41597396e-01 -5.36042990e-01 2.06252620e+02] [ 4.33225307e-01 6.70761684e-01 -6.01992191e-01 -3.69441341e+01] [ 8.05992939e-01 1.05861561e-02 5.91830478e-01 1.24772194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:-36.93, Z:124.79 [[ 4.00657595e-01 -7.43171547e-01 -5.35882023e-01 2.06264279e+02] [ 4.35256043e-01 6.69051627e-01 -6.02430160e-01 -3.69329575e+01] [ 8.06241693e-01 8.12233011e-03 5.91530523e-01 1.24793740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.28, Y:-36.92, Z:124.82 [[ 3.99325322e-01 -7.44047444e-01 -5.35660982e-01 2.06275855e+02] [ 4.36233579e-01 6.68089734e-01 -6.02790488e-01 -3.69208005e+01] [ 8.06374325e-01 7.03619825e-03 5.91363628e-01 1.24816020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:-36.91, Z:124.84 [[ 3.98131073e-01 -7.44926704e-01 -5.35327802e-01 2.06287065e+02] [ 4.37444301e-01 6.67120300e-01 -6.02986723e-01 -3.69086244e+01] [ 8.06308956e-01 5.89165482e-03 5.91465262e-01 1.24838217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:-36.90, Z:124.86 [[ 3.96987240e-01 -7.45806593e-01 -5.34952014e-01 2.06298296e+02] [ 4.38713246e-01 6.66145607e-01 -6.03142369e-01 -3.68963968e+01] [ 8.06183490e-01 4.74928973e-03 5.91646538e-01 1.24860780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.31, Y:-36.89, Z:124.88 [[ 3.95637102e-01 -7.47039945e-01 -5.34230853e-01 2.06309396e+02] [ 4.41114885e-01 6.64772937e-01 -6.02905134e-01 -3.68853851e+01] [ 8.05536431e-01 2.87445896e-03 5.92539278e-01 1.24883334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:-36.87, Z:124.91 [[ 3.94982709e-01 -7.47712141e-01 -5.33774497e-01 2.06320740e+02] [ 4.42373130e-01 6.64020076e-01 -6.02812867e-01 -3.68729176e+01] [ 8.05167482e-01 1.97316460e-03 5.93044209e-01 1.24906247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.33, Y:-36.86, Z:124.93 [[ 3.94466060e-01 -7.48318889e-01 -5.33306074e-01 2.06331826e+02] [ 4.43333783e-01 6.63337736e-01 -6.02858362e-01 -3.68603883e+01] [ 8.04892343e-01 1.37456369e-03 5.93419267e-01 1.24929053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.34, Y:-36.85, Z:124.95 [[ 3.93892767e-01 -7.49011577e-01 -5.32757117e-01 2.06342763e+02] [ 4.44555095e-01 6.62556633e-01 -6.02817946e-01 -3.68470376e+01] [ 8.04499382e-01 6.05737930e-04 5.93953178e-01 1.24951647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:-36.83, Z:124.97 [[ 3.93972195e-01 -7.49263524e-01 -5.32343949e-01 2.06353207e+02] [ 4.44825296e-01 6.62271565e-01 -6.02931862e-01 -3.68342362e+01] [ 8.04311112e-01 7.38334606e-04 5.94207951e-01 1.24973098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.36, Y:-36.82, Z:124.99 [[ 3.93989422e-01 -7.49436903e-01 -5.32087083e-01 2.06363424e+02] [ 4.44685213e-01 6.62074919e-01 -6.03251078e-01 -3.68213139e+01] [ 8.04380132e-01 1.06328567e-03 5.94114023e-01 1.24994139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:-36.81, Z:125.02 [[ 3.94012322e-01 -7.49521902e-01 -5.31950382e-01 2.06374231e+02] [ 4.44470746e-01 6.61978156e-01 -6.03515266e-01 -3.68078670e+01] [ 8.04487443e-01 1.35606835e-03 5.93968110e-01 1.25016324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:-36.79, Z:125.04 [[ 3.94295598e-01 -7.49373843e-01 -5.31949081e-01 2.06384303e+02] [ 4.43447312e-01 6.62143160e-01 -6.04086846e-01 -3.67942644e+01] [ 8.04913327e-01 2.29739401e-03 5.93387949e-01 1.25038535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:-36.78, Z:125.06 [[ 3.94354147e-01 -7.49527974e-01 -5.31688465e-01 2.06394986e+02] [ 4.43336748e-01 6.61967506e-01 -6.04360447e-01 -3.67806276e+01] [ 8.04945548e-01 2.61501347e-03 5.93342925e-01 1.25060957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.41, Y:-36.77, Z:125.08 [[ 3.94360998e-01 -7.49612948e-01 -5.31563572e-01 2.06405631e+02] [ 4.42900575e-01 6.61869302e-01 -6.04787655e-01 -3.67670879e+01] [ 8.05182268e-01 3.07485153e-03 5.93019444e-01 1.25083379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:-36.75, Z:125.11 [[ 3.94256405e-01 -7.49814018e-01 -5.31357530e-01 2.06415986e+02] [ 4.42778881e-01 6.61640415e-01 -6.05127114e-01 -3.67536177e+01] [ 8.05300410e-01 3.30134834e-03 5.92857783e-01 1.25105503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:-36.74, Z:125.13 [[ 3.94418341e-01 -7.49930685e-01 -5.31072631e-01 2.06426261e+02] [ 4.42643332e-01 6.61506098e-01 -6.05373077e-01 -3.67390339e+01] [ 8.05295631e-01 3.69448557e-03 5.92861955e-01 1.25127619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:-36.73, Z:125.15 [[ 3.94099356e-01 -7.50284079e-01 -5.30810228e-01 2.06436937e+02] [ 4.42871247e-01 6.61105753e-01 -6.05643659e-01 -3.67252703e+01] [ 8.05326490e-01 3.60318833e-03 5.92820598e-01 1.25150306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:-36.71, Z:125.17 [[ 3.93839559e-01 -7.50657066e-01 -5.30475609e-01 2.06447509e+02] [ 4.43250945e-01 6.60682953e-01 -6.05827232e-01 -3.67123389e+01] [ 8.05244685e-01 3.46491463e-03 5.92932536e-01 1.25172420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:-36.70, Z:125.19 [[ 3.93540844e-01 -7.51455279e-01 -5.29566396e-01 2.06457726e+02] [ 4.45237875e-01 6.59779484e-01 -6.05354662e-01 -3.66987090e+01] [ 8.04294000e-01 2.44876725e-03 5.94226527e-01 1.25194546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:-36.69, Z:125.22 [[ 3.92806154e-01 -7.52034252e-01 -5.29289910e-01 2.06467627e+02] [ 4.45841734e-01 6.59121247e-01 -6.05627220e-01 -3.66863648e+01] [ 8.04318639e-01 1.91456798e-03 5.94195137e-01 1.25216166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.48, Y:-36.67, Z:125.24 [[ 3.92634853e-01 -7.52564905e-01 -5.28662402e-01 2.06477776e+02] [ 4.46870901e-01 6.58516357e-01 -6.05526718e-01 -3.66734669e+01] [ 8.03830996e-01 1.50705000e-03 5.94855830e-01 1.25237865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:-36.66, Z:125.26 [[ 3.91969943e-01 -7.53105461e-01 -5.28385965e-01 2.06487882e+02] [ 4.47632559e-01 6.57899241e-01 -6.05634940e-01 -3.66598838e+01] [ 8.03731706e-01 8.67931475e-04 5.94991253e-01 1.25260469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:206.50, Y:-36.65, Z:125.28 [[ 3.90978753e-01 -7.52668254e-01 -5.29741554e-01 2.06499412e+02] [ 4.49215491e-01 6.58397359e-01 -6.03919168e-01 -3.66461329e+01] [ 8.03331225e-01 -1.84854883e-03 5.95529618e-01 1.25284477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:-36.64, Z:125.31 [[ 3.90495300e-01 -7.50161642e-01 -5.33639328e-01 2.06508677e+02] [ 4.48081148e-01 6.61241337e-01 -6.01650380e-01 -3.66365859e+01] [ 8.04199419e-01 -4.17207707e-03 5.94344924e-01 1.25305910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:-36.62, Z:125.33 [[ 3.89903036e-01 -7.54523745e-01 -5.27891599e-01 2.06518888e+02] [ 4.48069631e-01 6.56272726e-01 -6.07074720e-01 -3.66188343e+01] [ 8.04493150e-01 1.68082687e-04 5.93961904e-01 1.25326320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.53, Y:-36.61, Z:125.35 [[ 3.88815184e-01 -7.55057092e-01 -5.27931378e-01 2.06528530e+02] [ 4.48107104e-01 6.55658987e-01 -6.07709895e-01 -3.66055153e+01] [ 8.04998619e-01 -2.82966634e-04 5.93276616e-01 1.25347934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:-36.59, Z:125.37 [[ 3.88222467e-01 -7.55571355e-01 -5.27631731e-01 2.06539115e+02] [ 4.48601462e-01 6.55066018e-01 -6.07984573e-01 -3.65922093e+01] [ 8.05009344e-01 -6.63095738e-04 5.93261760e-01 1.25370498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:-36.58, Z:125.39 [[ 3.87600217e-01 -7.55977463e-01 -5.27507485e-01 2.06549697e+02] [ 4.48687910e-01 6.54597078e-01 -6.08425693e-01 -3.65790089e+01] [ 8.05260971e-01 -8.60300086e-04 5.92919918e-01 1.25393320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:-36.57, Z:125.41 [[ 3.87175123e-01 -7.56383274e-01 -5.27237866e-01 2.06559578e+02] [ 4.48998731e-01 6.54127839e-01 -6.08701002e-01 -3.65664092e+01] [ 8.05292223e-01 -1.05524705e-03 5.92877156e-01 1.25414768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:-36.55, Z:125.44 [[ 3.86477987e-01 -7.56964111e-01 -5.26915648e-01 2.06569300e+02] [ 4.49642831e-01 6.53454545e-01 -6.08948670e-01 -3.65524964e+01] [ 8.05267714e-01 -1.57858719e-03 5.92909283e-01 1.25437224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:-36.54, Z:125.46 [[ 3.86148661e-01 -7.57405445e-01 -5.26522748e-01 2.06579434e+02] [ 4.50205411e-01 6.52942249e-01 -6.09082512e-01 -3.65394580e+01] [ 8.05111358e-01 -1.84699351e-03 5.93120805e-01 1.25459260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:-36.53, Z:125.48 [[ 3.85626323e-01 -7.57864206e-01 -5.26245364e-01 2.06589450e+02] [ 4.50573013e-01 6.52408889e-01 -6.09382148e-01 -3.65269035e+01] [ 8.05156071e-01 -2.11816186e-03 5.93059200e-01 1.25480604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:-36.51, Z:125.50 [[ 3.84650394e-01 -7.58473128e-01 -5.26082303e-01 2.06599936e+02] [ 4.51026308e-01 6.51698662e-01 -6.09806628e-01 -3.65133108e+01] [ 8.05369073e-01 -2.71459851e-03 5.92767481e-01 1.25503276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.61, Y:-36.50, Z:125.53 [[ 3.83285295e-01 -7.59175388e-01 -5.26065693e-01 2.06610369e+02] [ 4.51457711e-01 6.50876418e-01 -6.10365320e-01 -3.64993594e+01] [ 8.05778082e-01 -3.55236200e-03 5.92206942e-01 1.25525968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:-36.49, Z:125.55 [[ 3.82707258e-01 -7.59564215e-01 -5.25925239e-01 2.06621092e+02] [ 4.51541426e-01 6.50421659e-01 -6.10788021e-01 -3.64859207e+01] [ 8.06005890e-01 -3.72402388e-03 5.91895799e-01 1.25548643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:-36.47, Z:125.57 [[ 3.82423114e-01 -7.59803462e-01 -5.25786326e-01 2.06631332e+02] [ 4.51367745e-01 6.50142965e-01 -6.11212961e-01 -3.64729766e+01] [ 8.06238005e-01 -3.58102390e-03 5.91580473e-01 1.25570222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.64, Y:-36.46, Z:125.59 [[ 3.82408661e-01 -7.60058721e-01 -5.25427785e-01 2.06641904e+02] [ 4.51523860e-01 6.49845331e-01 -6.11414139e-01 -3.64593799e+01] [ 8.06157441e-01 -3.43311945e-03 5.91691131e-01 1.25592805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:-36.45, Z:125.61 [[ 3.83939691e-01 -7.59463722e-01 -5.25171562e-01 2.06651552e+02] [ 4.50125002e-01 6.50547840e-01 -6.11698448e-01 -3.64460191e+01] [ 8.06212005e-01 -1.53753765e-03 5.91624746e-01 1.25614640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:-36.43, Z:125.64 [[ 3.85116861e-01 -7.59067447e-01 -5.24882476e-01 2.06661445e+02] [ 4.49076868e-01 6.51011989e-01 -6.11974964e-01 -3.64328228e+01] [ 8.06235059e-01 -3.07010525e-05 5.91595326e-01 1.25636423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:-36.42, Z:125.66 [[ 3.86329576e-01 -7.58505324e-01 -5.24803899e-01 2.06671784e+02] [ 4.47676228e-01 6.51664854e-01 -6.12306225e-01 -3.64190694e+01] [ 8.06433788e-01 1.60977499e-03 5.91322209e-01 1.25658802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:-36.40, Z:125.68 [[ 3.89065902e-01 -7.56941799e-01 -5.25039843e-01 2.06681721e+02] [ 4.43883689e-01 6.53459144e-01 -6.13154482e-01 -3.64042601e+01] [ 8.07214343e-01 5.50087940e-03 5.90232789e-01 1.25681085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:-36.39, Z:125.70 [[ 3.90355037e-01 -7.56395720e-01 -5.24869945e-01 2.06691661e+02] [ 4.42450607e-01 6.54073926e-01 -6.13534645e-01 -3.63907605e+01] [ 8.07378725e-01 7.26731274e-03 5.89988797e-01 1.25702292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:-36.38, Z:125.72 [[ 3.91728636e-01 -7.55842388e-01 -5.24643651e-01 2.06701892e+02] [ 4.41056478e-01 6.54690683e-01 -6.13880520e-01 -3.63771500e+01] [ 8.07476228e-01 9.07709784e-03 5.89830270e-01 1.25724325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.71, Y:-36.36, Z:125.75 [[ 3.93358954e-01 -7.55331580e-01 -5.24159268e-01 2.06712174e+02] [ 4.40182287e-01 6.55254476e-01 -6.13906448e-01 -3.63640136e+01] [ 8.07160633e-01 1.07599724e-02 5.90233797e-01 1.25745518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:-36.35, Z:125.77 [[ 3.94573571e-01 -7.54889364e-01 -5.23883332e-01 2.06722597e+02] [ 4.39041700e-01 6.55735979e-01 -6.14209013e-01 -3.63508959e+01] [ 8.07189001e-01 1.23440144e-02 5.90163996e-01 1.25768096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:-36.34, Z:125.79 [[ 3.96791615e-01 -7.54187718e-01 -5.23218214e-01 2.06733173e+02] [ 4.38169707e-01 6.56501471e-01 -6.14013947e-01 -3.63378257e+01] [ 8.06575305e-01 1.43772141e-02 5.90956490e-01 1.25790409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:-36.32, Z:125.81 [[ 3.97286261e-01 -7.55704333e-01 -5.20648238e-01 2.06743226e+02] [ 4.37245664e-01 6.54683913e-01 -6.16607821e-01 -3.63239759e+01] [ 8.06833227e-01 1.73186312e-02 5.90525366e-01 1.25811151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.75, Y:-36.31, Z:125.84 [[ 3.97968245e-01 -7.53207227e-01 -5.23736717e-01 2.06754571e+02] [ 4.38363090e-01 6.57629247e-01 -6.12667589e-01 -3.63131100e+01] [ 8.05890239e-01 1.42353993e-02 5.91893805e-01 1.25835129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.77, Y:-36.30, Z:125.86 [[ 3.97805780e-01 -7.54477905e-01 -5.22028402e-01 2.06765443e+02] [ 4.38550706e-01 6.56145557e-01 -6.14122371e-01 -3.62988646e+01] [ 8.05868376e-01 1.53655050e-02 5.91895313e-01 1.25857449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:-36.29, Z:125.88 [[ 3.98550089e-01 -7.54401079e-01 -5.21571508e-01 2.06776504e+02] [ 4.38417455e-01 6.56216270e-01 -6.14141956e-01 -3.62860869e+01] [ 8.05573064e-01 1.61002780e-02 5.92277654e-01 1.25879323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:-36.27, Z:125.90 [[ 3.98503681e-01 -7.54627680e-01 -5.21279082e-01 2.06787462e+02] [ 4.38465603e-01 6.55951389e-01 -6.14390504e-01 -3.62731720e+01] [ 8.05569818e-01 1.62739306e-02 5.92277323e-01 1.25902104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:-36.26, Z:125.92 [[ 3.98485613e-01 -7.54906810e-01 -5.20888591e-01 2.06798571e+02] [ 4.38761723e-01 6.55628665e-01 -6.14523558e-01 -3.62601482e+01] [ 8.05417511e-01 1.63328216e-02 5.92482803e-01 1.25923973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.81, Y:-36.25, Z:125.95 [[ 3.98185746e-01 -7.55189610e-01 -5.20707946e-01 2.06809985e+02] [ 4.38713917e-01 6.55301089e-01 -6.14906970e-01 -3.62475639e+01] [ 8.05591839e-01 1.64053678e-02 5.92243745e-01 1.25946908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:-36.24, Z:125.97 [[ 3.97161035e-01 -7.55752382e-01 -5.20674034e-01 2.06821724e+02] [ 4.38864958e-01 6.54663507e-01 -6.15478059e-01 -3.62357899e+01] [ 8.06015298e-01 1.59383148e-02 5.91680074e-01 1.25968874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:-36.22, Z:125.99 [[ 3.96591476e-01 -7.56172593e-01 -5.20498040e-01 2.06833072e+02] [ 4.38972528e-01 6.54181893e-01 -6.15913282e-01 -3.62232584e+01] [ 8.06237137e-01 1.57816173e-02 5.91381957e-01 1.25991264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:-36.21, Z:126.01 [[ 3.96015313e-01 -7.56615542e-01 -5.20292988e-01 2.06844029e+02] [ 4.39227099e-01 6.53675675e-01 -6.16269152e-01 -3.62113183e+01] [ 8.06381689e-01 1.55252415e-02 5.91191626e-01 1.26013128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:-36.20, Z:126.04 [[ 3.95499351e-01 -7.57005685e-01 -5.20117925e-01 2.06855437e+02] [ 4.39300722e-01 6.53226468e-01 -6.16692839e-01 -3.61986409e+01] [ 8.06594780e-01 1.54134381e-02 5.90903788e-01 1.26035775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:-36.19, Z:126.06 [[ 3.94514190e-01 -7.57386026e-01 -5.20312370e-01 2.06867543e+02] [ 4.38787128e-01 6.52787759e-01 -6.17522467e-01 -3.61871320e+01] [ 8.07356433e-01 1.53150057e-02 5.89865273e-01 1.26057309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:-36.18, Z:126.08 [[ 3.93293302e-01 -7.57914595e-01 -5.20466949e-01 2.06878679e+02] [ 4.38540175e-01 6.52182645e-01 -6.18336731e-01 -3.61751785e+01] [ 8.08085944e-01 1.49420271e-02 5.88875065e-01 1.26079125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:-36.16, Z:126.10 [[ 3.92615880e-01 -7.58405795e-01 -5.20262838e-01 2.06890641e+02] [ 4.38843230e-01 6.51619044e-01 -6.18715800e-01 -3.61628577e+01] [ 8.08250821e-01 1.46038236e-02 5.88657233e-01 1.26101851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:-36.15, Z:126.12 [[ 3.91893246e-01 -7.58872452e-01 -5.20127182e-01 2.06902400e+02] [ 4.39046304e-01 6.51082803e-01 -6.19136113e-01 -3.61508427e+01] [ 8.08491204e-01 1.42753441e-02 5.88335098e-01 1.26124426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:-36.14, Z:126.15 [[ 3.90646727e-01 -7.59819046e-01 -5.19682741e-01 2.06914823e+02] [ 4.40567181e-01 6.50006059e-01 -6.19187114e-01 -3.61406870e+01] [ 8.08267093e-01 1.29282594e-02 5.88674075e-01 1.26146672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.93, Y:-36.13, Z:126.17 [[ 3.89921915e-01 -7.60528292e-01 -5.19189385e-01 2.06926013e+02] [ 4.41732351e-01 6.49192019e-01 -6.19210991e-01 -3.61294657e+01] [ 8.07981083e-01 1.21011881e-02 5.89084146e-01 1.26167844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90999999999997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:206.94, Y:-36.13, Z:126.19 [[ 3.91652428e-01 -7.52105986e-01 -5.30042415e-01 2.06938625e+02] [ 4.44755791e-01 6.59039706e-01 -6.06513769e-01 -3.61267798e+01] [ 8.05481634e-01 1.80315648e-03 5.92617994e-01 1.26192659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:-36.10, Z:126.21 [[ 3.89541224e-01 -7.70510597e-01 -5.04550350e-01 2.06947493e+02] [ 4.44464966e-01 6.37079280e-01 -6.29746683e-01 -3.60976170e+01] [ 8.06665066e-01 2.10573397e-02 5.90633609e-01 1.26206863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:-36.09, Z:126.23 [[ 3.88437536e-01 -7.62493533e-01 -5.17416556e-01 2.06960443e+02] [ 4.45557951e-01 6.46920939e-01 -6.18846839e-01 -3.60945189e+01] [ 8.06594317e-01 9.84428115e-03 5.91023432e-01 1.26233289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:-36.08, Z:126.26 [[ 3.86925015e-01 -7.63507806e-01 -5.17054024e-01 2.06973402e+02] [ 4.46966948e-01 6.45743656e-01 -6.19060319e-01 -3.60829070e+01] [ 8.06541741e-01 8.42386418e-03 5.91117127e-01 1.26255663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:-36.07, Z:126.28 [[ 3.85729438e-01 -7.64212729e-01 -5.16905896e-01 2.06984734e+02] [ 4.47568886e-01 6.44919459e-01 -6.19484450e-01 -3.60707743e+01] [ 8.06780573e-01 7.60239275e-03 5.90802260e-01 1.26277154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:-36.06, Z:126.30 [[ 3.84174261e-01 -7.65075479e-01 -5.16787818e-01 2.06995841e+02] [ 4.48342209e-01 6.43907991e-01 -6.19977227e-01 -3.60589185e+01] [ 8.07093180e-01 6.48150112e-03 5.90388507e-01 1.26298002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:-36.05, Z:126.32 [[ 3.82696793e-01 -7.65973362e-01 -5.16553940e-01 2.07008007e+02] [ 4.49335659e-01 6.42850448e-01 -6.20355355e-01 -3.60462029e+01] [ 8.07242609e-01 5.30189954e-03 5.90195950e-01 1.26320487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.02, Y:-36.04, Z:126.34 [[ 3.79682177e-01 -7.67675627e-01 -5.16251465e-01 2.07021665e+02] [ 4.51887798e-01 6.40834350e-01 -6.20587427e-01 -3.60362231e+01] [ 8.07241515e-01 2.33824746e-03 5.90216629e-01 1.26342663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:-36.02, Z:126.36 [[ 3.77689342e-01 -7.68882610e-01 -5.15916945e-01 2.07033246e+02] [ 4.53627344e-01 6.39389819e-01 -6.20808258e-01 -3.60249749e+01] [ 8.07200715e-01 4.38629092e-04 5.90276896e-01 1.26364178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:-36.01, Z:126.39 [[ 3.76841842e-01 -7.70084150e-01 -5.14743264e-01 2.07045163e+02] [ 4.55209068e-01 6.37942272e-01 -6.21139568e-01 -3.60126247e+01] [ 8.06706223e-01 -2.44422117e-04 5.90952629e-01 1.26385671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:-36.00, Z:126.41 [[ 3.75156898e-01 -7.71862818e-01 -5.13307989e-01 2.07056941e+02] [ 4.57379852e-01 6.35787287e-01 -6.21754129e-01 -3.59996077e+01] [ 8.06263588e-01 -1.52138145e-03 5.91554488e-01 1.26408132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.07, Y:-35.99, Z:126.43 [[ 3.73418941e-01 -7.72385666e-01 -5.13788554e-01 2.07070016e+02] [ 4.61119624e-01 6.35129795e-01 -6.19660258e-01 -3.59888994e+01] [ 8.04939120e-01 -5.52510711e-03 5.93331683e-01 1.26431338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:-35.98, Z:126.45 [[ 3.72646978e-01 -7.73192567e-01 -5.13134956e-01 2.07081295e+02] [ 4.62756899e-01 6.34136779e-01 -6.19456696e-01 -3.59769011e+01] [ 8.04357062e-01 -6.61807551e-03 5.94109349e-01 1.26452583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:-35.97, Z:126.47 [[ 3.71798945e-01 -7.73882326e-01 -5.12710143e-01 2.07092411e+02] [ 4.63782320e-01 6.33285782e-01 -6.19560391e-01 -3.59652792e+01] [ 8.04158880e-01 -7.43399959e-03 5.94367926e-01 1.26473052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:-35.95, Z:126.50 [[ 3.69722684e-01 -7.74862034e-01 -5.12731865e-01 2.07105401e+02] [ 4.64505742e-01 6.32068542e-01 -6.20261052e-01 -3.59534431e+01] [ 8.04698423e-01 -8.84231486e-03 5.93617942e-01 1.26495098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:-35.94, Z:126.52 [[ 3.68632280e-01 -7.75299107e-01 -5.12856254e-01 2.07117037e+02] [ 4.64245710e-01 6.31527700e-01 -6.21006187e-01 -3.59407417e+01] [ 8.05348473e-01 -9.16838919e-03 5.92730780e-01 1.26517123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.13, Y:-35.93, Z:126.54 [[ 3.68240080e-01 -7.75570382e-01 -5.12727829e-01 2.07128781e+02] [ 4.64113774e-01 6.31195166e-01 -6.21442731e-01 -3.59277040e+01] [ 8.05603903e-01 -9.12392728e-03 5.92384255e-01 1.26539232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:-35.91, Z:126.56 [[ 3.67942568e-01 -7.75795101e-01 -5.12601432e-01 2.07140160e+02] [ 4.63891441e-01 6.30921113e-01 -6.21886871e-01 -3.59144372e+01] [ 8.05867854e-01 -8.97276474e-03 5.92027442e-01 1.26561824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:-35.90, Z:126.58 [[ 3.68959038e-01 -7.75680635e-01 -5.12043729e-01 2.07151030e+02] [ 4.63795032e-01 6.31074112e-01 -6.21803532e-01 -3.59022644e+01] [ 8.05458501e-01 -8.06330466e-03 5.92597322e-01 1.26582986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:-35.89, Z:126.61 [[ 3.69602249e-01 -7.75698711e-01 -5.11552233e-01 2.07162063e+02] [ 4.64036187e-01 6.31057414e-01 -6.21640537e-01 -3.58894428e+01] [ 8.05024593e-01 -7.61900647e-03 5.93192512e-01 1.26605622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:-35.88, Z:126.63 [[ 3.70041829e-01 -7.75764339e-01 -5.11134752e-01 2.07172808e+02] [ 4.64028022e-01 6.30982592e-01 -6.21722577e-01 -3.58765647e+01] [ 8.04827335e-01 -7.11748806e-03 5.93466344e-01 1.26628533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:-35.86, Z:126.65 [[ 3.70927265e-01 -7.75716419e-01 -5.10565375e-01 2.07183495e+02] [ 4.64067384e-01 6.31049602e-01 -6.21625178e-01 -3.58637386e+01] [ 8.04396934e-01 -6.35901088e-03 5.94058192e-01 1.26650311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:-35.85, Z:126.67 [[ 3.71594391e-01 -7.75626679e-01 -5.10216487e-01 2.07194528e+02] [ 4.63633980e-01 6.31168092e-01 -6.21828249e-01 -3.58505914e+01] [ 8.04338946e-01 -5.48581104e-03 5.94145407e-01 1.26673049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.21, Y:-35.84, Z:126.70 [[ 3.73491035e-01 -7.74939453e-01 -5.09875760e-01 2.07205274e+02] [ 4.62228788e-01 6.32026509e-01 -6.22002443e-01 -3.58375601e+01] [ 8.04269230e-01 -3.36691827e-03 5.94255559e-01 1.26695598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:-35.82, Z:126.72 [[ 3.74718891e-01 -7.74609949e-01 -5.09475396e-01 2.07216200e+02] [ 4.61527063e-01 6.32436037e-01 -6.22107249e-01 -3.58241397e+01] [ 8.04101065e-01 -2.02134498e-03 5.94489185e-01 1.26717981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:-35.81, Z:126.74 [[ 3.75832080e-01 -7.74202511e-01 -5.09274700e-01 2.07226808e+02] [ 4.60359691e-01 6.32937764e-01 -6.22461839e-01 -3.58107456e+01] [ 8.04250709e-01 -5.08415700e-04 5.94289945e-01 1.26740624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.24, Y:-35.80, Z:126.76 [[ 3.77166193e-01 -7.73788076e-01 -5.08918143e-01 2.07236940e+02] [ 4.59439248e-01 6.33443745e-01 -6.22627175e-01 -3.57972646e+01] [ 8.04152498e-01 1.01695222e-03 5.94422178e-01 1.26762456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:-35.78, Z:126.78 [[ 3.79785293e-01 -7.72593597e-01 -5.08785087e-01 2.07247289e+02] [ 4.56800494e-01 6.34886790e-01 -6.23098766e-01 -3.57836399e+01] [ 8.04423048e-01 4.23046847e-03 5.94041803e-01 1.26784982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:-35.77, Z:126.81 [[ 3.80754256e-01 -7.72263505e-01 -5.08561968e-01 2.07258001e+02] [ 4.55822560e-01 6.35278072e-01 -6.23416044e-01 -3.57702654e+01] [ 8.04519726e-01 5.55429397e-03 5.93899958e-01 1.26807433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:-35.76, Z:126.83 [[ 3.80995812e-01 -7.72282480e-01 -5.08352203e-01 2.07268310e+02] [ 4.55395562e-01 6.35249541e-01 -6.23757086e-01 -3.57567457e+01] [ 8.04647173e-01 6.14750041e-03 5.93721429e-01 1.26829200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:-35.74, Z:126.85 [[ 3.80429509e-01 -7.72627507e-01 -5.08252027e-01 2.07278611e+02] [ 4.55286553e-01 6.34830429e-01 -6.24263151e-01 -3.57430738e+01] [ 8.04976735e-01 6.08781059e-03 5.93275143e-01 1.26851008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:-35.73, Z:126.87 [[ 3.79278434e-01 -7.73353537e-01 -5.08008047e-01 2.07289761e+02] [ 4.56117078e-01 6.33953955e-01 -6.24547512e-01 -3.57296956e+01] [ 8.05049738e-01 5.16625597e-03 5.93184819e-01 1.26873241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:-35.72, Z:126.90 [[ 3.78539557e-01 -7.73933881e-01 -5.07675242e-01 2.07300649e+02] [ 4.56839568e-01 6.33249991e-01 -6.24733589e-01 -3.57170181e+01] [ 8.04987834e-01 4.56023772e-03 5.93273791e-01 1.26895674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:-35.70, Z:126.92 [[ 3.77884367e-01 -7.74414678e-01 -5.07430106e-01 2.07311741e+02] [ 4.57248552e-01 6.32664641e-01 -6.25027370e-01 -3.57044259e+01] [ 8.05063455e-01 4.16639134e-03 5.93174067e-01 1.26918338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:-35.69, Z:126.94 [[ 3.76760002e-01 -7.75299258e-01 -5.06915142e-01 2.07323188e+02] [ 4.58788485e-01 6.31587388e-01 -6.24988398e-01 -3.56917703e+01] [ 8.04714252e-01 2.90379955e-03 5.93655238e-01 1.26940244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:-35.68, Z:126.96 [[ 3.75482001e-01 -7.75896683e-01 -5.06949311e-01 2.07333423e+02] [ 4.58899295e-01 6.30855878e-01 -6.25645505e-01 -3.56794004e+01] [ 8.05248225e-01 2.27994528e-03 5.92933469e-01 1.26961522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:-35.67, Z:126.98 [[ 3.74796480e-01 -7.76502024e-01 -5.06529571e-01 2.07344601e+02] [ 4.59743225e-01 6.30112558e-01 -6.25774985e-01 -3.56654442e+01] [ 8.05086185e-01 1.66472329e-03 5.93155513e-01 1.26983747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.35, Y:-35.61, Z:126.97 [[ 3.74037084e-01 -8.02658167e-01 -4.64581669e-01 2.07349332e+02] [ 4.74983637e-01 5.96052460e-01 -6.47388608e-01 -3.56145180e+01] [ 7.96546800e-01 2.14786563e-02 6.04195219e-01 1.26974887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:-35.64, Z:127.03 [[ 3.73674929e-01 -7.73936728e-01 -5.11262153e-01 2.07366918e+02] [ 4.61854102e-01 6.33249898e-01 -6.21035712e-01 -3.56442932e+01] [ 8.04399053e-01 -4.06304665e-03 5.94075463e-01 1.27029690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:-35.63, Z:127.05 [[ 3.73462309e-01 -7.77776927e-01 -5.05558064e-01 2.07376982e+02] [ 4.62365112e-01 6.28540388e-01 -6.25424243e-01 -3.56282867e+01] [ 8.04204208e-01 -1.80028937e-04 5.94353060e-01 1.27049899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:-35.62, Z:127.07 [[ 3.73350084e-01 -7.78141570e-01 -5.05079610e-01 2.07387989e+02] [ 4.63174261e-01 6.28088733e-01 -6.25279256e-01 -3.56152022e+01] [ 8.03790594e-01 -4.91812159e-04 5.94912128e-01 1.27071847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:-35.57, Z:127.07 [[ 3.72784472e-01 -8.01116508e-01 -4.68235067e-01 2.07392951e+02] [ 4.75607311e-01 5.98246245e-01 -6.44902409e-01 -3.55686258e+01] [ 7.96761836e-01 1.77135830e-02 6.04033779e-01 1.27066573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:-35.59, Z:127.12 [[ 3.72671359e-01 -7.75531884e-01 -5.09574681e-01 2.07409908e+02] [ 4.63664412e-01 6.31291720e-01 -6.21680044e-01 -3.55929716e+01] [ 8.03822972e-01 -4.58929780e-03 5.94850878e-01 1.27117221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:-35.54, Z:127.11 [[ 3.72363448e-01 -8.02687648e-01 -4.65873375e-01 2.07414424e+02] [ 4.76328213e-01 5.96104229e-01 -6.46352212e-01 -3.55403113e+01] [ 7.96528026e-01 1.87693057e-02 6.04310199e-01 1.27109551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:-35.54, Z:127.14 [[ 3.72119294e-01 -7.96145302e-01 -4.77158139e-01 2.07425648e+02] [ 4.74285906e-01 6.04992696e-01 -6.39559784e-01 -3.55354276e+01] [ 7.97859706e-01 1.16831548e-02 6.02729951e-01 1.27137134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:-35.53, Z:127.16 [[ 3.71842107e-01 -7.91783544e-01 -4.84574315e-01 2.07436176e+02] [ 4.72151105e-01 6.10754880e-01 -6.35650699e-01 -3.55291601e+01] [ 7.99253891e-01 7.56939712e-03 6.00945856e-01 1.27164574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:-35.54, Z:127.21 [[ 3.72651640e-01 -7.78348317e-01 -5.05276808e-01 2.07450735e+02] [ 4.62966210e-01 6.27832237e-01 -6.25690795e-01 -3.55374811e+01] [ 8.04234446e-01 -7.61387869e-04 5.94311683e-01 1.27205524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:-35.51, Z:127.21 [[ 3.71684940e-01 -7.90049977e-01 -4.87515476e-01 2.07457007e+02] [ 4.70593158e-01 6.13008370e-01 -6.34635973e-01 -3.55071897e+01] [ 8.00245203e-01 6.46318661e-03 5.99638093e-01 1.27212814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:-35.49, Z:127.23 [[ 3.71538707e-01 -7.92323577e-01 -4.83923898e-01 2.07467309e+02] [ 4.70361349e-01 6.10030211e-01 -6.37670246e-01 -3.54915160e+01] [ 8.00449368e-01 9.30008111e-03 5.99328222e-01 1.27234559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:-35.48, Z:127.26 [[ 3.71759282e-01 -7.92352418e-01 -4.83707227e-01 2.07477671e+02] [ 4.70257969e-01 6.09987532e-01 -6.37787310e-01 -3.54777012e+01] [ 8.00407695e-01 9.63617414e-03 5.99378566e-01 1.27257115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:-35.47, Z:127.28 [[ 3.71537251e-01 -7.90159382e-01 -4.87450737e-01 2.07488402e+02] [ 4.69314095e-01 6.12856389e-01 -6.35728973e-01 -3.54678139e+01] [ 8.01064511e-01 7.42949333e-03 5.98531914e-01 1.27281941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:-35.47, Z:127.32 [[ 3.72491771e-01 -7.81314040e-01 -5.00797616e-01 2.07502181e+02] [ 4.63081751e-01 6.24133107e-01 -6.29295763e-01 -3.54680878e+01] [ 8.04241986e-01 2.49725616e-03 5.94296720e-01 1.27315906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:-35.44, Z:127.33 [[ 3.71035583e-01 -7.87848895e-01 -4.91555403e-01 2.07508592e+02] [ 4.69706816e-01 6.15856836e-01 -6.32531314e-01 -3.54439827e+01] [ 8.01066853e-01 3.80470158e-03 5.98562797e-01 1.27326209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:-35.44, Z:127.36 [[ 3.72427830e-01 -7.82556699e-01 -4.98901317e-01 2.07522224e+02] [ 4.63193282e-01 6.22567567e-01 -6.30762719e-01 -3.54406873e+01] [ 8.04207371e-01 3.82585209e-03 5.94336494e-01 1.27358671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:-35.43, Z:127.38 [[ 3.72153498e-01 -7.78584896e-01 -5.05279461e-01 2.07533023e+02] [ 4.63098977e-01 6.27538380e-01 -6.25887305e-01 -3.54319914e+01] [ 8.04388657e-01 -1.06825122e-03 5.94102473e-01 1.27383237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:-35.42, Z:127.40 [[ 3.72519756e-01 -7.78718368e-01 -5.04803659e-01 2.07542820e+02] [ 4.63285291e-01 6.27373262e-01 -6.25914954e-01 -3.54185339e+01] [ 8.04111790e-01 -7.02423507e-04 5.94477700e-01 1.27404756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:-35.40, Z:127.43 [[ 3.72791581e-01 -7.78958131e-01 -5.04232751e-01 2.07553223e+02] [ 4.63767478e-01 6.27075710e-01 -6.25856037e-01 -3.54046856e+01] [ 8.03707760e-01 -5.32889485e-04 5.95023994e-01 1.27427155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:-35.39, Z:127.45 [[ 3.72991896e-01 -7.79186717e-01 -5.03731184e-01 2.07563330e+02] [ 4.64168594e-01 6.26791763e-01 -6.25843113e-01 -3.53912938e+01] [ 8.03383197e-01 -3.81786156e-04 5.95462251e-01 1.27448964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:-35.35, Z:127.45 [[ 3.72924312e-01 -7.96948052e-01 -4.75185499e-01 2.07568900e+02] [ 4.73291779e-01 6.03879216e-01 -6.41346073e-01 -3.53514852e+01] [ 7.98074150e-01 1.42721530e-02 6.02390203e-01 1.27449758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:-35.37, Z:127.49 [[ 3.74289514e-01 -7.76199760e-01 -5.07367020e-01 2.07583674e+02] [ 4.64336013e-01 6.30480930e-01 -6.22001498e-01 -3.53681786e+01] [ 8.02682644e-01 -2.78014099e-03 5.96399903e-01 1.27494615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:-35.35, Z:127.52 [[ 3.74781774e-01 -7.78981483e-01 -5.02719078e-01 2.07593372e+02] [ 4.64302520e-01 6.27046117e-01 -6.25488878e-01 -3.53514776e+01] [ 8.02472299e-01 1.00809613e-03 5.96688522e-01 1.27515568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:-35.34, Z:127.54 [[ 3.75935403e-01 -7.78743371e-01 -5.02226378e-01 2.07602908e+02] [ 4.63915891e-01 6.27338935e-01 -6.25482139e-01 -3.53368859e+01] [ 8.02156231e-01 2.15008250e-03 5.97110340e-01 1.27538169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:-35.32, Z:127.56 [[ 3.76405994e-01 -7.78758872e-01 -5.01849726e-01 2.07612951e+02] [ 4.63752442e-01 6.27317328e-01 -6.25625002e-01 -3.53228121e+01] [ 8.02030050e-01 2.75496532e-03 5.97277331e-01 1.27560633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:-35.30, Z:127.57 [[ 3.76123329e-01 -7.86582321e-01 -4.89713686e-01 2.07619704e+02] [ 4.68242681e-01 6.17427783e-01 -6.32085220e-01 -3.52971900e+01] [ 7.99549894e-01 8.43714776e-03 6.00540408e-01 1.27572276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:-35.30, Z:127.60 [[ 3.77779908e-01 -7.79626256e-01 -4.99464955e-01 2.07632687e+02] [ 4.63406397e-01 6.26221762e-01 -6.26977524e-01 -3.52950359e+01] [ 8.01583964e-01 5.40425598e-03 5.97857794e-01 1.27604024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:-35.28, Z:127.63 [[ 3.77758372e-01 -7.79996132e-01 -4.98903443e-01 2.07643334e+02] [ 4.62475342e-01 6.25750027e-01 -6.28134908e-01 -3.52807075e+01] [ 8.02131642e-01 6.55267967e-03 5.97111290e-01 1.27626980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:-35.27, Z:127.65 [[ 3.78295619e-01 -7.78278860e-01 -5.01173064e-01 2.07654127e+02] [ 4.61795233e-01 6.27894177e-01 -6.26493468e-01 -3.52685712e+01] [ 8.02270271e-01 5.56040286e-03 5.96935084e-01 1.27650438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:-35.25, Z:127.67 [[ 3.79508191e-01 -7.77723749e-01 -5.01118053e-01 2.07664693e+02] [ 4.60140899e-01 6.28562867e-01 -6.27039931e-01 -3.52541439e+01] [ 8.02648046e-01 7.38187895e-03 5.96407262e-01 1.27672273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:-35.24, Z:127.69 [[ 3.79847105e-01 -7.77603490e-01 -5.01047891e-01 2.07674571e+02] [ 4.59230278e-01 6.28700395e-01 -6.27569411e-01 -3.52407536e+01] [ 8.03009171e-01 8.28406173e-03 5.95909092e-01 1.27693402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:-35.23, Z:127.72 [[ 3.78042323e-01 -7.73734397e-01 -5.08349373e-01 2.07682612e+02] [ 4.58638935e-01 6.33505469e-01 -6.23154193e-01 -3.52316904e+01] [ 8.04197942e-01 2.42984331e-03 5.94356599e-01 1.27716975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:-35.21, Z:127.73 [[ 3.79312312e-01 -7.84302217e-01 -4.90909566e-01 2.07691969e+02] [ 4.58133882e-01 6.20155590e-01 -6.36804829e-01 -3.52062484e+01] [ 8.03887751e-01 1.66456067e-02 5.94548070e-01 1.27733403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:-35.19, Z:127.76 [[ 3.82707442e-01 -7.83833962e-01 -4.89018746e-01 2.07705559e+02] [ 4.56340924e-01 6.20619656e-01 -6.37639557e-01 -3.51923211e+01] [ 8.03298186e-01 2.08701376e-02 5.95211275e-01 1.27756457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:-35.19, Z:127.78 [[ 3.83245177e-01 -7.76418046e-01 -5.00298063e-01 2.07717328e+02] [ 4.55680393e-01 6.30084211e-01 -6.28768054e-01 -3.51874851e+01] [ 8.03416775e-01 1.29963062e-02 5.95275215e-01 1.27782858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:-35.17, Z:127.81 [[ 3.82213699e-01 -7.77076200e-01 -5.00065264e-01 2.07727669e+02] [ 4.56340522e-01 6.29287392e-01 -6.29087201e-01 -3.51740127e+01] [ 8.03533457e-01 1.22457026e-02 5.95133620e-01 1.27805350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:-35.16, Z:127.83 [[ 3.81660593e-01 -7.77490729e-01 -4.99843334e-01 2.07737936e+02] [ 4.56580453e-01 6.28779782e-01 -6.29420587e-01 -3.51609510e+01] [ 8.03660054e-01 1.20063380e-02 5.94967533e-01 1.27827905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:-35.14, Z:127.84 [[ 3.81106847e-01 -7.86680212e-01 -4.85686952e-01 2.07744776e+02] [ 4.62101153e-01 6.17089514e-01 -6.36916836e-01 -3.51358274e+01] [ 8.00762197e-01 1.82968663e-02 5.98702872e-01 1.27840294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:-35.12, Z:127.86 [[ 3.81900702e-01 -7.85883956e-01 -4.86351994e-01 2.07754316e+02] [ 4.63261381e-01 6.18134161e-01 -6.35058306e-01 -3.51236132e+01] [ 7.99712915e-01 1.72211166e-02 6.00135556e-01 1.27861145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:-35.10, Z:127.88 [[ 3.81828646e-01 -7.93979798e-01 -4.73078181e-01 2.07764070e+02] [ 4.63520958e-01 6.07340953e-01 -6.45201742e-01 -3.51002640e+01] [ 7.99596902e-01 2.70748560e-02 5.99926451e-01 1.27878617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:-35.09, Z:127.90 [[ 3.81872780e-01 -7.89421774e-01 -4.80610490e-01 2.07775160e+02] [ 4.62862511e-01 6.13460766e-01 -6.39862630e-01 -3.50915171e+01] [ 7.99957171e-01 2.18895433e-02 5.99657713e-01 1.27901697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:-35.10, Z:127.94 [[ 3.81660977e-01 -7.75564126e-01 -5.02827191e-01 2.07788887e+02] [ 4.54594075e-01 6.31168017e-01 -6.28467312e-01 -3.50983646e+01] [ 8.04785143e-01 1.12791866e-02 5.93459058e-01 1.27939117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:-35.08, Z:127.96 [[ 3.81516030e-01 -7.77640554e-01 -4.99720609e-01 2.07798866e+02] [ 4.54417747e-01 6.28559138e-01 -6.31203549e-01 -3.50830871e+01] [ 8.04953433e-01 1.37323587e-02 5.93179056e-01 1.27960130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:-35.05, Z:127.97 [[ 3.81664660e-01 -7.91548219e-01 -4.77266702e-01 2.07805979e+02] [ 4.60699931e-01 6.10553904e-01 -6.44189028e-01 -3.50496269e+01] [ 8.01303725e-01 2.59874497e-02 5.97693058e-01 1.27967153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:-35.06, Z:128.01 [[ 3.81154814e-01 -7.74890049e-01 -5.04248370e-01 2.07820367e+02] [ 4.52737889e-01 6.31992408e-01 -6.28978537e-01 -3.50605468e+01] [ 8.06070351e-01 1.14458544e-02 5.91709034e-01 1.28006587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:-35.04, Z:128.03 [[ 3.80990818e-01 -7.77847780e-01 -4.99798788e-01 2.07830250e+02] [ 4.52507683e-01 6.28274889e-01 -6.32856587e-01 -3.50446912e+01] [ 8.06277120e-01 1.49497570e-02 5.91349061e-01 1.28026999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:-35.03, Z:128.05 [[ 3.80760472e-01 -7.78114170e-01 -4.99559608e-01 2.07840418e+02] [ 4.52737838e-01 6.27947104e-01 -6.33017286e-01 -3.50316876e+01] [ 8.06256729e-01 1.48584237e-02 5.91379163e-01 1.28049464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:-34.99, Z:128.05 [[ 3.81312381e-01 -8.00038090e-01 -4.63184545e-01 2.07847007e+02] [ 4.64516836e-01 5.99010490e-01 -6.52235036e-01 -3.49863828e+01] [ 7.99265274e-01 3.35482753e-02 6.00041278e-01 1.28048692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:-35.02, Z:128.10 [[ 3.79419775e-01 -7.71538364e-01 -5.10655643e-01 2.07862655e+02] [ 4.54513900e-01 6.36167200e-01 -6.23464841e-01 -3.50151174e+01] [ 8.05889415e-01 4.45480219e-03 5.92049327e-01 1.28098949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:-34.99, Z:128.12 [[ 3.78733133e-01 -7.79829356e-01 -4.98424909e-01 2.07872324e+02] [ 4.55523130e-01 6.25862794e-01 -6.33083282e-01 -3.49947070e+01] [ 8.05642534e-01 1.27255401e-02 5.92265285e-01 1.28117942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:-34.98, Z:128.14 [[ 3.77316576e-01 -7.80792504e-01 -4.97991232e-01 2.07882788e+02] [ 4.57037603e-01 6.24688260e-01 -6.33151805e-01 -3.49823457e+01] [ 8.05449459e-01 1.12979522e-02 5.92556770e-01 1.28139478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:-34.94, Z:128.14 [[ 3.74707164e-01 -7.98944335e-01 -4.70406729e-01 2.07892464e+02] [ 4.67555697e-01 6.00966414e-01 -6.48252296e-01 -3.49441596e+01] [ 8.00616145e-01 2.29634336e-02 5.98737396e-01 1.28143533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:-34.96, Z:128.19 [[ 3.72563657e-01 -7.76849420e-01 -5.07642887e-01 2.07906773e+02] [ 4.60241535e-01 6.29686235e-01 -6.25837819e-01 -3.49646673e+01] [ 8.05837485e-01 -4.73915315e-04 5.92136575e-01 1.28187210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:-34.95, Z:128.21 [[ 3.71141839e-01 -7.83974929e-01 -4.97631436e-01 2.07916574e+02] [ 4.60940427e-01 6.20763558e-01 -6.34181778e-01 -3.49453594e+01] [ 8.06094075e-01 5.99294424e-03 5.91757067e-01 1.28205589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:-34.90, Z:128.21 [[ 3.69718846e-01 -8.04111525e-01 -4.65524038e-01 2.07924626e+02] [ 4.69458768e-01 5.94034409e-01 -6.53246956e-01 -3.49021460e+01] [ 8.01820703e-01 2.29733686e-02 5.97122922e-01 1.28205718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:-34.90, Z:128.23 [[ 3.68781340e-01 -7.96217023e-01 -4.79623576e-01 2.07937104e+02] [ 4.67878369e-01 6.04866446e-01 -6.44380644e-01 -3.48972703e+01] [ 8.03175046e-01 1.32300610e-02 5.95596181e-01 1.28233759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:-34.89, Z:128.26 [[ 3.68055290e-01 -7.94342512e-01 -4.83275570e-01 2.07947218e+02] [ 4.66384695e-01 6.07364875e-01 -6.43112141e-01 -3.48857924e+01] [ 8.04375920e-01 1.13084961e-02 5.94013045e-01 1.28258015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:-34.90, Z:128.30 [[ 3.66771390e-01 -7.75012393e-01 -5.14620771e-01 2.07957917e+02] [ 4.56879608e-01 6.31922070e-01 -6.26047539e-01 -3.49015530e+01] [ 8.10394824e-01 -5.50340987e-03 5.85858295e-01 1.28300843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:-34.85, Z:128.30 [[ 3.68482537e-01 -8.04274060e-01 -4.66222969e-01 2.07961241e+02] [ 4.66184248e-01 5.93760779e-01 -6.55835638e-01 -3.48450512e+01] [ 8.04296504e-01 2.43181757e-02 5.93730376e-01 1.28295686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:-34.84, Z:128.32 [[ 3.68719594e-01 -7.96535822e-01 -4.79141467e-01 2.07973162e+02] [ 4.66052342e-01 6.04406796e-01 -6.46132834e-01 -3.48397368e+01] [ 8.04264307e-01 1.49368325e-02 5.94084014e-01 1.28324121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:-34.86, Z:128.37 [[ 3.67507090e-01 -7.74108408e-01 -5.15455829e-01 2.07984360e+02] [ 4.57051170e-01 6.33024918e-01 -6.24806916e-01 -3.48606456e+01] [ 8.09964671e-01 -5.96871833e-03 5.86448299e-01 1.28369210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:-34.84, Z:128.39 [[ 3.67378103e-01 -7.84588628e-01 -4.99453716e-01 2.07992312e+02] [ 4.57917329e-01 6.19993557e-01 -6.37118285e-01 -3.48367348e+01] [ 8.09533847e-01 5.35479579e-03 5.87048786e-01 1.28386554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:-34.82, Z:128.41 [[ 3.66879216e-01 -7.85085570e-01 -4.99039365e-01 2.08002051e+02] [ 4.58648557e-01 6.19367997e-01 -6.37200742e-01 -3.48230434e+01] [ 8.09346120e-01 4.89202415e-03 5.87311609e-01 1.28409092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:-34.81, Z:128.43 [[ 3.66302830e-01 -7.85657589e-01 -4.98562322e-01 2.08010562e+02] [ 4.59613959e-01 6.18646887e-01 -6.37205648e-01 -3.48092661e+01] [ 8.09059482e-01 4.26402927e-03 5.87711300e-01 1.28430479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:-34.77, Z:128.43 [[ 3.65919416e-01 -8.00976284e-01 -4.73856491e-01 2.08017099e+02] [ 4.67121978e-01 5.98459747e-01 -6.50878629e-01 -3.47714534e+01] [ 8.04922381e-01 1.68203466e-02 5.93141667e-01 1.28434460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:-34.76, Z:128.46 [[ 3.65537762e-01 -7.97416345e-01 -4.80113858e-01 2.08026884e+02] [ 4.66421566e-01 6.03299379e-01 -6.46900907e-01 -3.47614722e+01] [ 8.05501749e-01 1.25312523e-02 5.92460885e-01 1.28458031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:-34.75, Z:128.48 [[ 3.65616446e-01 -7.94943239e-01 -4.84138266e-01 2.08036886e+02] [ 4.65060528e-01 6.06591280e-01 -6.44798980e-01 -3.47508822e+01] [ 8.06252640e-01 1.05955138e-02 5.91476470e-01 1.28482926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:-34.74, Z:128.51 [[ 3.65530412e-01 -7.95277436e-01 -4.83654129e-01 2.08046133e+02] [ 4.63643853e-01 6.06127236e-01 -6.46253938e-01 -3.47380962e+01] [ 8.07107115e-01 1.19822044e-02 5.90283433e-01 1.28506142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:-34.75, Z:128.54 [[ 3.65594688e-01 -7.80982467e-01 -5.06366380e-01 2.08057647e+02] [ 4.55384236e-01 6.24551447e-01 -6.34476704e-01 -3.47466047e+01] [ 8.11767037e-01 1.37004609e-03 5.83979795e-01 1.28544962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:-34.73, Z:128.57 [[ 3.65457859e-01 -7.84632677e-01 -5.00791489e-01 2.08066840e+02] [ 4.55333280e-01 6.19936460e-01 -6.39022996e-01 -3.47294300e+01] [ 8.11857227e-01 5.50894480e-03 5.83830022e-01 1.28566288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:-34.69, Z:128.57 [[ 3.65720971e-01 -8.01884815e-01 -4.72471072e-01 2.08073506e+02] [ 4.63650396e-01 5.97132736e-01 -6.54569176e-01 -3.46897902e+01] [ 8.07017027e-01 2.03282750e-02 5.90178176e-01 1.28569579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:-34.71, Z:128.61 [[ 3.64219670e-01 -7.79523292e-01 -5.09595398e-01 2.08087299e+02] [ 4.55815376e-01 6.26370176e-01 -6.32370734e-01 -3.47077347e+01] [ 8.12143075e-01 -1.95955773e-03 5.83455041e-01 1.28614282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:-34.69, Z:128.63 [[ 3.63925093e-01 -7.85667765e-01 -5.00284608e-01 2.08095609e+02] [ 4.56261105e-01 6.18632181e-01 -6.39624912e-01 -3.46888144e+01] [ 8.12024834e-01 4.51514741e-03 5.83605417e-01 1.28632700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:-34.68, Z:128.66 [[ 3.63674311e-01 -7.86124337e-01 -4.99749459e-01 2.08105887e+02] [ 4.57064515e-01 6.18054167e-01 -6.39610097e-01 -3.46751467e+01] [ 8.11685299e-01 4.19201712e-03 5.84079963e-01 1.28655435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:-34.66, Z:128.68 [[ 3.63539471e-01 -7.86380502e-01 -4.99444450e-01 2.08116144e+02] [ 4.57172622e-01 6.17727615e-01 -6.39848253e-01 -3.46616196e+01] [ 8.11684820e-01 4.27776721e-03 5.84080007e-01 1.28678415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:-34.65, Z:128.70 [[ 3.63392221e-01 -7.86678569e-01 -4.99082081e-01 2.08126284e+02] [ 4.57782088e-01 6.17349719e-01 -6.39777215e-01 -3.46486457e+01] [ 8.11407206e-01 4.01922533e-03 5.84467443e-01 1.28701315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:-34.64, Z:128.72 [[ 3.62908252e-01 -7.87321689e-01 -4.98419661e-01 2.08136819e+02] [ 4.59181690e-01 6.16533925e-01 -6.39560860e-01 -3.46364738e+01] [ 8.10832767e-01 3.23673157e-03 5.85268953e-01 1.28724398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:-34.62, Z:128.75 [[ 3.62320205e-01 -7.87741475e-01 -4.98184141e-01 2.08147157e+02] [ 4.59425287e-01 6.15998817e-01 -6.39901447e-01 -3.46236656e+01] [ 8.10957751e-01 2.97083130e-03 5.85097171e-01 1.28747781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:-34.61, Z:128.77 [[ 3.62111633e-01 -7.88118555e-01 -4.97739197e-01 2.08156845e+02] [ 4.59978664e-01 6.15517146e-01 -6.39967399e-01 -3.46110640e+01] [ 8.10737192e-01 2.79022955e-03 5.85403639e-01 1.28769498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:-34.60, Z:128.79 [[ 3.63028409e-01 -7.84569953e-01 -5.02653323e-01 2.08167178e+02] [ 4.61178206e-01 6.20038749e-01 -6.34717742e-01 -3.46022169e+01] [ 8.09645007e-01 -1.39218601e-03 5.86918244e-01 1.28793508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:208.17, Y:-34.58, Z:128.81 [[ 3.61043931e-01 -7.94431911e-01 -4.88390437e-01 2.08174358e+02] [ 4.58872279e-01 6.07269936e-01 -6.48582652e-01 -3.45802108e+01] [ 8.11839585e-01 1.00579969e-02 5.83793907e-01 1.28810666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:-34.57, Z:128.84 [[ 3.60004386e-01 -7.88579183e-01 -4.98537576e-01 2.08184895e+02] [ 4.59929165e-01 6.14931821e-01 -6.40565390e-01 -3.45739735e+01] [ 8.11703151e-01 1.31437915e-03 5.84068717e-01 1.28836222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:-34.56, Z:128.86 [[ 3.59033215e-01 -7.89872084e-01 -4.97189341e-01 2.08194732e+02] [ 4.59585745e-01 6.13267883e-01 -6.42404426e-01 -3.45604334e+01] [ 8.12327578e-01 2.14339304e-03 5.83197490e-01 1.28857346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:-34.55, Z:128.88 [[ 3.58236832e-01 -7.90273922e-01 -4.97125237e-01 2.08204976e+02] [ 4.59443720e-01 6.12750639e-01 -6.42999318e-01 -3.45473919e+01] [ 8.12759399e-01 1.94497039e-03 5.82596238e-01 1.28879699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:-34.53, Z:128.90 [[ 3.57314569e-01 -7.90798113e-01 -4.96955374e-01 2.08215587e+02] [ 4.59761803e-01 6.12075426e-01 -6.43414918e-01 -3.45340406e+01] [ 8.12985475e-01 1.42042541e-03 5.82282233e-01 1.28902205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:-34.52, Z:128.92 [[ 3.55130490e-01 -7.91715065e-01 -4.97060953e-01 2.08226567e+02] [ 4.60231673e-01 6.10890543e-01 -6.44204588e-01 -3.45214110e+01] [ 8.13676313e-01 1.34970937e-05 5.81318207e-01 1.28924112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:-34.51, Z:128.95 [[ 3.53681329e-01 -7.92431058e-01 -4.96953254e-01 2.08237020e+02] [ 4.60988973e-01 6.09960449e-01 -6.44544349e-01 -3.45082156e+01] [ 8.13878790e-01 -1.12666836e-03 5.81033601e-01 1.28946598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:-34.50, Z:128.97 [[ 3.52427141e-01 -7.93227499e-01 -4.96573505e-01 2.08247549e+02] [ 4.62151018e-01 6.08921110e-01 -6.44694903e-01 -3.44952060e+01] [ 8.13763815e-01 -2.28396952e-03 5.81191222e-01 1.28968765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:-34.48, Z:128.99 [[ 3.49540753e-01 -7.94705300e-01 -4.96250691e-01 2.08258776e+02] [ 4.64392347e-01 6.06974623e-01 -6.44919805e-01 -3.44831690e+01] [ 8.13732763e-01 -5.02926931e-03 5.81217426e-01 1.28991496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:-34.47, Z:129.01 [[ 3.47676419e-01 -7.95741884e-01 -4.95899145e-01 2.08268901e+02] [ 4.65930300e-01 6.05598105e-01 -6.45104559e-01 -3.44708678e+01] [ 8.13652299e-01 -6.76679474e-03 5.81312435e-01 1.29013556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:-34.46, Z:129.04 [[ 3.45661586e-01 -7.98028846e-01 -4.93627419e-01 2.08279200e+02] [ 4.67432389e-01 6.02576854e-01 -6.46844724e-01 -3.44570761e+01] [ 8.13649206e-01 -7.14807059e-03 5.81312201e-01 1.29035571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:-34.45, Z:129.06 [[ 3.44579235e-01 -7.95557965e-01 -4.98349952e-01 2.08289357e+02] [ 4.69831163e-01 6.05740689e-01 -6.42134641e-01 -3.44490059e+01] [ 8.12726171e-01 -1.28740745e-02 5.82503587e-01 1.29058356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:-34.41, Z:129.06 [[ 3.42219245e-01 -8.12337953e-01 -4.72221388e-01 2.08295344e+02] [ 4.79046725e-01 5.83184497e-01 -6.56056459e-01 -3.44141472e+01] [ 8.08331753e-01 -1.70096358e-03 5.88724794e-01 1.29063016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:-34.42, Z:129.10 [[ 3.40213419e-01 -7.99435944e-01 -4.95133317e-01 2.08309949e+02] [ 4.74047416e-01 6.00547473e-01 -6.43911313e-01 -3.44237106e+01] [ 8.12116911e-01 -1.56494002e-02 5.83284853e-01 1.29102152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:-34.41, Z:129.12 [[ 3.39342848e-01 -8.00810092e-01 -4.93507476e-01 2.08320106e+02] [ 4.75341178e-01 5.98709365e-01 -6.44668799e-01 -3.44096592e+01] [ 8.11724828e-01 -1.58206788e-02 5.83825753e-01 1.29124627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:-34.38, Z:129.14 [[ 3.37841647e-01 -8.11501162e-01 -4.76790190e-01 2.08326878e+02] [ 4.81678850e-01 5.84281500e-01 -6.53146702e-01 -3.43815978e+01] [ 8.08608995e-01 -8.99959308e-03 5.88277571e-01 1.29135451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:-34.38, Z:129.17 [[ 3.38613475e-01 -8.01245366e-01 -4.93301913e-01 2.08340035e+02] [ 4.76068381e-01 5.98107138e-01 -6.44691203e-01 -3.43838265e+01] [ 8.11603235e-01 -1.65443147e-02 5.83974721e-01 1.29170246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:-34.37, Z:129.19 [[ 3.39666854e-01 -8.01126981e-01 -4.92769711e-01 2.08348663e+02] [ 4.75388887e-01 5.98302169e-01 -6.45011566e-01 -3.43700583e+01] [ 8.11561356e-01 -1.51681949e-02 5.84070280e-01 1.29192193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:-34.36, Z:129.21 [[ 3.40507310e-01 -8.00900030e-01 -4.92558539e-01 2.08357819e+02] [ 4.74706795e-01 5.98631515e-01 -6.45208313e-01 -3.43561628e+01] [ 8.11608422e-01 -1.41227381e-02 5.84031093e-01 1.29214723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:-34.34, Z:129.24 [[ 3.41342378e-01 -8.00593713e-01 -4.92478516e-01 2.08366844e+02] [ 4.73425069e-01 5.99072265e-01 -6.45740757e-01 -3.43423214e+01] [ 8.12006210e-01 -1.27329897e-02 5.83509885e-01 1.29237148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:-34.33, Z:129.26 [[ 3.44280703e-01 -7.99347834e-01 -4.92456940e-01 2.08374928e+02] [ 4.70393570e-01 6.00799321e-01 -6.46351348e-01 -3.43276978e+01] [ 8.12527346e-01 -9.12228166e-03 5.82851694e-01 1.29258596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:-34.31, Z:129.28 [[ 3.45813878e-01 -7.98664187e-01 -4.92491907e-01 2.08383894e+02] [ 4.68486334e-01 6.01735892e-01 -6.46865110e-01 -3.43138766e+01] [ 8.12978054e-01 -7.03079594e-03 5.82251880e-01 1.29281139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:-34.30, Z:129.30 [[ 3.47286915e-01 -7.98141945e-01 -4.92301974e-01 2.08392760e+02] [ 4.67023270e-01 6.02447594e-01 -6.47260505e-01 -3.43000958e+01] [ 8.13191899e-01 -5.13137407e-03 5.81973028e-01 1.29303575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:-34.29, Z:129.33 [[ 3.48975698e-01 -7.97559786e-01 -4.92051165e-01 2.08401474e+02] [ 4.65552692e-01 6.03232031e-01 -6.47589228e-01 -3.42866061e+01] [ 8.13312150e-01 -3.08284143e-03 5.81819425e-01 1.29325460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:-34.27, Z:129.35 [[ 3.50755629e-01 -7.96987415e-01 -4.91712873e-01 2.08410072e+02] [ 4.64217746e-01 6.03995034e-01 -6.47836309e-01 -3.42730074e+01] [ 8.13309518e-01 -1.02960944e-03 5.81830360e-01 1.29347292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:-34.26, Z:129.37 [[ 3.54087858e-01 -7.95606564e-01 -4.91560764e-01 2.08418575e+02] [ 4.61471329e-01 6.05807890e-01 -6.48105712e-01 -3.42577975e+01] [ 8.13428547e-01 2.64516444e-03 5.81658836e-01 1.29369794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:-34.24, Z:129.39 [[ 3.55763040e-01 -7.95070411e-01 -4.91218588e-01 2.08427206e+02] [ 4.60274600e-01 6.06500081e-01 -6.48309297e-01 -3.42447690e+01] [ 8.13375652e-01 4.54904767e-03 5.81721028e-01 1.29390825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:-34.23, Z:129.41 [[ 3.56444216e-01 -7.94784547e-01 -4.91187383e-01 2.08436191e+02] [ 4.58740822e-01 6.06861782e-01 -6.49057498e-01 -3.42311561e+01] [ 8.13943720e-01 6.02508714e-03 5.80912488e-01 1.29413120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:-34.22, Z:129.44 [[ 3.57653802e-01 -7.94470778e-01 -4.90815588e-01 2.08445286e+02] [ 4.57768937e-01 6.07255182e-01 -6.49375658e-01 -3.42176880e+01] [ 8.13960293e-01 7.57154323e-03 5.80871168e-01 1.29435367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:-34.16, Z:129.43 [[ 3.60303084e-01 -8.20432333e-01 -4.43928457e-01 2.08447073e+02] [ 4.69331028e-01 5.70706189e-01 -6.73812164e-01 -3.41647053e+01] [ 8.06170003e-01 3.44272016e-02 5.90681550e-01 1.29428495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:-34.20, Z:129.48 [[ 3.59825716e-01 -7.86103604e-01 -5.02560024e-01 2.08465394e+02] [ 4.55417344e-01 6.18092462e-01 -6.40747026e-01 -3.41993751e+01] [ 8.14322109e-01 1.68270671e-03 5.80410778e-01 1.29484130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:-34.18, Z:129.50 [[ 3.61409172e-01 -7.93361129e-01 -4.89858683e-01 2.08473468e+02] [ 4.55688783e-01 6.08642140e-01 -6.49540206e-01 -3.41785017e+01] [ 8.13468588e-01 1.15266810e-02 5.81494619e-01 1.29502937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:-34.17, Z:129.52 [[ 3.61840614e-01 -7.93516335e-01 -4.89288459e-01 2.08482899e+02] [ 4.56111428e-01 6.08434087e-01 -6.49438470e-01 -3.41658044e+01] [ 8.13039812e-01 1.18231571e-02 5.82088033e-01 1.29524945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:-34.15, Z:129.55 [[ 3.62038137e-01 -7.93762004e-01 -4.88743561e-01 2.08492623e+02] [ 4.56590829e-01 6.08111010e-01 -6.49404200e-01 -3.41523660e+01] [ 8.12682719e-01 1.19532590e-02 5.82583829e-01 1.29547531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:-34.14, Z:129.57 [[ 3.62087831e-01 -7.93961643e-01 -4.88382342e-01 2.08502823e+02] [ 4.56682349e-01 6.07845988e-01 -6.49587936e-01 -3.41389517e+01] [ 8.12609152e-01 1.21722916e-02 5.82681904e-01 1.29570509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:-34.13, Z:129.59 [[ 3.62066652e-01 -7.94176240e-01 -4.88049013e-01 2.08512325e+02] [ 4.56748016e-01 6.07561827e-01 -6.49807569e-01 -3.41261606e+01] [ 8.12581682e-01 1.23582328e-02 5.82716299e-01 1.29591914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:-34.11, Z:129.61 [[ 3.62318722e-01 -7.94221455e-01 -4.87788299e-01 2.08522887e+02] [ 4.56339605e-01 6.07489997e-01 -6.50161571e-01 -3.41125034e+01] [ 8.12698781e-01 1.29685892e-02 5.82539704e-01 1.29614530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:-34.10, Z:129.64 [[ 3.61721626e-01 -7.94511741e-01 -4.87758710e-01 2.08532534e+02] [ 4.55954941e-01 6.07109460e-01 -6.50786598e-01 -3.40995834e+01] [ 8.13180519e-01 1.30075926e-02 5.81866175e-01 1.29636456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:-34.09, Z:129.66 [[ 3.61404801e-01 -7.94864111e-01 -4.87419342e-01 2.08542610e+02] [ 4.56216234e-01 6.06649968e-01 -6.51031922e-01 -3.40860922e+01] [ 8.13174838e-01 1.29174453e-02 5.81876122e-01 1.29659424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:-34.07, Z:129.68 [[ 3.60317199e-01 -7.95433373e-01 -4.87295871e-01 2.08552389e+02] [ 4.56494097e-01 6.05916087e-01 -6.51520403e-01 -3.40728402e+01] [ 8.13501478e-01 1.23063181e-02 5.81432627e-01 1.29680546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:-34.06, Z:129.70 [[ 3.59310489e-01 -7.95974257e-01 -4.87155986e-01 2.08562927e+02] [ 4.57001259e-01 6.05219854e-01 -6.51811919e-01 -3.40587043e+01] [ 8.13661982e-01 1.15719604e-02 5.81223080e-01 1.29702981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:-34.05, Z:129.72 [[ 3.58094543e-01 -7.96509230e-01 -4.87176913e-01 2.08573044e+02] [ 4.56921678e-01 6.04525218e-01 -6.52511947e-01 -3.40457635e+01] [ 8.14242518e-01 1.10592749e-02 5.80419516e-01 1.29724672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:-34.03, Z:129.75 [[ 3.56465598e-01 -7.97216223e-01 -4.87215119e-01 2.08583359e+02] [ 4.57349435e-01 6.03611623e-01 -6.53057810e-01 -3.40327166e+01] [ 8.14716989e-01 9.96508337e-03 5.79773167e-01 1.29747003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:-33.98, Z:129.74 [[ 3.55816691e-01 -8.21243322e-01 -4.46042473e-01 2.08588246e+02] [ 4.71369487e-01 5.69827340e-01 -6.73132683e-01 -3.39832031e+01] [ 8.06972917e-01 2.92610324e-02 5.89863122e-01 1.29742958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:-33.98, Z:129.77 [[ 3.54168047e-01 -8.14910048e-01 -4.58788196e-01 2.08600925e+02] [ 4.71999478e-01 5.79281797e-01 -6.64566846e-01 -3.39792856e+01] [ 8.07329851e-01 1.88205529e-02 5.89800219e-01 1.29769859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:-34.00, Z:129.82 [[ 3.49998290e-01 -7.92941010e-01 -4.98744175e-01 2.08616810e+02] [ 4.62166134e-01 6.09278040e-01 -6.44346750e-01 -3.40047420e+01] [ 8.14802836e-01 -4.98240642e-03 5.79716753e-01 1.29819305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:-33.98, Z:129.84 [[ 3.48694487e-01 -8.01448291e-01 -4.85893807e-01 2.08625655e+02] [ 4.64240338e-01 5.98059910e-01 -6.53303339e-01 -3.39840493e+01] [ 8.14182451e-01 2.23176685e-03 5.80604819e-01 1.29837836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:-33.93, Z:129.83 [[ 3.48078237e-01 -8.28223567e-01 -4.39189327e-01 2.08629660e+02] [ 4.80225636e-01 5.59878568e-01 -6.75217985e-01 -3.39303103e+01] [ 8.05124139e-01 2.41187120e-02 5.92615734e-01 1.29831248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:-33.97, Z:129.89 [[ 3.44265112e-01 -7.95692633e-01 -4.98352051e-01 2.08648086e+02] [ 4.68447872e-01 6.05581964e-01 -6.43293927e-01 -3.39689425e+01] [ 8.13657252e-01 -1.19883013e-02 5.81221263e-01 1.29887943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:-33.92, Z:129.89 [[ 3.43123813e-01 -8.22175385e-01 -4.54195645e-01 2.08652785e+02] [ 4.79407572e-01 5.69118596e-01 -6.68036229e-01 -3.39190670e+01] [ 8.07734132e-01 1.14743066e-02 5.89435248e-01 1.29885832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:-33.94, Z:129.93 [[ 3.41173493e-01 -7.99969398e-01 -4.93608763e-01 2.08667342e+02] [ 4.71130328e-01 5.99921971e-01 -6.46629602e-01 -3.39404750e+01] [ 8.13410635e-01 -1.19411780e-02 5.81567320e-01 1.29931505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:-33.92, Z:129.95 [[ 3.38836116e-01 -8.06512091e-01 -4.84487703e-01 2.08675976e+02] [ 4.73023736e-01 5.91165875e-01 -6.53277470e-01 -3.39222414e+01] [ 8.13288775e-01 -7.82018255e-03 5.81807711e-01 1.29950454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:-33.88, Z:129.96 [[ 3.37445102e-01 -8.22891278e-01 -4.57144121e-01 2.08682191e+02] [ 4.82541965e-01 5.68182275e-01 -6.66574943e-01 -3.38842966e+01] [ 8.08259894e-01 4.34122727e-03 5.88809900e-01 1.29955382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:-33.90, Z:130.00 [[ 3.36000762e-01 -8.03715310e-01 -4.91065361e-01 2.08696047e+02] [ 4.75076968e-01 5.94814414e-01 -6.48457930e-01 -3.39008579e+01] [ 8.13268321e-01 -1.54114843e-02 5.81684729e-01 1.29998071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:-33.86, Z:130.00 [[ 3.34086439e-01 -8.20143833e-01 -4.64489338e-01 2.08701791e+02] [ 4.82250682e-01 5.72152481e-01 -6.63382106e-01 -3.38643858e+01] [ 8.09827470e-01 -2.37333500e-03 5.86663308e-01 1.30004837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:-33.87, Z:130.04 [[ 3.33572278e-01 -8.06785905e-01 -4.87674111e-01 2.08714139e+02] [ 4.76487307e-01 5.90649875e-01 -6.51223903e-01 -3.38719045e+01] [ 8.13442919e-01 -1.51402829e-02 5.81447667e-01 1.30041420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:-33.85, Z:130.06 [[ 3.32446436e-01 -8.09578255e-01 -4.83799975e-01 2.08721381e+02] [ 4.76483974e-01 5.86870380e-01 -6.54634386e-01 -3.38543848e+01] [ 8.13905640e-01 -1.28920659e-02 5.80854030e-01 1.30062901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:-33.84, Z:130.09 [[ 3.32232187e-01 -8.09853580e-01 -4.83486250e-01 2.08731235e+02] [ 4.76633057e-01 5.86490698e-01 -6.54866086e-01 -3.38406528e+01] [ 8.13905832e-01 -1.28779379e-02 5.80854075e-01 1.30085978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:208.74, Y:-33.82, Z:130.10 [[ 3.31545465e-01 -8.13792297e-01 -4.77304621e-01 2.08738547e+02] [ 4.78392003e-01 5.81068979e-01 -6.58407118e-01 -3.38212095e+01] [ 8.13153550e-01 -1.00468198e-02 5.81962512e-01 1.30104068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:-33.81, Z:130.13 [[ 3.31929830e-01 -8.09801215e-01 -4.83781542e-01 2.08748021e+02] [ 4.76218100e-01 5.86561702e-01 -6.55104336e-01 -3.38136853e+01] [ 8.14272012e-01 -1.29368562e-02 5.80339322e-01 1.30130308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:-33.80, Z:130.15 [[ 3.32025090e-01 -8.10529491e-01 -4.82494854e-01 2.08756459e+02] [ 4.76205204e-01 5.85575708e-01 -6.55995193e-01 -3.37988457e+01] [ 8.14240716e-01 -1.19596976e-02 5.80404188e-01 1.30152552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:208.76, Y:-33.78, Z:130.17 [[ 3.31308606e-01 -8.12837771e-01 -4.79092231e-01 2.08763332e+02] [ 4.78096185e-01 5.82381880e-01 -6.57461317e-01 -3.37813543e+01] [ 8.13424026e-01 -1.12295751e-02 5.81562766e-01 1.30172322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:-33.77, Z:130.20 [[ 3.32965577e-01 -8.13109193e-01 -4.77480225e-01 2.08771436e+02] [ 4.75752561e-01 5.82061696e-01 -6.59441948e-01 -3.37675836e+01] [ 8.14121260e-01 -7.59097146e-03 5.80645289e-01 1.30195233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:-33.76, Z:130.22 [[ 3.33605833e-01 -8.10766337e-01 -4.81004256e-01 2.08780689e+02] [ 4.76003493e-01 5.85284834e-01 -6.56401049e-01 -3.37557612e+01] [ 8.13712371e-01 -9.98048714e-03 5.81182043e-01 1.30218897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:-33.76, Z:130.25 [[ 3.32124651e-01 -7.96709849e-01 -5.04922403e-01 2.08789470e+02] [ 4.71326405e-01 6.03865514e-01 -6.42804683e-01 -3.37620693e+01] [ 8.17034048e-01 -2.44919802e-02 5.76069012e-01 1.30254830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:-33.72, Z:130.26 [[ 3.34738779e-01 -8.21908144e-01 -4.60887138e-01 2.08794726e+02] [ 4.75782546e-01 5.69597530e-01 -6.70216101e-01 -3.37150318e+01] [ 8.13376247e-01 5.06526358e-03 5.81715931e-01 1.30257511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:208.80, Y:-33.71, Z:130.28 [[ 3.35374325e-01 -8.14670805e-01 -4.73112610e-01 2.08802815e+02] [ 4.72943741e-01 5.79922250e-01 -6.63335814e-01 -3.37091039e+01] [ 8.14768851e-01 -1.28984714e-03 5.79784491e-01 1.30282405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:-33.70, Z:130.31 [[ 3.36143165e-01 -8.07422740e-01 -4.84846668e-01 2.08812997e+02] [ 4.74026160e-01 5.89887015e-01 -6.53706745e-01 -3.37027099e+01] [ 8.13822445e-01 -1.00909502e-02 5.81025990e-01 1.30308256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:-33.69, Z:130.33 [[ 3.36828591e-01 -8.10315151e-01 -4.79516273e-01 2.08821158e+02] [ 4.72998610e-01 5.85971337e-01 -6.57958895e-01 -3.36854826e+01] [ 8.14136853e-01 -5.19116323e-03 5.80649840e-01 1.30329095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:-33.67, Z:130.35 [[ 3.38483608e-01 -8.09506806e-01 -4.79716144e-01 2.08828929e+02] [ 4.70255600e-01 5.87104922e-01 -6.58913864e-01 -3.36703626e+01] [ 8.15038967e-01 -2.55766071e-03 5.79400501e-01 1.30350902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:-33.66, Z:130.37 [[ 3.39379613e-01 -8.09086815e-01 -4.79791626e-01 2.08837347e+02] [ 4.68679668e-01 5.87688217e-01 -6.59516435e-01 -3.36561657e+01] [ 8.15573937e-01 -1.04214765e-03 5.78651940e-01 1.30373205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:-33.64, Z:130.40 [[ 3.40431926e-01 -8.08673014e-01 -4.79743744e-01 2.08846062e+02] [ 4.67099756e-01 5.88258060e-01 -6.60128982e-01 -3.36414746e+01] [ 8.16041618e-01 6.40794806e-04 5.77992792e-01 1.30395855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:-33.63, Z:130.42 [[ 3.41835946e-01 -8.08246511e-01 -4.79464037e-01 2.08854452e+02] [ 4.65951329e-01 5.88839586e-01 -6.60422062e-01 -3.36271471e+01] [ 8.16111233e-01 2.34909514e-03 5.77890073e-01 1.30418201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:-33.61, Z:130.44 [[ 3.44968859e-01 -8.07171112e-01 -4.79031608e-01 2.08862225e+02] [ 4.63996087e-01 5.90291126e-01 -6.60502853e-01 -3.36121001e+01] [ 8.15906929e-01 5.58412375e-03 5.78156294e-01 1.30440834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:-33.60, Z:130.46 [[ 3.46387185e-01 -8.06823250e-01 -4.78593942e-01 2.08871069e+02] [ 4.63311523e-01 5.90750519e-01 -6.60572674e-01 -3.35983529e+01] [ 8.15695011e-01 7.07582092e-03 5.78438918e-01 1.30463641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:-33.58, Z:130.49 [[ 3.47665060e-01 -8.06591426e-01 -4.78057818e-01 2.08880057e+02] [ 4.63009168e-01 5.91051179e-01 -6.60515718e-01 -3.35846592e+01] [ 8.15322952e-01 8.29308389e-03 5.78947069e-01 1.30486481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:-33.57, Z:130.51 [[ 3.48921953e-01 -8.06284455e-01 -4.77659762e-01 2.08889240e+02] [ 4.62308584e-01 5.91448641e-01 -6.60650648e-01 -3.35708163e+01] [ 8.15183565e-01 9.68930646e-03 5.79121640e-01 1.30509770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:-33.56, Z:130.53 [[ 3.50861416e-01 -8.05702887e-01 -4.77220205e-01 2.08897668e+02] [ 4.61236558e-01 5.92204115e-01 -6.60723183e-01 -3.35558898e+01] [ 8.14958345e-01 1.17108669e-02 5.79401201e-01 1.30532226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:-33.54, Z:130.55 [[ 3.51421278e-01 -8.05652311e-01 -4.76893531e-01 2.08906579e+02] [ 4.60840855e-01 5.92256777e-01 -6.60952053e-01 -3.35415561e+01] [ 8.14940974e-01 1.25005921e-02 5.79409133e-01 1.30554217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:-33.53, Z:130.58 [[ 3.51565245e-01 -8.05639967e-01 -4.76808266e-01 2.08915307e+02] [ 4.60015348e-01 5.92257714e-01 -6.61526024e-01 -3.35278694e+01] [ 8.15345177e-01 1.32304388e-02 5.78823978e-01 1.30575918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:-33.44, Z:130.55 [[ 3.52322328e-01 -8.50884734e-01 -3.89697507e-01 2.08906496e+02] [ 4.81855130e-01 5.21890180e-01 -7.03879445e-01 -3.34436586e+01] [ 8.02299576e-01 6.02147020e-02 5.93876738e-01 1.30548325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.94, Y:-33.52, Z:130.63 [[ 3.50989908e-01 -7.88948527e-01 -5.04347407e-01 2.08936661e+02] [ 4.56847284e-01 6.14441769e-01 -6.43235471e-01 -3.35193690e+01] [ 8.17371790e-01 -4.64058467e-03 5.76091852e-01 1.30628692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:-33.49, Z:130.64 [[ 3.51637761e-01 -8.05242436e-01 -4.77425916e-01 2.08942356e+02] [ 4.56723266e-01 5.92750550e-01 -6.63363131e-01 -3.34889776e+01] [ 8.17162618e-01 1.52120029e-02 5.76206431e-01 1.30643011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:-33.48, Z:130.67 [[ 3.51006765e-01 -8.05559656e-01 -4.77355100e-01 2.08951423e+02] [ 4.56419446e-01 5.92320216e-01 -6.63956362e-01 -3.34758723e+01] [ 8.17603535e-01 1.51790249e-02 5.75581495e-01 1.30665231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:-33.46, Z:130.69 [[ 3.50547864e-01 -8.05862080e-01 -4.77181834e-01 2.08960948e+02] [ 4.56243622e-01 5.91907940e-01 -6.64444692e-01 -3.34619423e+01] [ 8.17898498e-01 1.52084987e-02 5.75161498e-01 1.30688022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:-33.45, Z:130.71 [[ 3.49677531e-01 -8.06229166e-01 -4.77200331e-01 2.08970529e+02] [ 4.55852014e-01 5.91411716e-01 -6.65154962e-01 -3.34479914e+01] [ 8.18489197e-01 1.50570130e-02 5.74324578e-01 1.30709919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:-33.44, Z:130.73 [[ 3.49282851e-01 -8.06524169e-01 -4.76990833e-01 2.08979782e+02] [ 4.55788112e-01 5.91009256e-01 -6.65556351e-01 -3.34350884e+01] [ 8.18693280e-01 1.50606685e-02 5.74033526e-01 1.30731802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:-33.42, Z:130.75 [[ 3.48915306e-01 -8.06878505e-01 -4.76660454e-01 2.08989693e+02] [ 4.56019537e-01 5.90528219e-01 -6.65824755e-01 -3.34214552e+01] [ 8.18721131e-01 1.49499688e-02 5.73996697e-01 1.30754818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:-33.41, Z:130.78 [[ 3.48343944e-01 -8.07267533e-01 -4.76419592e-01 2.08999072e+02] [ 4.56207651e-01 5.90002397e-01 -6.66161955e-01 -3.34081798e+01] [ 8.18859619e-01 1.47072197e-02 5.73805387e-01 1.30777710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:-33.40, Z:130.80 [[ 3.47682773e-01 -8.07830012e-01 -4.75948906e-01 2.09008917e+02] [ 4.57143100e-01 5.89248164e-01 -6.66188253e-01 -3.33954402e+01] [ 8.18618883e-01 1.40454210e-02 5.74165351e-01 1.30800005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:-33.38, Z:130.82 [[ 3.47398005e-01 -8.08286835e-01 -4.75380920e-01 2.09018617e+02] [ 4.58046008e-01 5.88630433e-01 -6.66114156e-01 -3.33822379e+01] [ 8.18234979e-01 1.36603967e-02 5.74721596e-01 1.30822413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:-33.34, Z:130.82 [[ 3.46968785e-01 -8.26107988e-01 -4.44025061e-01 2.09021601e+02] [ 4.69188557e-01 5.62826532e-01 -6.80505983e-01 -3.33430049e+01] [ 8.12080514e-01 2.77828564e-02 5.82883652e-01 1.30824371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:-33.34, Z:130.85 [[ 3.46794202e-01 -8.20713867e-01 -4.54051242e-01 2.09033133e+02] [ 4.68420214e-01 5.70948351e-01 -6.74240672e-01 -3.33376598e+01] [ 8.12598477e-01 2.11359760e-02 5.82440543e-01 1.30851663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:-33.35, Z:130.89 [[ 3.47261893e-01 -8.07744579e-01 -4.76400957e-01 2.09047565e+02] [ 4.61225705e-01 5.89437741e-01 -6.63199818e-01 -3.33457235e+01] [ 8.16504762e-01 1.05756570e-02 5.77241829e-01 1.30890597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:-33.33, Z:130.91 [[ 3.47331703e-01 -8.09689245e-01 -4.73037012e-01 2.09056520e+02] [ 4.61597578e-01 5.86720490e-01 -6.65347085e-01 -3.33308606e+01] [ 8.16264886e-01 1.27433965e-02 5.77537221e-01 1.30911906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:-33.30, Z:130.92 [[ 3.46922666e-01 -8.22940194e-01 -4.49904547e-01 2.09061545e+02] [ 4.69483406e-01 5.67646058e-01 -6.76286392e-01 -3.32973290e+01] [ 8.11929797e-01 2.33963587e-02 5.83286049e-01 1.30919062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:-33.28, Z:130.94 [[ 3.47186805e-01 -8.24220629e-01 -4.47349614e-01 2.09072059e+02] [ 4.70623477e-01 5.65736610e-01 -6.77093518e-01 -3.32816949e+01] [ 8.11156499e-01 2.45447042e-02 5.84313864e-01 1.30939012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:-33.30, Z:130.98 [[ 3.46162061e-01 -8.06464753e-01 -4.79360439e-01 2.09087168e+02] [ 4.61277324e-01 5.91229507e-01 -6.61567004e-01 -3.32963294e+01] [ 8.16942506e-01 7.89129772e-03 5.76665128e-01 1.30980818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:-33.25, Z:130.98 [[ 3.46140073e-01 -8.26508823e-01 -4.43925912e-01 2.09091254e+02] [ 4.70895270e-01 5.62311536e-01 -6.79752441e-01 -3.32538267e+01] [ 8.11446051e-01 2.62469468e-02 5.83837652e-01 1.30982885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:-33.25, Z:131.01 [[ 3.45495985e-01 -8.21283264e-01 -4.54011371e-01 2.09103422e+02] [ 4.69655993e-01 5.70182309e-01 -6.74029215e-01 -3.32471905e+01] [ 8.12438166e-01 1.96452260e-02 5.82716305e-01 1.31010170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:-33.23, Z:131.03 [[ 3.44451209e-01 -8.21827971e-01 -4.53819514e-01 2.09114326e+02] [ 4.69633019e-01 5.69409676e-01 -6.74698042e-01 -3.32338449e+01] [ 8.12894945e-01 1.92719278e-02 5.82091402e-01 1.31033064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:-33.22, Z:131.06 [[ 3.44099384e-01 -8.21615561e-01 -4.54470554e-01 2.09125625e+02] [ 4.69060456e-01 5.69724100e-01 -6.74830896e-01 -3.32216689e+01] [ 8.13374392e-01 1.90347307e-02 5.81429082e-01 1.31057257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:-33.21, Z:131.08 [[ 3.43334730e-01 -8.17818195e-01 -4.61838352e-01 2.09137458e+02] [ 4.67379587e-01 5.75291065e-01 -6.71264860e-01 -3.32148483e+01] [ 8.14664093e-01 1.46147215e-02 5.79748933e-01 1.31084484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:-33.22, Z:131.12 [[ 3.43004692e-01 -8.09321514e-01 -4.76808628e-01 2.09149956e+02] [ 4.61561068e-01 5.87311806e-01 -6.64850527e-01 -3.32166138e+01] [ 8.18113171e-01 7.97055051e-03 5.75002008e-01 1.31117313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:-33.20, Z:131.14 [[ 3.43343693e-01 -8.11838200e-01 -4.72264592e-01 2.09160525e+02] [ 4.61618264e-01 5.83772717e-01 -6.67920649e-01 -3.32010019e+01] [ 8.17938682e-01 1.13203814e-02 5.75194021e-01 1.31138333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:-33.19, Z:131.16 [[ 3.43533018e-01 -8.11939841e-01 -4.71952073e-01 2.09170067e+02] [ 4.61444638e-01 5.83622664e-01 -6.68171709e-01 -3.31882036e+01] [ 8.17957158e-01 1.17592905e-02 5.75158941e-01 1.31160203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:-33.17, Z:131.18 [[ 3.44162696e-01 -8.11889297e-01 -4.71580119e-01 2.09180163e+02] [ 4.61081498e-01 5.83675577e-01 -6.68376146e-01 -3.31748643e+01] [ 8.17897237e-01 1.25932682e-02 5.75226493e-01 1.31183048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:-33.16, Z:131.21 [[ 3.44744634e-01 -8.11829696e-01 -4.71257554e-01 2.09190146e+02] [ 4.60652814e-01 5.83740158e-01 -6.68615295e-01 -3.31612279e+01] [ 8.17893711e-01 1.34154170e-02 5.75212921e-01 1.31206086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:-33.15, Z:131.23 [[ 3.46538989e-01 -8.11263039e-01 -4.70917202e-01 2.09200385e+02] [ 4.59405434e-01 5.84477621e-01 -6.68829244e-01 -3.31490603e+01] [ 8.17837011e-01 1.54334888e-02 5.75242932e-01 1.31228604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:-33.14, Z:131.25 [[ 3.47677133e-01 -8.11078405e-01 -4.70396038e-01 2.09210212e+02] [ 4.59129099e-01 5.84702944e-01 -6.68822052e-01 -3.31356425e+01] [ 8.17509072e-01 1.65616244e-02 5.75677541e-01 1.31251579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:-33.12, Z:131.27 [[ 3.48708422e-01 -8.10876087e-01 -4.69981284e-01 2.09219678e+02] [ 4.58672792e-01 5.84950456e-01 -6.68918705e-01 -3.31222081e+01] [ 8.17325949e-01 1.76899579e-02 5.75903950e-01 1.31274261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:-33.10, Z:131.29 [[ 3.49087036e-01 -8.15797362e-01 -4.61099669e-01 2.09225780e+02] [ 4.62152217e-01 5.77930478e-01 -6.72615559e-01 -3.31014633e+01] [ 8.15201551e-01 2.17031376e-02 5.78770597e-01 1.31289169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:-33.09, Z:131.32 [[ 3.51604316e-01 -8.13355169e-01 -4.63495172e-01 2.09236975e+02] [ 4.57762622e-01 5.81256745e-01 -6.72751053e-01 -3.30930751e+01] [ 8.16595241e-01 2.43714086e-02 5.76695975e-01 1.31317273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:-33.08, Z:131.34 [[ 3.51854295e-01 -8.10195467e-01 -4.68808981e-01 2.09246805e+02] [ 4.57907548e-01 5.85797191e-01 -6.68701973e-01 -3.30837909e+01] [ 8.16406291e-01 2.06144901e-02 5.77109877e-01 1.31340717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:-33.06, Z:131.35 [[ 3.51225899e-01 -8.16311338e-01 -4.58558795e-01 2.09252852e+02] [ 4.62217028e-01 5.77091321e-01 -6.73291190e-01 -3.30605909e+01] [ 8.14245532e-01 2.45236195e-02 5.80002418e-01 1.31354161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:-33.05, Z:131.38 [[ 3.51657254e-01 -8.12949284e-01 -4.64166605e-01 2.09264332e+02] [ 4.58097912e-01 5.81852733e-01 -6.72007217e-01 -3.30547318e+01] [ 8.16384394e-01 2.36824605e-02 5.77023104e-01 1.31383587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:-33.02, Z:131.39 [[ 3.50995682e-01 -8.27601929e-01 -4.38037759e-01 2.09267943e+02] [ 4.68391873e-01 5.60246867e-01 -6.83178235e-01 -3.30179881e+01] [ 8.10808908e-01 3.46192843e-02 5.84286249e-01 1.31387341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:-33.02, Z:131.42 [[ 3.49010753e-01 -8.16243977e-01 -4.60366447e-01 2.09278732e+02] [ 4.63531451e-01 5.77317928e-01 -6.72192386e-01 -3.30228037e+01] [ 8.14450789e-01 2.12080439e-02 5.79844919e-01 1.31420561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:-33.01, Z:131.45 [[ 3.50349563e-01 -8.17337209e-01 -4.57400340e-01 2.09290375e+02] [ 4.57956369e-01 5.75482939e-01 -6.77565754e-01 -3.30115330e+01] [ 8.17025794e-01 2.79154671e-02 5.75924976e-01 1.31449618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:-33.00, Z:131.47 [[ 3.47804007e-01 -8.16345790e-01 -4.61098606e-01 2.09296177e+02] [ 4.62478163e-01 5.77187565e-01 -6.73029318e-01 -3.29973526e+01] [ 8.15565032e-01 2.08342569e-02 5.78290249e-01 1.31466727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:-32.98, Z:131.49 [[ 3.48148634e-01 -8.18654479e-01 -4.56724613e-01 2.09307088e+02] [ 4.58472973e-01 5.73655308e-01 -6.78765144e-01 -3.29838693e+01] [ 8.17676624e-01 2.69152665e-02 5.75048265e-01 1.31493609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:-32.98, Z:131.52 [[ 3.47663683e-01 -8.12626315e-01 -4.67726881e-01 2.09317973e+02] [ 4.58505383e-01 5.82478815e-01 -6.71186445e-01 -3.29774768e+01] [ 8.17864767e-01 1.88918584e-02 5.75100270e-01 1.31519567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:-32.96, Z:131.54 [[ 3.46442420e-01 -8.13341187e-01 -4.67390376e-01 2.09327260e+02] [ 4.59368104e-01 5.81511276e-01 -6.71435463e-01 -3.29635049e+01] [ 8.17898890e-01 1.79094962e-02 5.75083173e-01 1.31542523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:-32.95, Z:131.57 [[ 3.44952864e-01 -8.14103564e-01 -4.67164756e-01 2.09336608e+02] [ 4.60121208e-01 5.80476886e-01 -6.71814750e-01 -3.29498285e+01] [ 8.18105125e-01 1.67920105e-02 5.74823479e-01 1.31565752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:-32.94, Z:131.59 [[ 3.43096617e-01 -8.15053303e-01 -4.66875598e-01 2.09346095e+02] [ 4.61322340e-01 5.79186120e-01 -6.72105004e-01 -3.29361811e+01] [ 8.18209270e-01 1.52168099e-02 5.74719096e-01 1.31588646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:-32.92, Z:131.61 [[ 3.38773982e-01 -8.16855430e-01 -4.66882635e-01 2.09355490e+02] [ 4.63327939e-01 5.76725370e-01 -6.72841043e-01 -3.29233667e+01] [ 8.18876920e-01 1.16212702e-02 5.73851493e-01 1.31610879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:-32.91, Z:131.63 [[ 3.36734934e-01 -8.17922059e-01 -4.66490182e-01 2.09364905e+02] [ 4.64874537e-01 5.75245963e-01 -6.73040673e-01 -3.29098950e+01] [ 8.18841406e-01 9.77689888e-03 5.73936550e-01 1.31634072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:-32.90, Z:131.66 [[ 3.34770548e-01 -8.18939224e-01 -4.66119328e-01 2.09374309e+02] [ 4.66378977e-01 5.73824719e-01 -6.73213073e-01 -3.28961104e+01] [ 8.18791384e-01 7.98365412e-03 5.74035653e-01 1.31657241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:-32.87, Z:131.67 [[ 3.30934579e-01 -8.30621809e-01 -4.47827774e-01 2.09377761e+02] [ 4.76023164e-01 5.56705007e-01 -6.80794744e-01 -3.28665047e+01] [ 8.14790925e-01 1.21221278e-02 5.79628158e-01 1.31666048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:-32.85, Z:131.69 [[ 3.29773522e-01 -8.32944980e-01 -4.44355809e-01 2.09386034e+02] [ 4.76341429e-01 5.53185855e-01 -6.83435624e-01 -3.28514565e+01] [ 8.15075621e-01 1.37138913e-02 5.79192250e-01 1.31688238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:-32.85, Z:131.72 [[ 3.29780991e-01 -8.25193454e-01 -4.58585064e-01 2.09400401e+02] [ 4.69818670e-01 5.64789443e-01 -6.78441819e-01 -3.28524501e+01] [ 8.18849752e-01 8.28539080e-03 5.73948113e-01 1.31724169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:-32.84, Z:131.75 [[ 3.28178662e-01 -8.21669956e-01 -4.66001340e-01 2.09410321e+02] [ 4.70822807e-01 5.69961357e-01 -6.73401764e-01 -3.28440765e+01] [ 8.18916754e-01 1.59203082e-03 5.73910111e-01 1.31749051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:-32.83, Z:131.77 [[ 3.25722844e-01 -8.22912239e-01 -4.65532036e-01 2.09418951e+02] [ 4.73209776e-01 5.68167617e-01 -6.73244434e-01 -3.28306574e+01] [ 8.18521311e-01 -1.00321901e-03 5.74475288e-01 1.31771589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:-32.82, Z:131.79 [[ 3.24272322e-01 -8.23625179e-01 -4.65283812e-01 2.09427689e+02] [ 4.73964164e-01 5.67130626e-01 -6.73588023e-01 -3.28172683e+01] [ 8.18660755e-01 -2.10190086e-03 5.74273584e-01 1.31794357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:-32.80, Z:131.82 [[ 3.22634264e-01 -8.24380818e-01 -4.65084292e-01 2.09436414e+02] [ 4.74698835e-01 5.66025837e-01 -6.73999828e-01 -3.28034966e+01] [ 8.18882255e-01 -3.31953264e-03 5.73951943e-01 1.31816821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:-32.79, Z:131.84 [[ 3.21117010e-01 -8.25107183e-01 -4.64846213e-01 2.09445517e+02] [ 4.75467767e-01 5.64958518e-01 -6.74353227e-01 -3.27896466e+01] [ 8.19032519e-01 -4.47309877e-03 5.73729661e-01 1.31839710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:-32.78, Z:131.86 [[ 3.17552973e-01 -8.26397051e-01 -4.65003250e-01 2.09453676e+02] [ 4.76418145e-01 5.63043104e-01 -6.75283802e-01 -3.27766726e+01] [ 8.19869417e-01 -7.09760701e-03 5.72506562e-01 1.31861877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:-32.76, Z:131.88 [[ 3.15810013e-01 -8.27212541e-01 -4.64740194e-01 2.09462111e+02] [ 4.77347687e-01 5.61825329e-01 -6.75641536e-01 -3.27632190e+01] [ 8.20001964e-01 -8.46829402e-03 5.72298057e-01 1.31884386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:-32.75, Z:131.91 [[ 3.14467626e-01 -8.27936056e-01 -4.64361928e-01 2.09470677e+02] [ 4.78296169e-01 5.60740974e-01 -6.75871537e-01 -3.27493908e+01] [ 8.19965175e-01 -9.56281355e-03 5.72333526e-01 1.31907428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:-32.74, Z:131.93 [[ 3.13020454e-01 -8.28711968e-01 -4.63955461e-01 2.09479525e+02] [ 4.79518622e-01 5.59569549e-01 -6.75976191e-01 -3.27352888e+01] [ 8.19804907e-01 -1.08809094e-02 5.72539535e-01 1.31930568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:-32.72, Z:131.95 [[ 3.10256450e-01 -8.29989618e-01 -4.63527959e-01 2.09487195e+02] [ 4.81681796e-01 5.57614887e-01 -6.76053464e-01 -3.27211098e+01] [ 8.19587447e-01 -1.35230317e-02 5.72794505e-01 1.31954030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:-32.71, Z:131.98 [[ 3.08861550e-01 -8.30747130e-01 -4.63102310e-01 2.09495511e+02] [ 4.82906898e-01 5.56453131e-01 -6.76136703e-01 -3.27069973e+01] [ 8.19393356e-01 -1.48026698e-02 5.73040496e-01 1.31976647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:-32.69, Z:132.00 [[ 3.07816314e-01 -8.31379510e-01 -4.62663190e-01 2.09504076e+02] [ 4.83939648e-01 5.55481630e-01 -6.76197143e-01 -3.26929379e+01] [ 8.19177352e-01 -1.57565497e-02 5.73323815e-01 1.31999269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:-32.68, Z:132.02 [[ 3.06980759e-01 -8.31842132e-01 -4.62386722e-01 2.09512570e+02] [ 4.84329751e-01 5.54773626e-01 -6.76499014e-01 -3.26792602e+01] [ 8.19260341e-01 -1.62754648e-02 5.73190722e-01 1.32022086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:-32.67, Z:132.04 [[ 3.06769155e-01 -8.32097716e-01 -4.62067177e-01 2.09519648e+02] [ 4.84426578e-01 5.54391429e-01 -6.76742961e-01 -3.26655145e+01] [ 8.19282355e-01 -1.62337551e-02 5.73160439e-01 1.32044200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:-32.68, Z:132.09 [[ 3.02816607e-01 -8.11776648e-01 -4.99320313e-01 2.09526522e+02] [ 4.77769076e-01 5.82632980e-01 -6.57476631e-01 -3.26827185e+01] [ 8.24644658e-01 -3.94649623e-02 5.64272722e-01 1.32085558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:-32.62, Z:132.08 [[ 3.07019998e-01 -8.51578718e-01 -4.24914588e-01 2.09529158e+02] [ 4.83410778e-01 5.24134096e-01 -7.01140121e-01 -3.26150770e+01] [ 8.19788229e-01 9.85574721e-03 5.72581980e-01 1.32078635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:-32.62, Z:132.11 [[ 3.07404943e-01 -8.32345030e-01 -4.61198387e-01 2.09543387e+02] [ 4.84126364e-01 5.54052306e-01 -6.77235340e-01 -3.26227557e+01] [ 8.19221500e-01 -1.50928072e-02 5.73278590e-01 1.32112536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:-32.61, Z:132.13 [[ 3.08445962e-01 -8.32091494e-01 -4.60960772e-01 2.09549863e+02] [ 4.83151569e-01 5.54468823e-01 -6.77590500e-01 -3.26083621e+01] [ 8.19405668e-01 -1.37138667e-02 5.73049981e-01 1.32134348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:-32.60, Z:132.16 [[ 3.08769263e-01 -8.32056961e-01 -4.60806636e-01 2.09557465e+02] [ 4.82666149e-01 5.54535327e-01 -6.77881966e-01 -3.25950906e+01] [ 8.19569967e-01 -1.31066493e-02 5.72829194e-01 1.32155732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:-32.58, Z:132.18 [[ 3.09383986e-01 -8.31958119e-01 -4.60572728e-01 2.09565688e+02] [ 4.81792875e-01 5.54708080e-01 -6.78361682e-01 -3.25812591e+01] [ 8.19851922e-01 -1.20264171e-02 5.72449291e-01 1.32178528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:-32.57, Z:132.20 [[ 3.10011421e-01 -8.31836452e-01 -4.60370542e-01 2.09574141e+02] [ 4.80979039e-01 5.54911783e-01 -6.78772478e-01 -3.25668444e+01] [ 8.20092728e-01 -1.10013608e-02 5.72124888e-01 1.32201729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:-32.58, Z:132.24 [[ 3.10785916e-01 -8.10489849e-01 -4.96506111e-01 2.09584761e+02] [ 4.72501815e-01 5.84997426e-01 -6.59181346e-01 -3.25813860e+01] [ 8.24714587e-01 -2.97357606e-02 5.64766886e-01 1.32244310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:-32.55, Z:132.25 [[ 3.12312567e-01 -8.28830778e-01 -4.64220209e-01 2.09587333e+02] [ 4.73642246e-01 5.59449928e-01 -6.80204969e-01 -3.25459322e+01] [ 8.23482776e-01 -7.43774265e-03 5.67292515e-01 1.32253213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:-32.51, Z:132.26 [[ 3.15314859e-01 -8.41412327e-01 -4.38864257e-01 2.09593279e+02] [ 4.78337415e-01 5.40329014e-01 -6.92270088e-01 -3.25101756e+01] [ 8.19615676e-01 8.35785019e-03 5.72852764e-01 1.32261398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:-32.52, Z:132.30 [[ 3.19163526e-01 -8.22327730e-01 -4.71075098e-01 2.09605447e+02] [ 4.74288507e-01 5.68942937e-01 -6.71829105e-01 -3.25184742e+01] [ 8.20478553e-01 -9.00215909e-03 5.71606426e-01 1.32297573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:-32.49, Z:132.31 [[ 3.21362656e-01 -8.32895403e-01 -4.50567743e-01 2.09610311e+02] [ 4.75491112e-01 5.53402872e-01 -6.83851931e-01 -3.24891630e+01] [ 8.18922612e-01 5.52351556e-03 5.73877379e-01 1.32310945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:-32.48, Z:132.34 [[ 3.23142962e-01 -8.28421101e-01 -4.57490006e-01 2.09619467e+02] [ 4.73941688e-01 5.60099074e-01 -6.79461775e-01 -3.24791882e+01] [ 8.19120200e-01 2.73970466e-03 5.73615369e-01 1.32335769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:-32.46, Z:132.36 [[ 3.25180468e-01 -8.27823459e-01 -4.57127973e-01 2.09627652e+02] [ 4.72652131e-01 5.60966909e-01 -6.79644091e-01 -3.24647323e+01] [ 8.19058989e-01 4.94447350e-03 5.73688004e-01 1.32358223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:-32.45, Z:132.38 [[ 3.29284923e-01 -8.26359846e-01 -4.56837875e-01 2.09634299e+02] [ 4.69710556e-01 5.63065390e-01 -6.79948057e-01 -3.24505071e+01] [ 8.19111368e-01 9.31507194e-03 5.73558887e-01 1.32380132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:-32.44, Z:132.40 [[ 3.31104027e-01 -8.25863354e-01 -4.56420688e-01 2.09642467e+02] [ 4.68654790e-01 5.63757445e-01 -6.80103103e-01 -3.24359029e+01] [ 8.18982790e-01 1.12811349e-02 5.73707177e-01 1.32403066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:-32.42, Z:132.43 [[ 3.32702737e-01 -8.25468738e-01 -4.55971766e-01 2.09650845e+02] [ 4.67918897e-01 5.64299647e-01 -6.80160139e-01 -3.24212440e+01] [ 8.18755638e-01 1.29333339e-02 5.73996458e-01 1.32426181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:-32.41, Z:132.45 [[ 3.33761787e-01 -8.25232633e-01 -4.55625033e-01 2.09659230e+02] [ 4.67235969e-01 5.64614523e-01 -6.80368275e-01 -3.24069129e+01] [ 8.18714614e-01 1.41965276e-02 5.74025121e-01 1.32448958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:-32.39, Z:132.47 [[ 3.35264922e-01 -8.24799697e-01 -4.55305273e-01 2.09667261e+02] [ 4.66154182e-01 5.65200102e-01 -6.80624069e-01 -3.23927562e+01] [ 8.18717113e-01 1.59469182e-02 5.73975597e-01 1.32471566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:-32.38, Z:132.49 [[ 3.36173843e-01 -8.24701123e-01 -4.54813375e-01 2.09675892e+02] [ 4.66024478e-01 5.65317704e-01 -6.80615221e-01 -3.23787116e+01] [ 8.18418190e-01 1.68508691e-02 5.74375935e-01 1.32493633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:-32.36, Z:132.52 [[ 3.36215555e-01 -8.24756151e-01 -4.54682737e-01 2.09684329e+02] [ 4.65642899e-01 5.65226080e-01 -6.80952399e-01 -3.23648200e+01] [ 8.18618221e-01 1.72270009e-02 5.74079645e-01 1.32516267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:-32.35, Z:132.54 [[ 3.36255963e-01 -8.24800137e-01 -4.54573054e-01 2.09692783e+02] [ 4.64928501e-01 5.65143587e-01 -6.81508778e-01 -3.23504124e+01] [ 8.19007580e-01 1.78174216e-02 5.73505993e-01 1.32538785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:-32.34, Z:132.56 [[ 3.35560195e-01 -8.25164973e-01 -4.54425047e-01 2.09701710e+02] [ 4.64833113e-01 5.64616837e-01 -6.82010267e-01 -3.23363521e+01] [ 8.19347016e-01 1.76236887e-02 5.73026939e-01 1.32561858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:-32.32, Z:132.58 [[ 3.34365386e-01 -8.25738765e-01 -4.54263448e-01 2.09710405e+02] [ 4.65116614e-01 5.63799005e-01 -6.82493383e-01 -3.23227095e+01] [ 8.19674523e-01 1.69166868e-02 5.72579691e-01 1.32583642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:-32.31, Z:132.61 [[ 3.31024192e-01 -8.27040368e-01 -4.54342617e-01 2.09719228e+02] [ 4.66380304e-01 5.61962111e-01 -6.83145663e-01 -3.23097391e+01] [ 8.20312377e-01 1.42412929e-02 5.71738392e-01 1.32605518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:-32.30, Z:132.63 [[ 3.28927399e-01 -8.28003657e-01 -4.54110901e-01 2.09728471e+02] [ 4.67442594e-01 5.60581815e-01 -6.83553546e-01 -3.22964590e+01] [ 8.20551149e-01 1.25687119e-02 5.71434896e-01 1.32628103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:-32.28, Z:132.65 [[ 3.26678108e-01 -8.29037335e-01 -4.53848554e-01 2.09737662e+02] [ 4.68746960e-01 5.59091472e-01 -6.83880848e-01 -3.22836273e+01] [ 8.20705612e-01 1.06687713e-02 5.71251675e-01 1.32650894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:-32.27, Z:132.67 [[ 3.24477910e-01 -8.30102504e-01 -4.53479789e-01 2.09747004e+02] [ 4.70317089e-01 5.57543181e-01 -6.84066837e-01 -3.22704081e+01] [ 8.20680158e-01 8.68528340e-03 5.71321839e-01 1.32673182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:-32.26, Z:132.70 [[ 3.20024029e-01 -8.32048401e-01 -4.53078447e-01 2.09757174e+02] [ 4.73770255e-01 5.54686806e-01 -6.84006062e-01 -3.22575183e+01] [ 8.20442787e-01 4.24328468e-03 5.71712889e-01 1.32696161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:-32.24, Z:132.72 [[ 3.18166584e-01 -8.32971229e-01 -4.52690796e-01 2.09766380e+02] [ 4.75170240e-01 5.53310343e-01 -6.84149769e-01 -3.22444943e+01] [ 8.20355574e-01 2.56840099e-03 5.71848001e-01 1.32718127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:-32.23, Z:132.74 [[ 3.16494582e-01 -8.33785429e-01 -4.52363833e-01 2.09775539e+02] [ 4.76533150e-01 5.52087770e-01 -6.84189485e-01 -3.22311224e+01] [ 8.20211763e-01 9.75902563e-04 5.72059185e-01 1.32740752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:-32.22, Z:132.76 [[ 3.15055858e-01 -8.34555895e-01 -4.51947192e-01 2.09784368e+02] [ 4.77737285e-01 5.50923183e-01 -6.84288486e-01 -3.22178358e+01] [ 8.20065176e-01 -3.22928444e-04 5.72270044e-01 1.32762677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:-32.20, Z:132.79 [[ 3.13306353e-01 -8.35488274e-01 -4.51440442e-01 2.09793397e+02] [ 4.79369569e-01 5.49504579e-01 -6.84287611e-01 -3.22039822e+01] [ 8.19782865e-01 -2.01515455e-03 5.72670929e-01 1.32785722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:-32.19, Z:132.81 [[ 3.12925964e-01 -8.35814722e-01 -4.51099869e-01 2.09802149e+02] [ 4.79656040e-01 5.49007287e-01 -6.84485998e-01 -3.21902844e+01] [ 8.19760589e-01 -2.17933641e-03 5.72702214e-01 1.32808249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:-32.18, Z:132.83 [[ 3.12960168e-01 -8.35982065e-01 -4.50765926e-01 2.09810911e+02] [ 4.79647813e-01 5.48753383e-01 -6.84695334e-01 -3.21761754e+01] [ 8.19752346e-01 -1.92652416e-03 5.72714920e-01 1.32831022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:-32.17, Z:132.85 [[ 3.14535943e-01 -8.33850022e-01 -4.53609173e-01 2.09819512e+02] [ 4.79205945e-01 5.51984311e-01 -6.82403827e-01 -3.21653256e+01] [ 8.19407593e-01 -2.73168120e-03 5.73204793e-01 1.32852832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:-32.12, Z:132.86 [[ 3.16636779e-01 -8.52124357e-01 -4.16683610e-01 2.09822893e+02] [ 4.82983079e-01 5.22912314e-01 -7.02346110e-01 -3.21240802e+01] [ 8.16375218e-01 2.11374772e-02 5.77134916e-01 1.32861254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:-32.15, Z:132.90 [[ 3.15738124e-01 -8.25594665e-01 -4.67656803e-01 2.09838291e+02] [ 4.76837390e-01 5.64171893e-01 -6.74044641e-01 -3.21456611e+01] [ 8.20326484e-01 -1.01746587e-02 5.71804981e-01 1.32903115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:-32.12, Z:132.92 [[ 3.16752333e-01 -8.34804159e-01 -4.50299873e-01 2.09843848e+02] [ 4.76152524e-01 5.50539967e-01 -6.85700021e-01 -3.21217945e+01] [ 8.20333306e-01 2.78566016e-03 5.71878926e-01 1.32920726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:-32.11, Z:132.94 [[ 3.16538861e-01 -8.35062006e-01 -4.49971771e-01 2.09852854e+02] [ 4.76294599e-01 5.50148713e-01 -6.85915336e-01 -3.21076411e+01] [ 8.20333228e-01 2.79973426e-03 5.71878971e-01 1.32943879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:-32.09, Z:132.97 [[ 3.18121292e-01 -8.34629972e-01 -4.49657263e-01 2.09860964e+02] [ 4.75272435e-01 5.50792207e-01 -6.86107905e-01 -3.20928736e+01] [ 8.20313937e-01 4.55583086e-03 5.71895348e-01 1.32966382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:-32.08, Z:132.99 [[ 3.18747590e-01 -8.34477081e-01 -4.49497470e-01 2.09869244e+02] [ 4.74296043e-01 5.51013591e-01 -6.86605626e-01 -3.20791334e+01] [ 8.20635874e-01 5.65901722e-03 5.71423431e-01 1.32989077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:-32.07, Z:133.01 [[ 3.19487868e-01 -8.34431304e-01 -4.49056678e-01 2.09877463e+02] [ 4.74133399e-01 5.51073988e-01 -6.86669484e-01 -3.20652040e+01] [ 8.20441968e-01 6.46980000e-03 5.71693204e-01 1.33010750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:-32.05, Z:133.03 [[ 3.19929326e-01 -8.34349626e-01 -4.48894117e-01 2.09885916e+02] [ 4.73236519e-01 5.51185648e-01 -6.87198355e-01 -3.20515237e+01] [ 8.20787685e-01 7.42181768e-03 5.71185165e-01 1.33033210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:-32.04, Z:133.06 [[ 3.20247036e-01 -8.34355352e-01 -4.48656865e-01 2.09894131e+02] [ 4.72697831e-01 5.51167172e-01 -6.87583819e-01 -3.20376134e+01] [ 8.20974175e-01 8.11755278e-03 5.70907618e-01 1.33055539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:-32.02, Z:133.08 [[ 3.20183745e-01 -8.34619192e-01 -4.48211082e-01 2.09902669e+02] [ 4.73010751e-01 5.50766665e-01 -6.87689545e-01 -3.20239649e+01] [ 8.20818615e-01 8.17835377e-03 5.71130384e-01 1.33077836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:-32.01, Z:133.10 [[ 3.20148283e-01 -8.34932400e-01 -4.47652728e-01 2.09911440e+02] [ 4.73674064e-01 5.50292955e-01 -6.87612205e-01 -3.20101212e+01] [ 8.20449851e-01 8.09637980e-03 5.71661168e-01 1.33100763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:-32.00, Z:133.12 [[ 3.19522050e-01 -8.35641258e-01 -4.46776618e-01 2.09920185e+02] [ 4.75771535e-01 5.49231606e-01 -6.87012438e-01 -3.19963651e+01] [ 8.19479778e-01 6.95202521e-03 5.73065933e-01 1.33122985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:-31.98, Z:133.15 [[ 3.19097435e-01 -8.36131218e-01 -4.46162989e-01 2.09929273e+02] [ 4.77192152e-01 5.48494527e-01 -6.86615907e-01 -3.19823900e+01] [ 8.18818952e-01 6.19189772e-03 5.74018452e-01 1.33146216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:-31.97, Z:133.17 [[ 3.18590471e-01 -8.36612309e-01 -4.45623110e-01 2.09938151e+02] [ 4.78163195e-01 5.47766419e-01 -6.86521602e-01 -3.19689676e+01] [ 8.18449797e-01 5.63867002e-03 5.74550376e-01 1.33169051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:-31.96, Z:133.19 [[ 3.17908269e-01 -8.37075911e-01 -4.45239544e-01 2.09947178e+02] [ 4.78750947e-01 5.47062608e-01 -6.86673164e-01 -3.19552541e+01] [ 8.18371470e-01 5.14022391e-03 5.74666612e-01 1.33191821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:-31.94, Z:133.21 [[ 3.17171320e-01 -8.37527804e-01 -4.44915197e-01 2.09956358e+02] [ 4.79190970e-01 5.46374751e-01 -6.86913856e-01 -3.19413255e+01] [ 8.18399883e-01 4.67002976e-03 5.74630162e-01 1.33214893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:-31.93, Z:133.24 [[ 3.16356531e-01 -8.38025384e-01 -4.44558209e-01 2.09965431e+02] [ 4.79791241e-01 5.45616045e-01 -6.87097880e-01 -3.19269084e+01] [ 8.18363556e-01 4.07276735e-03 5.74686438e-01 1.33237441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:-31.91, Z:133.26 [[ 3.15622466e-01 -8.38429428e-01 -4.44318076e-01 2.09974253e+02] [ 4.79975309e-01 5.44997508e-01 -6.87460121e-01 -3.19127318e+01] [ 8.18539041e-01 3.71615255e-03 5.74438882e-01 1.33259907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:-31.90, Z:133.28 [[ 3.14752043e-01 -8.38883726e-01 -4.44077971e-01 2.09982789e+02] [ 4.80230858e-01 5.44301034e-01 -6.87833343e-01 -3.18992472e+01] [ 8.18724297e-01 3.23700483e-03 5.74177714e-01 1.33281486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:-31.85, Z:133.28 [[ 3.13821637e-01 -8.59628958e-01 -4.03179903e-01 2.09984887e+02] [ 4.91691273e-01 5.10393510e-01 -7.05505604e-01 -3.18518095e+01] [ 8.12253453e-01 2.31628842e-02 5.82844583e-01 1.33281311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:-31.88, Z:133.33 [[ 3.09806348e-01 -8.30901595e-01 -4.62193213e-01 2.10003794e+02] [ 4.81434707e-01 5.56275029e-01 -6.77332057e-01 -3.18822886e+01] [ 8.19902829e-01 -1.26740833e-02 5.72362401e-01 1.33331463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:-31.82, Z:133.33 [[ 3.08418490e-01 -8.61388558e-01 -4.03593593e-01 2.10003671e+02] [ 4.92732684e-01 5.07586343e-01 -7.06803089e-01 -3.18243447e+01] [ 8.13690689e-01 1.91273872e-02 5.80983309e-01 1.33327067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:-31.86, Z:133.38 [[ 3.05692827e-01 -8.31449460e-01 -4.63943629e-01 2.10022186e+02] [ 4.83490832e-01 5.55325771e-01 -6.76646070e-01 -3.18570048e+01] [ 8.20236862e-01 -1.74666410e-02 5.71757296e-01 1.33377758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:-31.83, Z:133.39 [[ 3.04032828e-01 -8.42931366e-01 -4.43881462e-01 2.10027815e+02] [ 4.84912743e-01 5.37991859e-01 -6.89510255e-01 -3.18320761e+01] [ 8.20014434e-01 -5.61002471e-03 5.72315347e-01 1.33394946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:-31.78, Z:133.39 [[ 3.01289050e-01 -8.69694221e-01 -3.90969143e-01 2.10027090e+02] [ 5.01915989e-01 4.93269003e-01 -7.10468881e-01 -3.17763759e+01] [ 8.10743639e-01 1.78228304e-02 5.85129984e-01 1.33388543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:-31.82, Z:133.45 [[ 3.00252034e-01 -8.33932129e-01 -4.63039869e-01 2.10048472e+02] [ 4.88897644e-01 5.51370268e-01 -6.75995504e-01 -3.18176519e+01] [ 8.19040786e-01 -2.34100760e-02 5.73257498e-01 1.33446562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:-31.75, Z:133.44 [[ 2.99597643e-01 -8.68543857e-01 -3.94807321e-01 2.10045027e+02] [ 5.02339061e-01 4.95414822e-01 -7.08674553e-01 -3.17526164e+01] [ 8.11108328e-01 1.39900871e-02 5.84728618e-01 1.33435447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:-31.76, Z:133.47 [[ 3.01066889e-01 -8.51972235e-01 -4.28371380e-01 2.10061660e+02] [ 4.97126197e-01 5.23566384e-01 -6.91913134e-01 -3.17617730e+01] [ 8.13771634e-01 -4.64250015e-03 5.81166220e-01 1.33473581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:-31.77, Z:133.51 [[ 3.00659658e-01 -8.41147764e-01 -4.49526650e-01 2.10072929e+02] [ 4.87921234e-01 5.40642018e-01 -6.85302180e-01 -3.17673067e+01] [ 8.19473392e-01 -1.32908788e-02 5.72963099e-01 1.33510171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:-31.73, Z:133.51 [[ 3.02844051e-01 -8.56867289e-01 -4.17209696e-01 2.10076080e+02] [ 4.96541462e-01 5.15518882e-01 -6.98345802e-01 -3.17272564e+01] [ 8.13469150e-01 4.32795907e-03 5.81591963e-01 1.33513823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:-31.75, Z:133.56 [[ 3.06096411e-01 -8.33577883e-01 -4.59840082e-01 2.10090560e+02] [ 4.82235021e-01 5.52234853e-01 -6.80063271e-01 -3.17487970e+01] [ 8.20825421e-01 -1.35860651e-02 5.71017555e-01 1.33559879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:-31.73, Z:133.58 [[ 3.07866531e-01 -8.41346536e-01 -4.44245659e-01 2.10096078e+02] [ 4.80367490e-01 5.40495557e-01 -6.90732675e-01 -3.17262487e+01] [ 8.21258348e-01 -7.47699667e-04 5.70556015e-01 1.33577036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:-31.71, Z:133.60 [[ 3.09918265e-01 -8.40734314e-01 -4.43978019e-01 2.10104991e+02] [ 4.78772339e-01 5.41445465e-01 -6.91096126e-01 -3.17118524e+01] [ 8.21418113e-01 1.61891824e-03 5.70324173e-01 1.33599991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:-31.70, Z:133.62 [[ 3.11754166e-01 -8.40144733e-01 -4.43808706e-01 2.10113420e+02] [ 4.77024613e-01 5.42348241e-01 -6.91596634e-01 -3.16986433e+01] [ 8.21740140e-01 3.90045518e-03 5.69849040e-01 1.33622117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:-31.69, Z:133.65 [[ 3.15811707e-01 -8.38701660e-01 -4.43669349e-01 2.10122680e+02] [ 4.73680729e-01 5.44525717e-01 -6.92183726e-01 -3.16851564e+01] [ 8.22125010e-01 8.44210316e-03 5.69244410e-01 1.33645144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:-31.67, Z:133.67 [[ 3.17958000e-01 -8.38137987e-01 -4.43201337e-01 2.10131860e+02] [ 4.72690018e-01 5.45355330e-01 -6.92207852e-01 -3.16714687e+01] [ 8.21867907e-01 1.05961760e-02 5.69579551e-01 1.33668215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:-31.66, Z:133.69 [[ 3.19894703e-01 -8.37672574e-01 -4.42687292e-01 2.10140698e+02] [ 4.71962770e-01 5.46029899e-01 -6.92172300e-01 -3.16582510e+01] [ 8.21534249e-01 1.24903317e-02 5.70022341e-01 1.33690459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:-31.64, Z:133.71 [[ 3.21348665e-01 -8.37350434e-01 -4.42243469e-01 2.10149816e+02] [ 4.71266036e-01 5.46485877e-01 -6.92287158e-01 -3.16446011e+01] [ 8.21366762e-01 1.40512278e-02 5.70227327e-01 1.33713519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:-31.63, Z:133.74 [[ 3.24177509e-01 -8.36583469e-01 -4.41629984e-01 2.10159325e+02] [ 4.70272161e-01 5.47585650e-01 -6.92093961e-01 -3.16328033e+01] [ 8.20824608e-01 1.66750092e-02 5.70936868e-01 1.33735565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:-31.62, Z:133.76 [[ 3.25301285e-01 -8.36435228e-01 -4.41084100e-01 2.10168304e+02] [ 4.70118385e-01 5.47777900e-01 -6.92046296e-01 -3.16200821e+01] [ 8.20468024e-01 1.77618048e-02 5.71416433e-01 1.33757644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:-31.61, Z:133.78 [[ 3.26137156e-01 -8.36323505e-01 -4.40678511e-01 2.10177323e+02] [ 4.69717578e-01 5.47915161e-01 -6.92209776e-01 -3.16071196e+01] [ 8.20365743e-01 1.87608852e-02 5.71531344e-01 1.33780487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:-31.59, Z:133.80 [[ 3.28177687e-01 -8.35745149e-01 -4.40260664e-01 2.10187088e+02] [ 4.68632337e-01 5.48720415e-01 -6.92307474e-01 -3.15938661e+01] [ 8.20172627e-01 2.08794819e-02 5.71734999e-01 1.33803246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:-31.55, Z:133.80 [[ 3.29170728e-01 -8.55336837e-01 -4.00056904e-01 2.10187581e+02] [ 4.79663836e-01 5.16397566e-01 -7.09405496e-01 -3.15486794e+01] [ 8.13369065e-01 4.16226941e-02 5.80257111e-01 1.33803234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:-31.57, Z:133.85 [[ 3.29328086e-01 -8.30043079e-01 -4.50079435e-01 2.10207249e+02] [ 4.66705777e-01 5.57467965e-01 -6.86596814e-01 -3.15732239e+01] [ 8.20809801e-01 1.60609425e-02 5.70975758e-01 1.33852254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:-31.55, Z:133.87 [[ 3.29834673e-01 -8.35212128e-01 -4.40033850e-01 2.10214597e+02] [ 4.66133284e-01 5.49421043e-01 -6.93438014e-01 -3.15540913e+01] [ 8.20931696e-01 2.36054772e-02 5.70538283e-01 1.33871748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:-31.54, Z:133.89 [[ 3.30550027e-01 -8.34922980e-01 -4.40045790e-01 2.10225029e+02] [ 4.64449460e-01 5.49793574e-01 -6.94272084e-01 -3.15401116e+01] [ 8.21598064e-01 2.51126266e-02 5.69513807e-01 1.33894429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:-31.49, Z:133.89 [[ 3.30828798e-01 -8.58952803e-01 -3.90835501e-01 2.10223286e+02] [ 4.77594991e-01 5.09596949e-01 -7.15691256e-01 -3.14871494e+01] [ 8.13913589e-01 5.01102005e-02 5.78820903e-01 1.33887948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:-31.52, Z:133.94 [[ 3.29966844e-01 -8.28512588e-01 -4.52425433e-01 2.10245812e+02] [ 4.62156254e-01 5.59684816e-01 -6.87869540e-01 -3.15212575e+01] [ 8.23124218e-01 1.78828978e-02 5.67579706e-01 1.33943774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:-31.50, Z:133.96 [[ 3.29978618e-01 -8.34948173e-01 -4.40426679e-01 2.10253880e+02] [ 4.61959927e-01 5.49704270e-01 -6.96001611e-01 -3.15008172e+01] [ 8.23229699e-01 2.62061733e-02 5.67103252e-01 1.33963369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:-31.49, Z:133.99 [[ 3.29474637e-01 -8.35249322e-01 -4.40232931e-01 2.10263298e+02] [ 4.61823149e-01 5.49249097e-01 -6.96451583e-01 -3.14874380e+01] [ 8.23508253e-01 2.61533741e-02 5.66701120e-01 1.33986231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:-31.47, Z:134.01 [[ 3.28530859e-01 -8.35756522e-01 -4.39975580e-01 2.10272438e+02] [ 4.62181632e-01 5.48504436e-01 -6.96800562e-01 -3.14745151e+01] [ 8.23684171e-01 2.55718559e-02 5.66471947e-01 1.34007874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:-31.41, Z:133.99 [[ 3.26500719e-01 -8.70365893e-01 -3.68592584e-01 2.10266483e+02] [ 4.84005937e-01 4.88911596e-01 -7.25743553e-01 -3.14069615e+01] [ 8.11871624e-01 5.85547925e-02 5.80892247e-01 1.33989173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:-31.46, Z:134.06 [[ 3.25453020e-01 -8.29048584e-01 -4.54707354e-01 2.10295505e+02] [ 4.63087702e-01 5.59019048e-01 -6.87784475e-01 -3.14607664e+01] [ 8.24396817e-01 1.32721505e-02 5.65856641e-01 1.34058647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:-31.37, Z:134.03 [[ 3.24032989e-01 -8.76500056e-01 -3.56020048e-01 2.10282516e+02] [ 4.87552933e-01 4.77217596e-01 -7.31133028e-01 -3.13742535e+01] [ 8.10737171e-01 6.33326014e-02 5.81974417e-01 1.34029283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:-31.37, Z:134.06 [[ 3.23154980e-01 -8.68606978e-01 -3.75623184e-01 2.10297239e+02] [ 4.86604172e-01 4.92941922e-01 -7.21265999e-01 -3.13726052e+01] [ 8.11657094e-01 5.03008910e-02 5.81964417e-01 1.34058101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:-31.36, Z:134.08 [[ 3.22417044e-01 -8.68519092e-01 -3.76459609e-01 2.10308303e+02] [ 4.85966058e-01 4.93158401e-01 -7.21548184e-01 -3.13607472e+01] [ 8.12332592e-01 4.96928405e-02 5.81073474e-01 1.34082369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:-31.35, Z:134.10 [[ 3.22137114e-01 -8.67568100e-01 -3.78884246e-01 2.10317902e+02] [ 4.87773008e-01 4.95111179e-01 -7.18987074e-01 -3.13495381e+01] [ 8.11360076e-01 4.68029122e-02 5.82669988e-01 1.34104846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:-31.41, Z:134.18 [[ 3.22068972e-01 -8.24142481e-01 -4.65897787e-01 2.10345258e+02] [ 4.62782396e-01 5.66368218e-01 -6.81952708e-01 -3.14086633e+01] [ 8.25895896e-01 4.02651310e-03 5.63808262e-01 1.34178691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:-31.38, Z:134.19 [[ 3.22942958e-01 -8.37023915e-01 -4.41699911e-01 2.10350318e+02] [ 4.63309696e-01 5.46779184e-01 -6.97407090e-01 -3.13813345e+01] [ 8.25258730e-01 2.05788573e-02 5.64379783e-01 1.34193723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:210.34, Y:-31.31, Z:134.17 [[ 3.21398675e-01 -8.70292434e-01 -3.73221075e-01 2.10343267e+02] [ 4.85196058e-01 4.89812703e-01 -7.24339908e-01 -3.13099453e+01] [ 8.13195965e-01 5.17164925e-02 5.79687612e-01 1.34173017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:210.37, Y:-31.35, Z:134.23 [[ 3.20556536e-01 -8.36957099e-01 -4.43560957e-01 2.10366689e+02] [ 4.73833608e-01 5.47157743e-01 -6.90000084e-01 -3.13454767e+01] [ 8.20198280e-01 1.10099484e-02 5.71973393e-01 1.34227427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:-31.33, Z:134.25 [[ 3.20901366e-01 -8.38773387e-01 -4.39865341e-01 2.10373849e+02] [ 4.74276880e-01 5.44315096e-01 -6.91941123e-01 -3.13307493e+01] [ 8.19807145e-01 1.34268901e-02 5.72482283e-01 1.34246479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:-31.24, Z:134.21 [[ 3.17367844e-01 -8.85581401e-01 -3.39150755e-01 2.10357466e+02] [ 5.00307223e-01 4.60179676e-01 -7.33435306e-01 -3.12408776e+01] [ 8.05586950e-01 6.30892097e-02 5.89109003e-01 1.34212761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:-31.31, Z:134.29 [[ 3.16638315e-01 -8.35043610e-01 -4.49935937e-01 2.10392365e+02] [ 4.73299252e-01 5.50162074e-01 -6.87974934e-01 -3.13111775e+01] [ 8.22026761e-01 4.88488157e-03 5.69427908e-01 1.34294190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:-31.22, Z:134.26 [[ 3.12858315e-01 -8.86281863e-01 -3.41502760e-01 2.10375039e+02] [ 4.99397285e-01 4.59337537e-01 -7.34582452e-01 -3.12166443e+01] [ 8.07912141e-01 5.92746768e-02 5.86314323e-01 1.34259300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:-31.29, Z:134.34 [[ 3.11275424e-01 -8.36373218e-01 -4.51206661e-01 2.10410041e+02] [ 4.74302540e-01 5.48160251e-01 -6.88881296e-01 -3.12868830e+01] [ 8.23495423e-01 4.23352037e-04 5.67322756e-01 1.34339915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:-31.24, Z:134.34 [[ 3.03239330e-01 -8.62702602e-01 -4.04709932e-01 2.10408556e+02] [ 4.88928412e-01 5.05400750e-01 -7.10998657e-01 -3.12395137e+01] [ 8.17921094e-01 1.77285724e-02 5.75057198e-01 1.34338327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:-31.22, Z:134.36 [[ 3.03212543e-01 -8.63355873e-01 -4.03334589e-01 2.10416891e+02] [ 4.88547910e-01 5.04242793e-01 -7.12081558e-01 -3.12247223e+01] [ 8.18158355e-01 1.88637896e-02 5.74683446e-01 1.34361346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:-31.21, Z:134.39 [[ 2.98121945e-01 -8.64098744e-01 -4.05532572e-01 2.10426196e+02] [ 4.91307600e-01 5.03161882e-01 -7.10946526e-01 -3.12134025e+01] [ 8.18376532e-01 1.27075268e-02 5.74541879e-01 1.34385428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:-31.20, Z:134.41 [[ 2.93082615e-01 -8.66234366e-01 -4.04648742e-01 2.10435818e+02] [ 4.94507961e-01 4.99568005e-01 -7.11262036e-01 -3.11999422e+01] [ 8.18269184e-01 8.35651322e-03 5.74774487e-01 1.34409425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:-31.18, Z:134.43 [[ 2.87694340e-01 -8.72404387e-01 -3.95148772e-01 2.10443900e+02] [ 5.00809695e-01 4.88725273e-01 -7.14378931e-01 -3.11798400e+01] [ 8.16346505e-01 7.62843942e-03 5.77512070e-01 1.34427467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:-31.17, Z:134.45 [[ 2.75737933e-01 -8.76105241e-01 -3.95484765e-01 2.10455123e+02] [ 5.11281344e-01 4.82082261e-01 -7.11468960e-01 -3.11672521e+01] [ 8.13977874e-01 -6.02500134e-03 5.80864631e-01 1.34450232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:-31.19, Z:134.50 [[ 2.71171912e-01 -8.58413104e-01 -4.35422481e-01 2.10473806e+02] [ 5.04015833e-01 5.12030749e-01 -6.95551977e-01 -3.11895526e+01] [ 8.20020630e-01 -3.08456652e-02 5.71502153e-01 1.34499593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:-31.10, Z:134.47 [[ 2.61504341e-01 -9.03702489e-01 -3.39024027e-01 2.10461079e+02] [ 5.29740781e-01 4.27995772e-01 -7.32252910e-01 -3.11003472e+01] [ 8.06839627e-01 1.18924617e-02 5.90650815e-01 1.34468593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:-31.12, Z:134.51 [[ 2.54651500e-01 -8.87714965e-01 -3.83555412e-01 2.10482139e+02] [ 5.30358544e-01 4.59864825e-01 -7.12210754e-01 -3.11175100e+01] [ 8.08623787e-01 -2.20563532e-02 5.87912484e-01 1.34510269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:-31.11, Z:134.54 [[ 2.51382504e-01 -8.82712514e-01 -3.97020723e-01 2.10493808e+02] [ 5.28904672e-01 4.68812497e-01 -7.07442359e-01 -3.11148922e+01] [ 8.10596500e-01 -3.21474838e-02 5.84722032e-01 1.34541040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:-31.11, Z:134.57 [[ 2.49462522e-01 -8.78425784e-01 -4.07598568e-01 2.10504822e+02] [ 5.26811649e-01 4.76276242e-01 -7.04010247e-01 -3.11119360e+01] [ 8.12550267e-01 -3.91035019e-02 5.81578008e-01 1.34571622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:-31.09, Z:134.59 [[ 2.46432015e-01 -8.84632731e-01 -3.95848701e-01 2.10510486e+02] [ 5.29537030e-01 4.64989875e-01 -7.09489218e-01 -3.10888542e+01] [ 8.11703022e-01 -3.47756881e-02 5.83034180e-01 1.34588727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:-31.09, Z:134.62 [[ 2.44726634e-01 -8.74951836e-01 -4.17813547e-01 2.10522328e+02] [ 5.26008535e-01 4.81799190e-01 -7.00845604e-01 -3.10920098e+01] [ 8.14508377e-01 -4.82579063e-02 5.78141228e-01 1.34623391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:-31.07, Z:134.65 [[ 2.43851097e-01 -8.77278233e-01 -4.13424171e-01 2.10529562e+02] [ 5.24633220e-01 4.77859840e-01 -7.04563665e-01 -3.10744236e+01] [ 8.15657175e-01 -4.50874310e-02 5.76775950e-01 1.34645307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:-31.09, Z:134.69 [[ 2.44424218e-01 -8.62114778e-01 -4.43863617e-01 2.10540951e+02] [ 5.16018855e-01 5.03194753e-01 -6.93195198e-01 -3.10872816e+01] [ 8.20963667e-01 -5.96083013e-02 5.67860465e-01 1.34686505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:-31.01, Z:134.67 [[ 2.46184156e-01 -8.94666388e-01 -3.72780654e-01 2.10534303e+02] [ 5.27382357e-01 4.46346607e-01 -7.22940216e-01 -3.10147805e+01] [ 8.13179692e-01 -1.86215125e-02 5.81714731e-01 1.34671802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:-31.01, Z:134.70 [[ 2.50114239e-01 -8.84252369e-01 -3.94386378e-01 2.10546251e+02] [ 5.25570758e-01 4.66091297e-01 -7.11712218e-01 -3.10115824e+01] [ 8.13153273e-01 -2.92685873e-02 5.81313258e-01 1.34702562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:-31.01, Z:134.73 [[ 2.58028222e-01 -8.74052867e-01 -4.11646720e-01 2.10552571e+02] [ 5.18628827e-01 4.84790983e-01 -7.04273983e-01 -3.10084976e+01] [ 8.15135312e-01 -3.17692915e-02 5.78398768e-01 1.34732524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:-30.99, Z:134.76 [[ 2.61868509e-01 -8.75328804e-01 -4.06478004e-01 2.10557705e+02] [ 5.15809555e-01 4.82914133e-01 -7.07625920e-01 -3.09898384e+01] [ 8.15699324e-01 -2.43602942e-02 5.77962966e-01 1.34755058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:-31.02, Z:134.80 [[ 2.65490126e-01 -8.50855460e-01 -4.53387229e-01 2.10569576e+02] [ 5.01905119e-01 5.23489420e-01 -6.88512948e-01 -3.10159542e+01] [ 8.23168418e-01 -4.47639815e-02 5.66029983e-01 1.34804671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:-30.96, Z:134.80 [[ 2.68645794e-01 -8.75677374e-01 -4.01271198e-01 2.10567993e+02] [ 5.08229002e-01 4.82738988e-01 -7.13208491e-01 -3.09616722e+01] [ 8.18249790e-01 -1.23371989e-02 5.74730436e-01 1.34803902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:-30.95, Z:134.83 [[ 2.71470173e-01 -8.71421062e-01 -4.08569795e-01 2.10575080e+02] [ 5.08668917e-01 4.90284448e-01 -7.07726708e-01 -3.09496636e+01] [ 8.17043376e-01 -1.57000630e-02 5.76362412e-01 1.34827335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:-30.93, Z:134.85 [[ 2.76042136e-01 -8.71327677e-01 -4.05695476e-01 2.10577618e+02] [ 5.07169273e-01 4.90596497e-01 -7.08586202e-01 -3.09315382e+01] [ 8.16443548e-01 -1.01566306e-02 5.77335929e-01 1.34848671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:-30.95, Z:134.90 [[ 2.77874328e-01 -8.50586057e-01 -4.46418209e-01 2.10589799e+02] [ 4.94855671e-01 5.25062389e-01 -6.92406927e-01 -3.09515391e+01] [ 8.23349089e-01 -2.85104727e-02 5.66818693e-01 1.34896027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:-30.93, Z:134.91 [[ 2.79220164e-01 -8.58202409e-01 -4.30725811e-01 2.10592840e+02] [ 4.94040150e-01 5.13036423e-01 -7.01938715e-01 -3.09271857e+01] [ 8.23383526e-01 -1.68004009e-02 5.67236561e-01 1.34914048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:-30.89, Z:134.93 [[ 2.80004718e-01 -8.67699812e-01 -4.10724231e-01 2.10593724e+02] [ 4.99329944e-01 4.97047621e-01 -7.09657150e-01 -3.08928488e+01] [ 8.19918877e-01 -6.37955709e-03 5.72444177e-01 1.34925632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.60, Y:-30.88, Z:134.95 [[ 2.79524383e-01 -8.63491395e-01 -4.19819878e-01 2.10601368e+02] [ 4.99130237e-01 5.04207266e-01 -7.04729764e-01 -3.08833749e+01] [ 8.20204320e-01 -1.25556427e-02 5.71932889e-01 1.34951512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:-30.88, Z:134.99 [[ 2.79182173e-01 -8.55383113e-01 -4.36322180e-01 2.10610563e+02] [ 4.92788948e-01 5.17619573e-01 -6.99449091e-01 -3.08834732e+01] [ 8.24145841e-01 -1.97410306e-02 5.66033502e-01 1.34985094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:-30.84, Z:134.99 [[ 2.77377364e-01 -8.75109799e-01 -3.96540839e-01 2.10609499e+02] [ 5.02987073e-01 4.83923719e-01 -7.16115800e-01 -3.08373191e+01] [ 8.18575472e-01 -8.20603082e-04 5.74398402e-01 1.34986731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:-30.84, Z:135.02 [[ 2.75507909e-01 -8.64613292e-01 -4.20165737e-01 2.10619234e+02] [ 5.00087258e-01 5.02190952e-01 -7.05490597e-01 -3.08377040e+01] [ 8.20979979e-01 -1.57512919e-02 5.70739669e-01 1.35017598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:-30.80, Z:135.03 [[ 2.73443889e-01 -8.77496288e-01 -3.93990742e-01 2.10621407e+02] [ 5.03359946e-01 4.79580142e-01 -7.18770932e-01 -3.08041734e+01] [ 8.19668960e-01 -1.77563952e-03 5.72834743e-01 1.35030985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:-30.82, Z:135.07 [[ 2.72151226e-01 -8.59994069e-01 -4.31675702e-01 2.10635927e+02] [ 4.96959922e-01 5.09767025e-01 -7.02259508e-01 -3.08166508e+01] [ 8.23993050e-01 -2.34047374e-02 5.66116306e-01 1.35071019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:-30.81, Z:135.10 [[ 2.71501462e-01 -8.57869887e-01 -4.36286847e-01 2.10643561e+02] [ 4.92055276e-01 5.13316570e-01 -7.03127090e-01 -3.08095668e+01] [ 8.27144825e-01 -2.37772116e-02 5.61485603e-01 1.35099380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:-30.79, Z:135.12 [[ 2.69950761e-01 -8.63857703e-01 -4.25295727e-01 2.10648267e+02] [ 4.95358551e-01 5.03356363e-01 -7.07991722e-01 -3.07857630e+01] [ 8.25679413e-01 -1.95509706e-02 5.63800733e-01 1.35116731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:-30.78, Z:135.14 [[ 2.69642330e-01 -8.59983371e-01 -4.33268525e-01 2.10656699e+02] [ 4.92120908e-01 5.09805634e-01 -7.05631085e-01 -3.07791974e+01] [ 8.27713734e-01 -2.29524900e-02 5.60680977e-01 1.35144695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:-30.76, Z:135.17 [[ 2.69362964e-01 -8.61004321e-01 -4.31410655e-01 2.10663759e+02] [ 4.92461608e-01 5.08116462e-01 -7.06611085e-01 -3.07642370e+01] [ 8.27602053e-01 -2.21183288e-02 5.60879328e-01 1.35167071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:-30.75, Z:135.19 [[ 2.70022559e-01 -8.61108798e-01 -4.30789340e-01 2.10670357e+02] [ 4.92937697e-01 5.07961227e-01 -7.06390699e-01 -3.07501422e+01] [ 8.27103527e-01 -2.16108810e-02 5.61633978e-01 1.35188764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:-30.74, Z:135.21 [[ 2.70460689e-01 -8.61160317e-01 -4.30411344e-01 2.10677808e+02] [ 4.92681397e-01 5.07901785e-01 -7.06612212e-01 -3.07359903e+01] [ 8.27113086e-01 -2.09448367e-02 5.61645134e-01 1.35211649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:-30.71, Z:135.23 [[ 2.71554818e-01 -8.70340482e-01 -4.10810694e-01 2.10683388e+02] [ 4.97187792e-01 4.92343875e-01 -7.14424110e-01 -3.07054654e+01] [ 8.24052353e-01 -1.02447529e-02 5.66421014e-01 1.35225322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:-30.71, Z:135.26 [[ 2.72395949e-01 -8.55084718e-01 -4.41169550e-01 2.10694382e+02] [ 4.91821443e-01 5.17820617e-01 -6.99981055e-01 -3.07137328e+01] [ 8.26989792e-01 -2.63046413e-02 5.61601238e-01 1.35260160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:-30.67, Z:135.26 [[ 2.74438949e-01 -8.75289843e-01 -3.98184574e-01 2.10693094e+02] [ 4.99922367e-01 4.83595025e-01 -7.18479978e-01 -3.06689309e+01] [ 8.21438306e-01 -1.88248482e-03 5.70294280e-01 1.35258987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:-30.65, Z:135.28 [[ 2.75068044e-01 -8.79869472e-01 -3.87514236e-01 2.10699738e+02] [ 5.01224942e-01 4.75192319e-01 -7.23163756e-01 -3.06459163e+01] [ 8.20433500e-01 4.68743920e-03 5.71722747e-01 1.35278505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:-30.68, Z:135.33 [[ 2.76254158e-01 -8.47802187e-01 -4.52675483e-01 2.10717772e+02] [ 4.90028153e-01 5.29433956e-01 -6.92511441e-01 -3.06799833e+01] [ 8.26774485e-01 -3.05145656e-02 5.61705272e-01 1.35329126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:-30.65, Z:135.35 [[ 2.76557693e-01 -8.59701396e-01 -4.29452386e-01 2.10720632e+02] [ 4.89260727e-01 5.10588997e-01 -7.07052203e-01 -3.06537010e+01] [ 8.27127429e-01 -1.45734607e-02 5.61825445e-01 1.35345330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:-30.64, Z:135.37 [[ 2.76560271e-01 -8.59813260e-01 -4.29226717e-01 2.10728429e+02] [ 4.89130865e-01 5.10407091e-01 -7.07273355e-01 -3.06396364e+01] [ 8.27203369e-01 -1.43443244e-02 5.61719527e-01 1.35368421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:-30.63, Z:135.39 [[ 2.75494989e-01 -8.60187747e-01 -4.29161451e-01 2.10735784e+02] [ 4.88792273e-01 5.09764760e-01 -7.07970341e-01 -3.06257282e+01] [ 8.27758796e-01 -1.47285201e-02 5.60890761e-01 1.35390084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:-30.58, Z:135.39 [[ 2.74954299e-01 -8.79987363e-01 -3.87327217e-01 2.10736080e+02] [ 5.00441273e-01 4.74968718e-01 -7.23853058e-01 -3.05777568e+01] [ 8.20949856e-01 5.19198475e-03 5.70976687e-01 1.35390364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:-30.60, Z:135.44 [[ 2.73393495e-01 -8.56635402e-01 -4.37529181e-01 2.10753482e+02] [ 4.90657813e-01 5.15426951e-01 -7.02559584e-01 -3.06008038e+01] [ 8.27351743e-01 -2.26018914e-02 5.61229229e-01 1.35435475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:-30.56, Z:135.44 [[ 2.72936978e-01 -8.75910959e-01 -3.97850975e-01 2.10754484e+02] [ 4.99799416e-01 4.82466231e-01 -7.19323904e-01 -3.05565659e+01] [ 8.22013351e-01 -2.51559205e-03 5.69462661e-01 1.35440329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:-30.58, Z:135.49 [[ 2.70277855e-01 -8.54091565e-01 -4.44384382e-01 2.10770223e+02] [ 4.91134332e-01 5.19300740e-01 -6.99366721e-01 -3.05787958e+01] [ 8.28092356e-01 -2.92290895e-02 5.59829180e-01 1.35485482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:-30.56, Z:135.50 [[ 2.68769901e-01 -8.62857262e-01 -4.28065516e-01 2.10774719e+02] [ 4.91655556e-01 5.05059449e-01 -7.09358701e-01 -3.05569274e+01] [ 8.28273841e-01 -1.98065216e-02 5.59973345e-01 1.35503843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:-30.54, Z:135.53 [[ 2.67188069e-01 -8.63556834e-01 -4.27644864e-01 2.10782435e+02] [ 4.92699902e-01 5.03808847e-01 -7.09523398e-01 -3.05434836e+01] [ 8.28165046e-01 -2.11243961e-02 5.60086080e-01 1.35526653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:-30.50, Z:135.53 [[ 2.66232569e-01 -8.82784067e-01 -3.87056212e-01 2.10783177e+02] [ 5.03830278e-01 4.69774635e-01 -7.24890918e-01 -3.04976172e+01] [ 8.21751343e-01 -2.02106758e-03 5.69842650e-01 1.35528774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:-30.53, Z:135.58 [[ 2.63750134e-01 -8.56062265e-01 -4.44514639e-01 2.10800535e+02] [ 4.96476482e-01 5.15582168e-01 -6.98345280e-01 -3.05259986e+01] [ 8.27010864e-01 -3.65024028e-02 5.60999648e-01 1.35577235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:-30.50, Z:135.60 [[ 2.62652752e-01 -8.65666428e-01 -4.26186774e-01 2.10804371e+02] [ 4.97099039e-01 4.99966740e-01 -7.09172620e-01 -3.05020474e+01] [ 8.26986141e-01 -2.55908958e-02 5.61639590e-01 1.35595557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:-30.49, Z:135.62 [[ 2.61602540e-01 -8.66205954e-01 -4.25736252e-01 2.10811197e+02] [ 4.98001102e-01 4.98985001e-01 -7.09231183e-01 -3.04883666e+01] [ 8.26776278e-01 -2.64804439e-02 5.61907263e-01 1.35617975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:-30.45, Z:135.63 [[ 2.59503058e-01 -8.77057786e-01 -4.04262047e-01 2.10813972e+02] [ 5.05212856e-01 4.80042532e-01 -7.17160469e-01 -3.04547424e+01] [ 8.23054150e-01 -1.81330490e-02 5.67673374e-01 1.35629748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:-30.46, Z:135.67 [[ 2.59276406e-01 -8.62939319e-01 -4.33718201e-01 2.10825976e+02] [ 5.00152444e-01 5.04136615e-01 -7.04055258e-01 -3.04631907e+01] [ 8.26210190e-01 -3.43803011e-02 5.62311939e-01 1.35666053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:-30.41, Z:135.67 [[ 2.57991572e-01 -8.85286479e-01 -3.86921437e-01 2.10823734e+02] [ 5.09744508e-01 4.64928060e-01 -7.23880125e-01 -3.04142866e+01] [ 8.20731921e-01 -1.04761059e-02 5.71217442e-01 1.35666878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-30.44, Z:135.71 [[ 2.57968601e-01 -8.60476516e-01 -4.39354488e-01 2.10839206e+02] [ 5.01603349e-01 5.07938564e-01 -7.00280298e-01 -3.04376384e+01] [ 8.25739839e-01 -3.97313536e-02 5.62650103e-01 1.35712889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-30.41, Z:135.73 [[ 2.55988887e-01 -8.71150446e-01 -4.19006672e-01 2.10841613e+02] [ 5.03757708e-01 4.90159729e-01 -7.11316816e-01 -3.04101372e+01] [ 8.25044157e-01 -2.89886406e-02 5.64324195e-01 1.35728883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:-30.40, Z:135.75 [[ 2.55576197e-01 -8.68874968e-01 -4.23954122e-01 2.10848862e+02] [ 5.02264288e-01 4.94024850e-01 -7.09697142e-01 -3.04008100e+01] [ 8.26081953e-01 -3.15553191e-02 5.62665859e-01 1.35754693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:-30.39, Z:135.78 [[ 2.53926663e-01 -8.69666296e-01 -4.23322316e-01 2.10855285e+02] [ 5.02888351e-01 4.92567227e-01 -7.10268142e-01 -3.03859203e+01] [ 8.26210964e-01 -3.25278421e-02 5.62421002e-01 1.35777765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:-30.37, Z:135.80 [[ 2.49959507e-01 -8.70940779e-01 -4.23063122e-01 2.10860365e+02] [ 5.04811705e-01 4.90072015e-01 -7.10629695e-01 -3.03699888e+01] [ 8.26247776e-01 -3.59385676e-02 5.62159259e-01 1.35800824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:-30.36, Z:135.82 [[ 2.49718396e-01 -8.71185740e-01 -4.22700993e-01 2.10868510e+02] [ 5.04929990e-01 4.89637542e-01 -7.10845118e-01 -3.03558566e+01] [ 8.26248406e-01 -3.59233051e-02 5.62159309e-01 1.35824295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:-30.34, Z:135.85 [[ 2.47273417e-01 -8.72051974e-01 -4.22351999e-01 2.10874742e+02] [ 5.06316768e-01 4.87933858e-01 -7.11030155e-01 -3.03413794e+01] [ 8.26135091e-01 -3.80250435e-02 5.62187609e-01 1.35846623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:-30.33, Z:135.87 [[ 2.44829768e-01 -8.72931735e-01 -4.21958021e-01 2.10881080e+02] [ 5.07701969e-01 4.86191731e-01 -7.11235764e-01 -3.03267968e+01] [ 8.26012770e-01 -4.00972308e-02 5.62223369e-01 1.35869707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:-30.31, Z:135.89 [[ 2.40145060e-01 -8.74436099e-01 -4.21535123e-01 2.10884729e+02] [ 5.10493768e-01 4.83107773e-01 -7.11338874e-01 -3.03113161e+01] [ 8.25667284e-01 -4.43665368e-02 5.62410124e-01 1.35891636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:-30.29, Z:135.91 [[ 2.36953741e-01 -8.78531918e-01 -4.14770532e-01 2.10887958e+02] [ 5.15301618e-01 4.75578474e-01 -7.12944148e-01 -3.02899191e+01] [ 8.23600126e-01 -4.47971433e-02 5.65399017e-01 1.35909560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:-30.28, Z:135.94 [[ 2.36348623e-01 -8.77778547e-01 -4.16706312e-01 2.10894947e+02] [ 5.13293810e-01 4.76923889e-01 -7.13493566e-01 -3.02787589e+01] [ 8.25026541e-01 -4.52595493e-02 5.63278599e-01 1.35936528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:-30.27, Z:135.96 [[ 2.34758694e-01 -8.76523834e-01 -4.20231274e-01 2.10900730e+02] [ 5.14822760e-01 4.78816581e-01 -7.11120389e-01 -3.02656303e+01] [ 8.24527672e-01 -4.94029302e-02 5.63660775e-01 1.35959437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:-30.25, Z:135.98 [[ 2.33054084e-01 -8.77139288e-01 -4.19895777e-01 2.10902876e+02] [ 5.15592793e-01 4.77552528e-01 -7.11412436e-01 -3.02487419e+01] [ 8.24530088e-01 -5.06976631e-02 5.63542262e-01 1.35981131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:-30.23, Z:136.00 [[ 2.32762899e-01 -8.77344032e-01 -4.19629460e-01 2.10908007e+02] [ 5.15382497e-01 4.77188032e-01 -7.11809290e-01 -3.02333041e+01] [ 8.24743788e-01 -5.05868849e-02 5.63239427e-01 1.36003739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:-30.22, Z:136.03 [[ 2.32790108e-01 -8.77497892e-01 -4.19292518e-01 2.10912774e+02] [ 5.15270892e-01 4.76936540e-01 -7.12058596e-01 -3.02172924e+01] [ 8.24805840e-01 -5.02890322e-02 5.63175230e-01 1.36026817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:-30.20, Z:136.05 [[ 2.33361008e-01 -8.77477514e-01 -4.19017724e-01 2.10917025e+02] [ 5.14638566e-01 4.77067981e-01 -7.12427743e-01 -3.02017510e+01] [ 8.25039264e-01 -4.93898245e-02 5.62912834e-01 1.36048831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:-30.18, Z:136.07 [[ 2.34939852e-01 -8.77155615e-01 -4.18809375e-01 2.10917718e+02] [ 5.13570247e-01 4.77836251e-01 -7.12683744e-01 -3.01833065e+01] [ 8.25256849e-01 -4.76502203e-02 5.62743804e-01 1.36071371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:-30.17, Z:136.09 [[ 2.35523500e-01 -8.77202133e-01 -4.18383913e-01 2.10921458e+02] [ 5.13448362e-01 4.77820989e-01 -7.12781792e-01 -3.01673945e+01] [ 8.25166323e-01 -4.69416729e-02 5.62936070e-01 1.36093248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:-30.15, Z:136.12 [[ 2.36604583e-01 -8.77010504e-01 -4.18175618e-01 2.10921386e+02] [ 5.12274226e-01 4.78316523e-01 -7.13294063e-01 -3.01487741e+01] [ 8.25586693e-01 -4.54519465e-02 5.62441759e-01 1.36115094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:-30.13, Z:136.14 [[ 2.37172172e-01 -8.76999603e-01 -4.17876845e-01 2.10925646e+02] [ 5.12077494e-01 4.78398815e-01 -7.13380133e-01 -3.01327742e+01] [ 8.25545880e-01 -4.47914120e-02 5.62554645e-01 1.36138276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:-30.12, Z:136.16 [[ 2.37732592e-01 -8.77048235e-01 -4.17456116e-01 2.10929908e+02] [ 5.11961486e-01 4.78373534e-01 -7.13480343e-01 -3.01164112e+01] [ 8.25456632e-01 -4.41039218e-02 5.62739898e-01 1.36161428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:-30.10, Z:136.18 [[ 2.38188961e-01 -8.77089038e-01 -4.17110104e-01 2.10934142e+02] [ 5.11649853e-01 4.78361648e-01 -7.13711820e-01 -3.01000105e+01] [ 8.25518290e-01 -4.34160464e-02 5.62702941e-01 1.36184674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:-30.08, Z:136.21 [[ 2.39036702e-01 -8.76972092e-01 -4.16870969e-01 2.10934954e+02] [ 5.10780198e-01 4.78682246e-01 -7.14119666e-01 -3.00825685e+01] [ 8.25811749e-01 -4.22286257e-02 5.62362604e-01 1.36206621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:-30.07, Z:136.23 [[ 2.38601828e-01 -8.77156396e-01 -4.16732318e-01 2.10939397e+02] [ 5.10598741e-01 4.78337539e-01 -7.14480317e-01 -3.00664238e+01] [ 8.26049692e-01 -4.23066874e-02 5.62007163e-01 1.36229519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:-30.05, Z:136.25 [[ 2.37942238e-01 -8.77442537e-01 -4.16507006e-01 2.10943334e+02] [ 5.10510841e-01 4.77793098e-01 -7.14907292e-01 -3.00508666e+01] [ 8.26294241e-01 -4.25247008e-02 5.61631086e-01 1.36251476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:-30.05, Z:136.28 [[ 2.34478822e-01 -8.68937123e-01 -4.35853139e-01 2.10948947e+02] [ 5.08290431e-01 4.91770132e-01 -7.06967450e-01 -3.00483046e+01] [ 8.28649817e-01 -5.57710850e-02 5.56982106e-01 1.36281251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:-30.02, Z:136.30 [[ 2.32297556e-01 -8.79261538e-01 -4.15856938e-01 2.10945377e+02] [ 5.08794200e-01 4.74238996e-01 -7.18488578e-01 -3.00218140e+01] [ 8.28954949e-01 -4.46824574e-02 5.57527730e-01 1.36302282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:-29.99, Z:136.32 [[ 2.32718529e-01 -8.88163385e-01 -3.96242207e-01 2.10947480e+02] [ 5.12940295e-01 4.58244227e-01 -7.25881865e-01 -2.99931717e+01] [ 8.26277399e-01 -3.43224348e-02 5.62216712e-01 1.36318171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:-29.98, Z:136.34 [[ 2.29348992e-01 -8.80595274e-01 -4.14669752e-01 2.10952994e+02] [ 5.16599363e-01 4.71196892e-01 -7.14911594e-01 -2.99838115e+01] [ 8.24938869e-01 -5.02538762e-02 5.62983490e-01 1.36343708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:-29.97, Z:136.37 [[ 2.26958464e-01 -8.81297794e-01 -4.14492525e-01 2.10957395e+02] [ 5.17563959e-01 4.69669261e-01 -7.15219080e-01 -2.99677876e+01] [ 8.24995396e-01 -5.22013683e-02 5.62723390e-01 1.36367200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:-29.95, Z:136.39 [[ 2.25023824e-01 -8.81970192e-01 -4.14116963e-01 2.10961718e+02] [ 5.18625885e-01 4.68225542e-01 -7.15396417e-01 -2.99515503e+01] [ 8.24858455e-01 -5.37905391e-02 5.62774473e-01 1.36390608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:-29.99, Z:136.45 [[ 2.14734906e-01 -8.39536669e-01 -4.99066229e-01 2.10972262e+02] [ 5.06147049e-01 5.32672649e-01 -6.78288297e-01 -2.99898665e+01] [ 8.35286828e-01 -1.06948725e-01 5.39312419e-01 1.36447963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:-29.89, Z:136.43 [[ 2.17525465e-01 -9.14619903e-01 -3.40812420e-01 2.10944034e+02] [ 5.16615930e-01 4.04140406e-01 -7.54836746e-01 -2.98878305e+01] [ 8.28124781e-01 -1.18729112e-02 5.60418041e-01 1.36427759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:-29.90, Z:136.46 [[ 2.17742209e-01 -8.84165641e-01 -4.13327291e-01 2.10969309e+02] [ 5.21681688e-01 4.63350266e-01 -7.16348202e-01 -2.99006211e+01] [ 8.24885778e-01 -5.96460392e-02 5.62143935e-01 1.36460460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:-29.88, Z:136.48 [[ 2.16250589e-01 -8.84621377e-01 -4.13135209e-01 2.10972775e+02] [ 5.21857053e-01 4.62358710e-01 -7.16860962e-01 -2.98847921e+01] [ 8.25167195e-01 -6.05759172e-02 5.61631249e-01 1.36483571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:-29.87, Z:136.51 [[ 2.14375244e-01 -8.87246457e-01 -4.08456826e-01 2.10974695e+02] [ 5.20795696e-01 4.57605939e-01 -7.20672358e-01 -2.98665584e+01] [ 8.26326266e-01 -5.82282438e-02 5.60173521e-01 1.36505302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-29.85, Z:136.53 [[ 2.13248087e-01 -8.84830281e-01 -4.14247061e-01 2.10975504e+02] [ 5.21621036e-01 4.61624454e-01 -7.17505650e-01 -2.98500815e+01] [ 8.26097299e-01 -6.30732739e-02 5.59986620e-01 1.36528992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-29.83, Z:136.55 [[ 2.12639458e-01 -8.83880330e-01 -4.16581352e-01 2.10979559e+02] [ 5.22605311e-01 4.63104959e-01 -7.15833420e-01 -2.98347578e+01] [ 8.25631970e-01 -6.54931961e-02 5.60394943e-01 1.36552795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-29.81, Z:136.57 [[ 2.10848372e-01 -8.86396929e-01 -4.12120672e-01 2.10976841e+02] [ 5.22883997e-01 4.58483997e-01 -7.18599158e-01 -2.98145363e+01] [ 8.25914820e-01 -6.39758420e-02 5.60153374e-01 1.36574788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-29.80, Z:136.60 [[ 2.09376905e-01 -8.89358623e-01 -4.06451168e-01 2.10978083e+02] [ 5.21966124e-01 4.53143066e-01 -7.22642877e-01 -2.97961027e+01] [ 8.26869202e-01 -6.08490122e-02 5.59092766e-01 1.36596594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-29.78, Z:136.62 [[ 2.09439012e-01 -8.84956513e-01 -4.15917385e-01 2.10983920e+02] [ 5.24434952e-01 4.60660194e-01 -7.16072739e-01 -2.97834888e+01] [ 8.25289817e-01 -6.81480469e-02 5.60582342e-01 1.36621190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.77, Z:136.64 [[ 2.08355457e-01 -8.87480261e-01 -4.11055702e-01 2.10985370e+02] [ 5.24579879e-01 4.56116667e-01 -7.18869624e-01 -2.97653363e+01] [ 8.25471958e-01 -6.58511411e-02 5.60588685e-01 1.36643808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-29.75, Z:136.67 [[ 2.07605987e-01 -8.87962156e-01 -4.10393670e-01 2.10983346e+02] [ 5.25957672e-01 4.55057460e-01 -7.18534088e-01 -2.97464206e+01] [ 8.24783778e-01 -6.66777203e-02 5.61503162e-01 1.36667582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.73, Z:136.69 [[ 2.07292287e-01 -8.88276334e-01 -4.09872007e-01 2.10985817e+02] [ 5.26633180e-01 4.54407824e-01 -7.18450432e-01 -2.97303741e+01] [ 8.24431563e-01 -6.69229652e-02 5.61991027e-01 1.36689532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.71, Z:136.71 [[ 2.06914642e-01 -8.88573844e-01 -4.09417702e-01 2.10988629e+02] [ 5.27053851e-01 4.53797964e-01 -7.18527415e-01 -2.97134159e+01] [ 8.24257587e-01 -6.71113338e-02 5.62223709e-01 1.36712981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.69, Z:136.74 [[ 2.05448584e-01 -8.88982868e-01 -4.09268054e-01 2.10986082e+02] [ 5.27098967e-01 4.52865086e-01 -7.19082674e-01 -2.96935915e+01] [ 8.24595391e-01 -6.79902516e-02 5.61622442e-01 1.36735798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.68, Z:136.76 [[ 2.04388375e-01 -8.89394357e-01 -4.08904720e-01 2.10988471e+02] [ 5.27687552e-01 4.51938322e-01 -7.19234037e-01 -2.96765189e+01] [ 8.24482407e-01 -6.87708550e-02 5.61693271e-01 1.36758522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.66, Z:136.78 [[ 2.03396281e-01 -8.89771716e-01 -4.08578324e-01 2.10990900e+02] [ 5.28035693e-01 4.51098712e-01 -7.19505566e-01 -2.96598095e+01] [ 8.24504857e-01 -6.93991824e-02 5.61583025e-01 1.36781776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.64, Z:136.80 [[ 2.02591193e-01 -8.90164303e-01 -4.08122926e-01 2.10992738e+02] [ 5.28716628e-01 4.50229441e-01 -7.19549983e-01 -2.96434311e+01] [ 8.24266665e-01 -7.00068879e-02 5.61857188e-01 1.36804062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.62, Z:136.83 [[ 2.01812765e-01 -8.90551586e-01 -4.07663441e-01 2.10988489e+02] [ 5.29343135e-01 4.49375670e-01 -7.19623062e-01 -2.96237781e+01] [ 8.24055491e-01 -7.05647239e-02 5.62097115e-01 1.36827915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.61, Z:136.85 [[ 2.01886236e-01 -8.90730565e-01 -4.07235814e-01 2.10990284e+02] [ 5.29491175e-01 4.49057982e-01 -7.19712459e-01 -2.96067321e+01] [ 8.23942378e-01 -7.03277304e-02 5.62292599e-01 1.36851238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.59, Z:136.87 [[ 2.02271257e-01 -8.90815885e-01 -4.06857958e-01 2.10991843e+02] [ 5.29324770e-01 4.48979126e-01 -7.19884041e-01 -2.95893844e+01] [ 8.23954869e-01 -6.97481455e-02 5.62346485e-01 1.36874689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.57, Z:136.90 [[ 2.04998931e-01 -8.90384131e-01 -4.06437618e-01 2.10987088e+02] [ 5.28121264e-01 4.50244272e-01 -7.19977796e-01 -2.95688758e+01] [ 8.24053013e-01 -6.70536699e-02 5.62530387e-01 1.36897571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.55, Z:136.92 [[ 2.06758254e-01 -8.90140041e-01 -4.06080944e-01 2.10988223e+02] [ 5.27164104e-01 4.51003840e-01 -7.20203821e-01 -2.95521997e+01] [ 8.24226324e-01 -6.51632120e-02 5.62498643e-01 1.36919854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.53, Z:136.94 [[ 2.09084302e-01 -8.89754699e-01 -4.05734310e-01 2.10989882e+02] [ 5.25810036e-01 4.52112820e-01 -7.20498303e-01 -2.95345799e+01] [ 8.24504434e-01 -6.26942872e-02 5.62371643e-01 1.36943147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.52, Z:136.97 [[ 2.11505912e-01 -8.89296169e-01 -4.05484369e-01 2.10991092e+02] [ 5.24214715e-01 4.53366602e-01 -7.20872844e-01 -2.95176036e+01] [ 8.24902529e-01 -6.00920046e-02 5.62071854e-01 1.36965246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.50, Z:136.99 [[ 2.16913190e-01 -8.88048750e-01 -4.05361673e-01 2.10986840e+02] [ 5.20492918e-01 4.56511555e-01 -7.21584592e-01 -2.94971678e+01] [ 8.25854582e-01 -5.44666642e-02 5.61246462e-01 1.36988110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.48, Z:137.01 [[ 2.19549060e-01 -8.87494816e-01 -4.05155725e-01 2.10988683e+02] [ 5.18502350e-01 4.57927144e-01 -7.22120519e-01 -2.94809345e+01] [ 8.26410021e-01 -5.15333143e-02 5.60705622e-01 1.37009978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.46, Z:137.03 [[ 2.22197407e-01 -8.87017444e-01 -4.04757169e-01 2.10990933e+02] [ 5.17086236e-01 4.59151142e-01 -7.22358674e-01 -2.94637989e+01] [ 8.26589461e-01 -4.87881364e-02 5.60686705e-01 1.37033123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.44, Z:137.06 [[ 2.27141536e-01 -8.85990943e-01 -4.04260772e-01 2.10988651e+02] [ 5.14923389e-01 4.61601740e-01 -7.22341842e-01 -2.94437931e+01] [ 8.26595806e-01 -4.40894911e-02 5.61066387e-01 1.37056112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.43, Z:137.08 [[ 2.28936167e-01 -8.85729114e-01 -4.03821950e-01 2.10992032e+02] [ 5.14189354e-01 4.62275778e-01 -7.22433674e-01 -2.94273930e+01] [ 8.26557644e-01 -4.22497515e-02 5.61264126e-01 1.37079175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:-29.41, Z:137.10 [[ 2.30265518e-01 -8.85599353e-01 -4.03350439e-01 2.10995138e+02] [ 5.13803836e-01 4.62647127e-01 -7.22470244e-01 -2.94117472e+01] [ 8.26428103e-01 -4.08830183e-02 5.61556025e-01 1.37101121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.39, Z:137.12 [[ 2.32453400e-01 -8.85295093e-01 -4.02762977e-01 2.10994813e+02] [ 5.13295224e-01 4.63406131e-01 -7.22345326e-01 -2.93934683e+01] [ 8.26131605e-01 -3.88246853e-02 5.62138074e-01 1.37123666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:210.99, Y:-29.38, Z:137.15 [[ 2.31889434e-01 -8.90960337e-01 -3.90406158e-01 2.10992593e+02] [ 5.09706855e-01 4.53128353e-01 -7.31350544e-01 -2.93773758e+01] [ 8.28508427e-01 -2.94002314e-02 5.59204268e-01 1.37145076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:-29.37, Z:137.17 [[ 2.33356377e-01 -8.81092328e-01 -4.11364936e-01 2.11005618e+02] [ 5.13318578e-01 4.70917439e-01 -7.17454391e-01 -2.93653597e+01] [ 8.25862482e-01 -4.37387062e-02 5.62172648e-01 1.37166663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:-29.34, Z:137.19 [[ 2.33894484e-01 -8.85606505e-01 -4.01241186e-01 2.11004328e+02] [ 5.12941848e-01 4.62981005e-01 -7.22868764e-01 -2.93439676e+01] [ 8.25944327e-01 -3.67383782e-02 5.62553340e-01 1.37187606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:-29.33, Z:137.21 [[ 2.34016670e-01 -8.85555504e-01 -4.01282504e-01 2.11008787e+02] [ 5.11392773e-01 4.63150617e-01 -7.23856987e-01 -2.93304089e+01] [ 8.26869778e-01 -3.58183714e-02 5.61251650e-01 1.37210494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.01, Y:-29.31, Z:137.23 [[ 2.36953587e-01 -8.90756681e-01 -3.87821522e-01 2.11012999e+02] [ 5.13637466e-01 4.53699038e-01 -7.28240164e-01 -2.93069322e+01] [ 8.24639043e-01 -2.66405449e-02 5.65031619e-01 1.37230595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:-29.30, Z:137.26 [[ 2.34837792e-01 -8.78545779e-01 -4.15942936e-01 2.11024859e+02] [ 5.11026746e-01 4.75588961e-01 -7.16007546e-01 -2.93024437e+01] [ 8.26863275e-01 -4.44123338e-02 5.60646652e-01 1.37255126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:-29.29, Z:137.28 [[ 2.34398431e-01 -8.85835586e-01 -4.00440621e-01 2.11026332e+02] [ 5.10566380e-01 4.62709080e-01 -7.24722208e-01 -2.92851875e+01] [ 8.27272233e-01 -3.45777697e-02 5.60736150e-01 1.37278811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:-29.27, Z:137.30 [[ 2.35767121e-01 -8.88273229e-01 -3.94188450e-01 2.11026578e+02] [ 5.07220226e-01 4.58467943e-01 -7.29749812e-01 -2.92690944e+01] [ 8.28939990e-01 -2.78893426e-02 5.58641815e-01 1.37299614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:-29.26, Z:137.32 [[ 2.36020930e-01 -8.85134117e-01 -4.01038296e-01 2.11035727e+02] [ 5.08817723e-01 4.64168959e-01 -7.25018415e-01 -2.92553352e+01] [ 8.27888063e-01 -3.29358720e-02 5.59925516e-01 1.37323108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78999999999996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:211.04, Y:-29.24, Z:137.34 [[ 2.36959805e-01 -8.87407797e-01 -3.95420601e-01 2.11038443e+02] [ 5.06493809e-01 4.60164845e-01 -7.29186078e-01 -2.92411996e+01] [ 8.29044071e-01 -2.74902955e-02 5.58507128e-01 1.37343037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:211.04, Y:-29.23, Z:137.37 [[ 2.37485404e-01 -8.87562391e-01 -3.94757756e-01 2.11044739e+02] [ 5.06543426e-01 4.59909622e-01 -7.29312620e-01 -2.92263658e+01] [ 8.28863343e-01 -2.67608443e-02 5.58810716e-01 1.37366611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84999999999997 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:211.05, Y:-29.21, Z:137.39 [[ 2.39427613e-01 -8.85521621e-01 -3.98153082e-01 2.11051860e+02] [ 5.07046382e-01 4.63757708e-01 -7.26520994e-01 -2.92118756e+01] [ 8.27996609e-01 -2.79328928e-02 5.60036935e-01 1.37389659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:211.06, Y:-29.20, Z:137.41 [[ 2.40255074e-01 -8.84996482e-01 -3.98821672e-01 2.11058591e+02] [ 5.06730087e-01 4.64776094e-01 -7.26090767e-01 -2.91988056e+01] [ 8.27950553e-01 -2.76479496e-02 5.60119159e-01 1.37412057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90999999999997 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:211.07, Y:-29.18, Z:137.43 [[ 2.40984328e-01 -8.85032452e-01 -3.98301535e-01 2.11065271e+02] [ 5.06794808e-01 4.64752194e-01 -7.26060893e-01 -2.91846502e+01] [ 8.27698965e-01 -2.68878538e-02 5.60527847e-01 1.37434959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:211.07, Y:-29.17, Z:137.46 [[ 2.41731032e-01 -8.85103677e-01 -3.97690318e-01 2.11071336e+02] [ 5.07241642e-01 4.64651679e-01 -7.25813153e-01 -2.91706438e+01] [ 8.27207365e-01 -2.62735272e-02 5.61282173e-01 1.37458101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96999999999997 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:211.08, Y:-29.16, Z:137.48 [[ 2.41351801e-01 -8.85400548e-01 -3.97259585e-01 2.11078079e+02] [ 5.07586034e-01 4.64076488e-01 -7.25940377e-01 -2.91571471e+01] [ 8.27106841e-01 -2.64363999e-02 5.61422649e-01 1.37480594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:211.09, Y:-29.14, Z:137.50 [[ 2.40565255e-01 -8.85788832e-01 -3.96870889e-01 2.11085582e+02] [ 5.07926209e-01 4.63309153e-01 -7.26192533e-01 -2.91432539e+01] [ 8.27127151e-01 -2.68844342e-02 5.61371448e-01 1.37504136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:211.09, Y:-29.13, Z:137.53 [[ 2.39288757e-01 -8.86374282e-01 -3.96335115e-01 2.11092779e+02] [ 5.09149229e-01 4.62119001e-01 -7.26094410e-01 -2.91296244e+01] [ 8.26745398e-01 -2.80474893e-02 5.61876663e-01 1.37527435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:-29.12, Z:137.55 [[ 2.36646235e-01 -8.87484401e-01 -3.95436465e-01 2.11101190e+02] [ 5.12313476e-01 4.59798082e-01 -7.25341730e-01 -2.91161705e+01] [ 8.25550399e-01 -3.09380406e-02 5.63479703e-01 1.37551077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:211.11, Y:-29.10, Z:137.57 [[ 2.34493115e-01 -8.88266077e-01 -3.94963740e-01 2.11108606e+02] [ 5.13720076e-01 4.58156468e-01 -7.25385645e-01 -2.91035008e+01] [ 8.25290653e-01 -3.28028633e-02 5.63754654e-01 1.37573282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:211.11, Y:-29.09, Z:137.60 [[ 2.31042493e-01 -8.93318684e-01 -3.85488126e-01 2.11111932e+02] [ 5.13080298e-01 4.48506447e-01 -7.31840539e-01 -2.90887867e+01] [ 8.26660737e-01 -2.87000997e-02 5.61968264e-01 1.37597694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:211.13, Y:-29.08, Z:137.62 [[ 2.29048866e-01 -8.85226563e-01 -4.04858678e-01 2.11128299e+02] [ 5.17958199e-01 4.62983256e-01 -7.19281453e-01 -2.90785225e+01] [ 8.24169837e-01 -4.49492702e-02 5.64556146e-01 1.37618274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.13, Y:-29.06, Z:137.64 [[ 2.26433445e-01 -8.93903120e-01 -3.86865749e-01 2.11128769e+02] [ 5.16760689e-01 4.46925074e-01 -7.30216659e-01 -2.90606435e+01] [ 8.25642953e-01 -3.45715371e-02 5.63132776e-01 1.37641909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:211.14, Y:-29.05, Z:137.66 [[ 2.25444327e-01 -8.89028232e-01 -3.98501766e-01 2.11141210e+02] [ 5.19456120e-01 4.55728691e-01 -7.22825497e-01 -2.90489424e+01] [ 8.24220962e-01 -4.40472739e-02 5.64552604e-01 1.37664206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:211.15, Y:-29.03, Z:137.69 [[ 2.23115694e-01 -8.91935128e-01 -3.93282487e-01 2.11147174e+02] [ 5.19346157e-01 4.50191138e-01 -7.26365961e-01 -2.90336380e+01] [ 8.24923607e-01 -4.21861028e-02 5.63667789e-01 1.37686190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.15, Y:-29.02, Z:137.71 [[ 2.22004520e-01 -8.92287074e-01 -3.93112923e-01 2.11154533e+02] [ 5.19118994e-01 4.49446777e-01 -7.26989040e-01 -2.90193437e+01] [ 8.25366260e-01 -4.26775323e-02 5.62982385e-01 1.37708831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:211.16, Y:-29.00, Z:137.73 [[ 2.21326896e-01 -8.93145086e-01 -3.91543434e-01 2.11161490e+02] [ 5.19948160e-01 4.47748654e-01 -7.27444193e-01 -2.90028802e+01] [ 8.25026252e-01 -4.25793233e-02 5.63487964e-01 1.37729917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:211.17, Y:-28.99, Z:137.75 [[ 2.20473932e-01 -8.93550255e-01 -3.91099971e-01 2.11167163e+02] [ 5.18570474e-01 4.46983971e-01 -7.28896422e-01 -2.89898023e+01] [ 8.26121001e-01 -4.21102373e-02 5.61917093e-01 1.37753603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.17, Y:-28.98, Z:137.78 [[ 2.19681350e-01 -8.93097318e-01 -3.92577745e-01 2.11174382e+02] [ 5.18775131e-01 4.47739037e-01 -7.28287112e-01 -2.89764394e+01] [ 8.26203648e-01 -4.36684754e-02 5.61676594e-01 1.37775819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:211.18, Y:-28.96, Z:137.80 [[ 2.18543674e-01 -8.93550193e-01 -3.92181993e-01 2.11181143e+02] [ 5.19299062e-01 4.46757772e-01 -7.28516285e-01 -2.89618360e+01] [ 8.26176220e-01 -4.44471157e-02 5.61655862e-01 1.37798601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:211.19, Y:-28.95, Z:137.82 [[ 2.17371059e-01 -8.94004653e-01 -3.91797784e-01 2.11188056e+02] [ 5.19908382e-01 4.45761563e-01 -7.28691912e-01 -2.89472947e+01] [ 8.26102353e-01 -4.53024193e-02 5.61696175e-01 1.37821885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:211.19, Y:-28.93, Z:137.84 [[ 2.13354572e-01 -8.95153910e-01 -3.91381278e-01 2.11193994e+02] [ 5.22010247e-01 4.43077188e-01 -7.28826391e-01 -2.89329429e+01] [ 8.25823909e-01 -4.88065952e-02 5.61812057e-01 1.37844316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47999999999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:211.20, Y:-28.92, Z:137.87 [[ 2.10318601e-01 -8.96084210e-01 -3.90895351e-01 2.11200566e+02] [ 5.23784346e-01 4.40892475e-01 -7.28878443e-01 -2.89187562e+01] [ 8.25479282e-01 -5.14481715e-02 5.62082770e-01 1.37866481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:211.21, Y:-28.91, Z:137.89 [[ 2.06458518e-01 -8.97129137e-01 -3.90556261e-01 2.11207204e+02] [ 5.25457722e-01 4.38372253e-01 -7.29194042e-01 -2.89050144e+01] [ 8.25390249e-01 -5.46724819e-02 5.61909118e-01 1.37889325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53999999999996 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:211.21, Y:-28.89, Z:137.91 [[ 2.02429785e-01 -8.98179449e-01 -3.90251021e-01 2.11214062e+02] [ 5.27080957e-01 4.35785399e-01 -7.29572992e-01 -2.88909118e+01] [ 8.25353165e-01 -5.80065775e-02 5.61629228e-01 1.37911818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:211.22, Y:-28.88, Z:137.93 [[ 1.98460543e-01 -8.99248117e-01 -3.89828471e-01 2.11220852e+02] [ 5.29049535e-01 4.33106488e-01 -7.29743352e-01 -2.88761829e+01] [ 8.25057575e-01 -6.14133091e-02 5.61701347e-01 1.37934459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59999999999997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:211.23, Y:-28.86, Z:137.96 [[ 1.91243731e-01 -9.00978270e-01 -3.89440614e-01 2.11225484e+02] [ 5.32481731e-01 4.28538218e-01 -7.29943972e-01 -2.88613258e+01] [ 8.24553844e-01 -6.77728037e-02 5.61709716e-01 1.37957225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:211.23, Y:-28.85, Z:137.98 [[ 1.87683546e-01 -9.06477261e-01 -3.78251057e-01 2.11225803e+02] [ 5.30336118e-01 4.17658336e-01 -7.37770368e-01 -2.88453461e+01] [ 8.26751769e-01 -6.21328383e-02 5.59125230e-01 1.37978876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65999999999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:211.24, Y:-28.83, Z:138.00 [[ 1.86469010e-01 -9.00274018e-01 -3.93364972e-01 2.11237631e+02] [ 5.35630782e-01 4.28806204e-01 -7.27478457e-01 -2.88341686e+01] [ 8.23607293e-01 -7.50461998e-02 5.62173545e-01 1.38001627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:211.24, Y:-28.82, Z:138.02 [[ 1.85401220e-01 -9.02885806e-01 -3.87844826e-01 2.11237994e+02] [ 5.36874025e-01 4.23644106e-01 -7.29583410e-01 -2.88175994e+01] [ 8.23038680e-01 -7.29581588e-02 5.63280071e-01 1.38024901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71999999999997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:211.24, Y:-28.80, Z:138.05 [[ 1.86143877e-01 -9.02929754e-01 -3.87386520e-01 2.11241786e+02] [ 5.36633312e-01 4.23705738e-01 -7.29724699e-01 -2.88030469e+01] [ 8.23028035e-01 -7.20507262e-02 5.63412413e-01 1.38046985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:211.25, Y:-28.79, Z:138.07 [[ 1.87848025e-01 -9.02826253e-01 -3.86804701e-01 2.11245269e+02] [ 5.36299478e-01 4.24207717e-01 -7.29678479e-01 -2.87880505e+01] [ 8.22858426e-01 -7.03744981e-02 5.63871830e-01 1.38069020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:211.25, Y:-28.77, Z:138.09 [[ 1.90319624e-01 -9.02500565e-01 -3.86356275e-01 2.11248914e+02] [ 5.35170762e-01 4.25309204e-01 -7.29865971e-01 -2.87723868e+01] [ 8.23025331e-01 -6.78587647e-02 5.63936603e-01 1.38091858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:211.25, Y:-28.75, Z:138.11 [[ 1.97362451e-01 -9.01176408e-01 -3.85913390e-01 2.11248869e+02] [ 5.32010143e-01 4.29104007e-01 -7.29955450e-01 -2.87542537e+01] [ 8.23415612e-01 -6.12440406e-02 5.64124008e-01 1.38114814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:211.25, Y:-28.73, Z:138.14 [[ 2.04577482e-01 -9.04604882e-01 -3.73949277e-01 2.11252851e+02] [ 5.31334598e-01 4.23472768e-01 -7.33726352e-01 -2.87318197e+01] [ 8.22089775e-01 -4.85882991e-02 5.67280864e-01 1.38137160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:211.26, Y:-28.73, Z:138.16 [[ 2.06230479e-01 -8.91432474e-01 -4.03506052e-01 2.11262867e+02] [ 5.29208660e-01 4.48468473e-01 -7.20287598e-01 -2.87252353e+01] [ 8.23047498e-01 -6.49936405e-02 5.64241653e-01 1.38159383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:211.26, Y:-28.71, Z:138.18 [[ 2.10320614e-01 -8.98743689e-01 -3.84740199e-01 2.11258014e+02] [ 5.26176909e-01 4.35744179e-01 -7.30249869e-01 -2.87069510e+01] [ 8.23955763e-01 -4.88548082e-02 5.64544160e-01 1.38182698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:211.26, Y:-28.69, Z:138.21 [[ 2.19266678e-01 -8.96823689e-01 -3.84225708e-01 2.11257515e+02] [ 5.22207285e-01 4.40527582e-01 -7.30229416e-01 -2.86887157e+01] [ 8.24149061e-01 -4.05304856e-02 5.64920884e-01 1.38205558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:211.26, Y:-28.67, Z:138.23 [[ 2.23018652e-01 -8.96128280e-01 -3.83688399e-01 2.11261046e+02] [ 5.20918685e-01 4.42246523e-01 -7.30110770e-01 -2.86724945e+01] [ 8.23957768e-01 -3.70421364e-02 5.65439189e-01 1.38229002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:211.26, Y:-28.66, Z:138.25 [[ 2.26242051e-01 -8.95481068e-01 -3.83312133e-01 2.11264743e+02] [ 5.19300560e-01 4.43812366e-01 -7.30313298e-01 -2.86572097e+01] [ 8.24100396e-01 -3.38266270e-02 5.65432840e-01 1.38250744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:211.27, Y:-28.64, Z:138.27 [[ 2.32357663e-01 -8.94211509e-01 -3.82616903e-01 2.11266479e+02] [ 5.17283298e-01 4.46748561e-01 -7.29954596e-01 -2.86395247e+01] [ 8.23667351e-01 -2.83107895e-02 5.66366130e-01 1.38272269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:211.27, Y:-28.62, Z:138.30 [[ 2.34327866e-01 -8.93806712e-01 -3.82361104e-01 2.11270867e+02] [ 5.15812947e-01 4.47693997e-01 -7.30415696e-01 -2.86244714e+01] [ 8.24031222e-01 -2.60700559e-02 5.65944253e-01 1.38295032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:211.28, Y:-28.61, Z:138.32 [[ 2.36174224e-01 -8.93519187e-01 -3.81896843e-01 2.11275109e+02] [ 5.15232315e-01 4.48369106e-01 -7.30411396e-01 -2.86097418e+01] [ 8.23867342e-01 -2.42612496e-02 5.66263184e-01 1.38316808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:211.28, Y:-28.59, Z:138.34 [[ 2.37840966e-01 -8.93219287e-01 -3.81563860e-01 2.11280071e+02] [ 5.14210214e-01 4.49062350e-01 -7.30705729e-01 -2.85945200e+01] [ 8.24026414e-01 -2.24122780e-02 5.66107904e-01 1.38339462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:211.29, Y:-28.58, Z:138.36 [[ 2.39642201e-01 -8.92878189e-01 -3.81235039e-01 2.11285820e+02] [ 5.13167210e-01 4.49832891e-01 -7.30964968e-01 -2.85793637e+01] [ 8.24154737e-01 -2.04672676e-02 5.65994753e-01 1.38362798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:211.29, Y:-28.56, Z:138.39 [[ 2.44230057e-01 -8.91859361e-01 -3.80707972e-01 2.11290666e+02] [ 5.11404699e-01 4.52022594e-01 -7.30849375e-01 -2.85632985e+01] [ 8.23903461e-01 -1.62004613e-02 5.66498572e-01 1.38385402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:211.30, Y:-28.55, Z:138.41 [[ 2.48461447e-01 -8.89542591e-01 -3.83380865e-01 2.11301564e+02] [ 5.09326716e-01 4.56636746e-01 -7.29430722e-01 -2.85479262e+01] [ 8.23925485e-01 -1.40307042e-02 5.66524434e-01 1.38410304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22999999999996 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:211.31, Y:-28.53, Z:138.43 [[ 2.48926223e-01 -8.87573355e-01 -3.87620014e-01 2.11306582e+02] [ 5.08753099e-01 4.60384425e-01 -7.27472656e-01 -2.85348156e+01] [ 8.24139564e-01 -1.61158629e-02 5.66157450e-01 1.38430662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:211.31, Y:-28.52, Z:138.45 [[ 2.51890322e-01 -8.90123950e-01 -3.79777065e-01 2.11310763e+02] [ 5.07288715e-01 4.55640965e-01 -7.31470759e-01 -2.85194770e+01] [ 8.24141630e-01 -8.40621401e-03 5.66321384e-01 1.38454196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28999999999996 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:211.32, Y:-28.51, Z:138.48 [[ 2.57846826e-01 -8.88463906e-01 -3.79666830e-01 2.11318558e+02] [ 5.03294907e-01 4.58940746e-01 -7.32166394e-01 -2.85058422e+01] [ 8.24747992e-01 -2.29760074e-03 5.65495774e-01 1.38477560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:211.33, Y:-28.49, Z:138.50 [[ 2.60882299e-01 -8.87706084e-01 -3.79365701e-01 2.11326475e+02] [ 5.01441536e-01 4.60409764e-01 -7.32515689e-01 -2.84920111e+01] [ 8.24922307e-01 8.70656960e-04 5.65245460e-01 1.38500390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34999999999997 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:211.33, Y:-28.48, Z:138.52 [[ 2.63869921e-01 -8.87009025e-01 -3.78929616e-01 2.11334719e+02] [ 5.00101394e-01 4.61736392e-01 -7.32596819e-01 -2.84787304e+01] [ 8.24785584e-01 3.80703599e-03 5.65432796e-01 1.38523990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:211.34, Y:-28.47, Z:138.55 [[ 2.66836786e-01 -8.86313373e-01 -3.78479504e-01 2.11343817e+02] [ 4.98817397e-01 4.63037400e-01 -7.32651057e-01 -2.84655628e+01] [ 8.24608595e-01 6.70609250e-03 5.65663941e-01 1.38547161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40999999999997 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:211.35, Y:-28.45, Z:138.57 [[ 2.72014502e-01 -8.87406133e-01 -3.72180689e-01 2.11352842e+02] [ 4.95137869e-01 4.60707694e-01 -7.36604990e-01 -2.84543839e+01] [ 8.25134293e-01 1.60864867e-02 5.64707555e-01 1.38569952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:211.37, Y:-28.44, Z:138.59 [[ 2.74942211e-01 -8.81962291e-01 -3.82817577e-01 2.11368536e+02] [ 4.95167687e-01 4.71188581e-01 -7.29924848e-01 -2.84428066e+01] [ 8.24145462e-01 1.11282567e-02 5.66268858e-01 1.38592983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46999999999997 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:211.38, Y:-28.43, Z:138.62 [[ 2.76912402e-01 -8.83641136e-01 -3.77488894e-01 2.11376986e+02] [ 4.93982336e-01 4.67875305e-01 -7.32853430e-01 -2.84298566e+01] [ 8.24197169e-01 1.64633579e-02 5.66063587e-01 1.38616112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:211.39, Y:-28.42, Z:138.64 [[ 2.78352934e-01 -8.83252442e-01 -3.77339063e-01 2.11387782e+02] [ 4.92429339e-01 4.68538503e-01 -7.33474619e-01 -2.84182432e+01] [ 8.24641128e-01 1.83519867e-02 5.65358483e-01 1.38638325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:211.40, Y:-28.41, Z:138.66 [[ 2.81217190e-01 -8.82247634e-01 -3.77565894e-01 2.11403522e+02] [ 4.89110595e-01 4.70275716e-01 -7.34582587e-01 -2.84086753e+01] [ 8.25643820e-01 2.19057721e-02 5.63766280e-01 1.38661561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:211.42, Y:-28.40, Z:138.68 [[ 2.82542672e-01 -8.81898016e-01 -3.77393067e-01 2.11415138e+02] [ 4.87680118e-01 4.70845677e-01 -7.35168315e-01 -2.83974666e+01] [ 8.26037373e-01 2.36693247e-02 5.63118124e-01 1.38683781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:211.42, Y:-28.38, Z:138.71 [[ 2.82324719e-01 -8.82135689e-01 -3.77000502e-01 2.11422243e+02] [ 4.87808319e-01 4.70398242e-01 -7.35369661e-01 -2.83830475e+01] [ 8.26036196e-01 2.37090513e-02 5.63118179e-01 1.38707273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:211.43, Y:-28.37, Z:138.73 [[ 2.81921448e-01 -8.87729003e-01 -3.63947132e-01 2.11427293e+02] [ 4.83244990e-01 4.59087894e-01 -7.45461324e-01 -2.83710713e+01] [ 8.28851360e-01 3.42859077e-02 5.58417316e-01 1.38732202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:211.47, Y:-28.38, Z:138.75 [[ 2.83509076e-01 -8.55819644e-01 -4.32660769e-01 2.11472932e+02] [ 4.80348968e-01 5.17226857e-01 -7.08336959e-01 -2.83788349e+01] [ 8.29992454e-01 -7.00819701e-03 5.57730591e-01 1.38750617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:211.45, Y:-28.34, Z:138.77 [[ 2.91697965e-01 -9.01436537e-01 -3.19881959e-01 2.11446269e+02] [ 4.94373798e-01 4.28377556e-01 -7.56364474e-01 -2.83366202e+01] [ 8.18844824e-01 6.24887190e-02 5.70603465e-01 1.38765305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:211.48, Y:-28.33, Z:138.79 [[ 2.91477475e-01 -8.81415108e-01 -3.71683048e-01 2.11480251e+02] [ 4.92839791e-01 4.71388962e-01 -7.31369529e-01 -2.83333206e+01] [ 8.19847438e-01 2.99975483e-02 5.71795702e-01 1.38785150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:211.49, Y:-28.32, Z:138.81 [[ 2.91998775e-01 -8.81396315e-01 -3.71318261e-01 2.11492982e+02] [ 4.92543216e-01 4.71376968e-01 -7.31577019e-01 -2.83224824e+01] [ 8.19840164e-01 3.07293028e-02 5.71767273e-01 1.38808134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:211.51, Y:-28.31, Z:138.83 [[ 2.92673539e-01 -8.81412457e-01 -3.70748270e-01 2.11512561e+02] [ 4.92894290e-01 4.71308080e-01 -7.31384928e-01 -2.83148104e+01] [ 8.19388442e-01 3.13173097e-02 5.72382571e-01 1.38831149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:-28.30, Z:138.85 [[ 2.92090957e-01 -8.81722438e-01 -3.70470531e-01 2.11525853e+02] [ 4.92866959e-01 4.70738971e-01 -7.31769760e-01 -2.83043560e+01] [ 8.19612734e-01 3.11506460e-02 5.72070453e-01 1.38853247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:-28.32, Z:138.89 [[ 2.86446666e-01 -8.56656480e-01 -4.29054754e-01 2.11556808e+02] [ 4.80201233e-01 5.15879551e-01 -7.09418822e-01 -2.83189823e+01] [ 8.29068805e-01 -2.82196574e-03 5.59139475e-01 1.38890162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:211.53, Y:-28.28, Z:138.91 [[ 2.87830019e-01 -8.99030661e-01 -3.29996591e-01 2.11533545e+02] [ 4.84677788e-01 4.33939575e-01 -7.59462894e-01 -2.82836408e+01] [ 8.25979008e-01 5.86542010e-02 5.60641029e-01 1.38911314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:-28.28, Z:138.93 [[ 2.83869027e-01 -8.81791870e-01 -3.76645023e-01 2.11573204e+02] [ 4.85253993e-01 4.70901069e-01 -7.36736551e-01 -2.82842406e+01] [ 8.27010845e-01 2.63681864e-02 5.61567255e-01 1.38933941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:-28.27, Z:138.96 [[ 2.82008392e-01 -8.83690485e-01 -3.73580506e-01 2.11585484e+02] [ 4.85893282e-01 4.67305466e-01 -7.38602275e-01 -2.82740333e+01] [ 8.27272015e-01 2.67717817e-02 5.61163333e-01 1.38956164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:-28.27, Z:138.98 [[ 2.79281740e-01 -8.84800839e-01 -3.73000248e-01 2.11605888e+02] [ 4.88013078e-01 4.65340282e-01 -7.38445433e-01 -2.82672574e+01] [ 8.26949179e-01 2.42053262e-02 5.61755425e-01 1.38979505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:-28.26, Z:139.00 [[ 2.77807263e-01 -8.85409966e-01 -3.72655762e-01 2.11619331e+02] [ 4.88665825e-01 4.64235834e-01 -7.38708875e-01 -2.82573525e+01] [ 8.27060358e-01 2.31145558e-02 5.61637678e-01 1.39001554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:-28.25, Z:139.02 [[ 2.76396987e-01 -8.85954102e-01 -3.72411110e-01 2.11632805e+02] [ 4.89287693e-01 4.63249972e-01 -7.38916110e-01 -2.82469119e+01] [ 8.27165195e-01 2.20180141e-02 5.61527335e-01 1.39024636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:-28.24, Z:139.05 [[ 2.74912596e-01 -8.86533694e-01 -3.72130452e-01 2.11645979e+02] [ 4.89696318e-01 4.62186516e-01 -7.39311261e-01 -2.82368403e+01] [ 8.27418020e-01 2.10150657e-02 5.61193181e-01 1.39047092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:-28.23, Z:139.07 [[ 2.72493256e-01 -8.87472281e-01 -3.71672404e-01 2.11665179e+02] [ 4.91171826e-01 4.60472276e-01 -7.39402137e-01 -2.82290497e+01] [ 8.27343739e-01 1.89270825e-02 5.61376971e-01 1.39070081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:-28.22, Z:139.09 [[ 2.71447927e-01 -8.87951337e-01 -3.71292938e-01 2.11677428e+02] [ 4.91706149e-01 4.59577302e-01 -7.39603790e-01 -2.82183133e+01] [ 8.27369981e-01 1.81968948e-02 5.61362439e-01 1.39091951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:-28.21, Z:139.11 [[ 2.70779398e-01 -8.88337047e-01 -3.70858205e-01 2.11689917e+02] [ 4.92175883e-01 4.58847643e-01 -7.39744375e-01 -2.82068339e+01] [ 8.27309747e-01 1.77800716e-02 5.61464559e-01 1.39114620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:-28.22, Z:139.15 [[ 2.67028601e-01 -8.71219183e-01 -4.11913657e-01 2.11712017e+02] [ 4.84409457e-01 4.90855527e-01 -7.24160431e-01 -2.82168610e+01] [ 8.33092554e-01 -6.16332392e-03 5.53099276e-01 1.39149603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:-28.17, Z:139.16 [[ 2.69937037e-01 -9.02490327e-01 -3.35626586e-01 2.11702126e+02] [ 4.93280122e-01 4.28966574e-01 -7.56744607e-01 -2.81743081e+01] [ 8.26927275e-01 3.87154738e-02 5.60974504e-01 1.39158747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:-28.17, Z:139.18 [[ 2.68419774e-01 -8.89433575e-01 -3.69944240e-01 2.11731591e+02] [ 4.92867727e-01 4.56768334e-01 -7.40570113e-01 -2.81746717e+01] [ 8.27666738e-01 1.64500853e-02 5.60978758e-01 1.39182384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:-28.16, Z:139.21 [[ 2.67648670e-01 -8.89792096e-01 -3.69640657e-01 2.11743655e+02] [ 4.92906907e-01 4.56081303e-01 -7.40967358e-01 -2.81628221e+01] [ 8.27893091e-01 1.61204955e-02 5.60654224e-01 1.39205102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:-28.13, Z:139.21 [[ 2.65767993e-01 -9.09357194e-01 -3.20057601e-01 2.11741797e+02] [ 5.06299332e-01 4.14186330e-01 -7.56379978e-01 -2.81280082e+01] [ 8.20383057e-01 3.89766392e-02 5.70484410e-01 1.39209686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:-28.15, Z:139.25 [[ 2.66082091e-01 -8.84067026e-01 -3.84221049e-01 2.11777554e+02] [ 4.92467305e-01 4.67319691e-01 -7.34226300e-01 -2.81467229e+01] [ 8.28659324e-01 6.14816442e-03 5.59719506e-01 1.39251767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:-28.13, Z:139.27 [[ 2.65362036e-01 -8.90595524e-01 -3.69354305e-01 2.11783881e+02] [ 4.92608438e-01 4.54549468e-01 -7.42106265e-01 -2.81312239e+01] [ 8.28806321e-01 1.49797818e-02 5.59335042e-01 1.39272762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.79, Y:-28.12, Z:139.29 [[ 2.64659810e-01 -8.92024089e-01 -3.66398975e-01 2.11794612e+02] [ 4.92350853e-01 4.51685997e-01 -7.44023116e-01 -2.81187882e+01] [ 8.29183829e-01 1.65161686e-02 5.58731952e-01 1.39294667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:211.81, Y:-28.11, Z:139.31 [[ 2.63125059e-01 -8.95448266e-01 -3.59078831e-01 2.11809828e+02] [ 4.96590932e-01 4.44809415e-01 -7.45346920e-01 -2.81052071e+01] [ 8.27141251e-01 1.78041612e-02 5.61711992e-01 1.39314091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.83, Y:-28.10, Z:139.34 [[ 2.60971310e-01 -8.90370013e-01 -3.73008331e-01 2.11825246e+02] [ 4.96315641e-01 4.55170854e-01 -7.39249808e-01 -2.81002148e+01] [ 8.27988382e-01 7.79312171e-03 5.60691098e-01 1.39339133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.83, Y:-28.09, Z:139.36 [[ 2.59662520e-01 -8.93266930e-01 -3.66946272e-01 2.11834928e+02] [ 4.97288285e-01 4.49410408e-01 -7.42114982e-01 -2.80866837e+01] [ 8.27816246e-01 1.02213643e-02 5.60906219e-01 1.39360691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.85, Y:-28.07, Z:139.38 [[ 2.58133090e-01 -8.93850457e-01 -3.66604240e-01 2.11846502e+02] [ 4.97838467e-01 4.48272097e-01 -7.42434501e-01 -2.80747854e+01] [ 8.27963869e-01 9.13721883e-03 5.60707003e-01 1.39383110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.86, Y:-28.06, Z:139.41 [[ 2.55761239e-01 -8.94605041e-01 -3.66425995e-01 2.11863038e+02] [ 4.98201760e-01 4.46794821e-01 -7.43081014e-01 -2.80645599e+01] [ 8.28481258e-01 7.49724591e-03 5.59966603e-01 1.39406147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.87, Y:-28.05, Z:139.43 [[ 2.55028305e-01 -8.94916903e-01 -3.66175231e-01 2.11874496e+02] [ 4.98062269e-01 4.46173967e-01 -7.43547421e-01 -2.80520891e+01] [ 8.28791011e-01 7.24757224e-03 5.59511334e-01 1.39429017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.89, Y:-28.04, Z:139.45 [[ 2.54683836e-01 -8.95216015e-01 -3.65683512e-01 2.11885537e+02] [ 4.98631939e-01 4.45577131e-01 -7.43523510e-01 -2.80400211e+01] [ 8.28554363e-01 7.02194080e-03 5.59864590e-01 1.39451445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.90, Y:-28.03, Z:139.48 [[ 2.55580004e-01 -8.95200659e-01 -3.65095387e-01 2.11901103e+02] [ 4.98868696e-01 4.45594129e-01 -7.43354489e-01 -2.80301552e+01] [ 8.28135790e-01 7.85188393e-03 5.60472534e-01 1.39475206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:-28.02, Z:139.50 [[ 2.56465920e-01 -8.95131522e-01 -3.64643373e-01 2.11911871e+02] [ 4.98715022e-01 4.45715292e-01 -7.43384964e-01 -2.80183222e+01] [ 8.27954442e-01 8.79978099e-03 5.60726319e-01 1.39498566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:211.92, Y:-28.01, Z:139.52 [[ 2.57565871e-01 -8.95020742e-01 -3.64139662e-01 2.11922313e+02] [ 4.98606762e-01 4.45914724e-01 -7.43337982e-01 -2.80066641e+01] [ 8.27678149e-01 9.89599668e-03 5.61115808e-01 1.39520845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:-27.99, Z:139.54 [[ 2.58722031e-01 -8.94827460e-01 -3.63794897e-01 2.11932752e+02] [ 4.98263228e-01 4.46275232e-01 -7.43351985e-01 -2.79945762e+01] [ 8.27524420e-01 1.10559158e-02 5.61320853e-01 1.39543858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.95, Y:-27.98, Z:139.57 [[ 2.60720662e-01 -8.94405575e-01 -3.63405289e-01 2.11946677e+02] [ 4.97272776e-01 4.47063614e-01 -7.43541466e-01 -2.79840293e+01] [ 8.27492914e-01 1.31450661e-02 5.61322265e-01 1.39566311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:-27.97, Z:139.59 [[ 2.61058763e-01 -8.94410073e-01 -3.63151406e-01 2.11956692e+02] [ 4.96992949e-01 4.47038655e-01 -7.43743538e-01 -2.79718284e+01] [ 8.27554428e-01 1.36770795e-02 5.61218858e-01 1.39588687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:-27.96, Z:139.61 [[ 2.61429301e-01 -8.94501194e-01 -3.62660082e-01 2.11967538e+02] [ 4.97134657e-01 4.46841520e-01 -7.43767295e-01 -2.79588122e+01] [ 8.27352315e-01 1.41516684e-02 5.61505010e-01 1.39611836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:-27.95, Z:139.63 [[ 2.61083457e-01 -8.94811667e-01 -3.62142940e-01 2.11982188e+02] [ 4.97820909e-01 4.46228019e-01 -7.43676608e-01 -2.79484677e+01] [ 8.27048832e-01 1.38793316e-02 5.61958711e-01 1.39633887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:-27.94, Z:139.66 [[ 2.60433290e-01 -8.95153219e-01 -3.61766798e-01 2.11992908e+02] [ 4.98050158e-01 4.45552115e-01 -7.43928325e-01 -2.79365615e+01] [ 8.27115797e-01 1.35656902e-02 5.61867805e-01 1.39656198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:-27.92, Z:139.68 [[ 2.59340499e-01 -8.95651310e-01 -3.61318745e-01 2.12003800e+02] [ 4.98801717e-01 4.44574848e-01 -7.44009443e-01 -2.79239926e+01] [ 8.27006259e-01 1.27253700e-02 5.62048674e-01 1.39679297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:-27.91, Z:139.70 [[ 2.57888463e-01 -8.96210880e-01 -3.60970356e-01 2.12014613e+02] [ 4.99402034e-01 4.43474831e-01 -7.44263181e-01 -2.79113159e+01] [ 8.27098029e-01 1.16675581e-02 5.61936579e-01 1.39702590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:-27.90, Z:139.73 [[ 2.56531383e-01 -8.96786678e-01 -3.60507008e-01 2.12025734e+02] [ 5.00396280e-01 4.42337783e-01 -7.44272026e-01 -2.78987515e+01] [ 8.26919109e-01 1.05327662e-02 5.62222241e-01 1.39725267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:-27.88, Z:139.74 [[ 2.55393057e-01 -8.97822448e-01 -3.58732824e-01 2.12035273e+02] [ 5.04150937e-01 4.40267846e-01 -7.42964371e-01 -2.78841248e+01] [ 8.24988618e-01 8.89245289e-03 5.65079379e-01 1.39744446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:-27.87, Z:139.77 [[ 2.51011401e-01 -9.02395819e-01 -3.50250000e-01 2.12048940e+02] [ 5.03999005e-01 4.30757623e-01 -7.48620647e-01 -2.78731429e+01] [ 8.26424999e-01 1.13866657e-02 5.62931669e-01 1.39769413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:-27.87, Z:139.79 [[ 2.49035638e-01 -8.99347452e-01 -3.59381986e-01 2.12062480e+02] [ 5.05296641e-01 4.37219150e-01 -7.43985699e-01 -2.78654814e+01] [ 8.26230329e-01 3.68444280e-03 5.63320396e-01 1.39793221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:-27.85, Z:139.82 [[ 2.46508495e-01 -9.01828699e-01 -3.54878231e-01 2.12071987e+02] [ 5.05970543e-01 4.32070632e-01 -7.46531164e-01 -2.78513680e+01] [ 8.26575690e-01 4.46834294e-03 5.62807838e-01 1.39815026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.09, Y:-27.85, Z:139.84 [[ 2.43524798e-01 -8.96107208e-01 -3.71062723e-01 2.12086592e+02] [ 5.06689570e-01 4.43765324e-01 -7.39146817e-01 -2.78468880e+01] [ 8.27019560e-01 -8.01303178e-03 5.62116037e-01 1.39842172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:-27.83, Z:139.86 [[ 2.40726271e-01 -9.05006819e-01 -3.50732832e-01 2.12095407e+02] [ 5.10014493e-01 4.25395660e-01 -7.47612031e-01 -2.78255688e+01] [ 8.25794211e-01 1.09102906e-03 5.63970505e-01 1.39859420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:-27.82, Z:139.88 [[ 2.38591017e-01 -9.02785229e-01 -3.57845157e-01 2.12107008e+02] [ 5.10720984e-01 4.30060950e-01 -7.44453932e-01 -2.78164977e+01] [ 8.25977242e-01 -5.13901012e-03 5.63680040e-01 1.39882503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:-27.80, Z:139.90 [[ 2.36490795e-01 -9.03478273e-01 -3.57490021e-01 2.12116546e+02] [ 5.11437432e-01 4.28581649e-01 -7.44815094e-01 -2.78038535e+01] [ 8.26137917e-01 -6.69186463e-03 5.63428222e-01 1.39904782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:-27.79, Z:139.93 [[ 2.32281592e-01 -9.04708678e-01 -3.57137886e-01 2.12129239e+02] [ 5.13239630e-01 4.25908105e-01 -7.45108964e-01 -2.77923678e+01] [ 8.26214466e-01 -1.02222196e-02 5.63262960e-01 1.39927709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:-27.78, Z:139.95 [[ 2.30068467e-01 -9.05379602e-01 -3.56870111e-01 2.12138315e+02] [ 5.13823860e-01 4.24437915e-01 -7.45545101e-01 -2.77798652e+01] [ 8.26470533e-01 -1.18419594e-02 5.62855423e-01 1.39949638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:-27.77, Z:139.97 [[ 2.27902711e-01 -9.06063243e-01 -3.56524549e-01 2.12147224e+02] [ 5.14595507e-01 4.22927527e-01 -7.45871149e-01 -2.77665889e+01] [ 8.26590478e-01 -1.34798741e-02 5.62642404e-01 1.39972283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:-27.75, Z:139.99 [[ 2.25940196e-01 -9.06634170e-01 -3.56322199e-01 2.12155974e+02] [ 5.14869368e-01 4.21657357e-01 -7.46401103e-01 -2.77532056e+01] [ 8.26958622e-01 -1.48173741e-02 5.62067508e-01 1.39994874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:-27.74, Z:140.02 [[ 2.22568515e-01 -9.07581687e-01 -3.56031935e-01 2.12166623e+02] [ 5.16088993e-01 4.19509167e-01 -7.46769182e-01 -2.77410566e+01] [ 8.27112694e-01 -1.75368550e-02 5.61762450e-01 1.40017231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:-27.73, Z:140.04 [[ 2.20521767e-01 -9.08249411e-01 -3.55602527e-01 2.12175057e+02] [ 5.17136136e-01 4.17989036e-01 -7.46897170e-01 -2.77273136e+01] [ 8.27006873e-01 -1.91878331e-02 5.61864272e-01 1.40040510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:-27.71, Z:140.06 [[ 2.18696409e-01 -9.08870446e-01 -3.55142780e-01 2.12183465e+02] [ 5.18275039e-01 4.16563733e-01 -7.46904037e-01 -2.77139655e+01] [ 8.26778607e-01 -2.07164069e-02 5.62145858e-01 1.40064041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:-27.70, Z:140.09 [[ 2.15152374e-01 -9.09918795e-01 -3.54622677e-01 2.12192815e+02] [ 5.20432274e-01 4.14098074e-01 -7.46775089e-01 -2.77009585e+01] [ 8.26353256e-01 -2.38866533e-02 5.62645291e-01 1.40087860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:-27.69, Z:140.11 [[ 2.13672592e-01 -9.10424372e-01 -3.54219546e-01 2.12200303e+02] [ 5.21178502e-01 4.12918357e-01 -7.46907892e-01 -2.76868446e+01] [ 8.26266901e-01 -2.50178669e-02 5.62722946e-01 1.40111124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:-27.67, Z:140.13 [[ 2.12484146e-01 -9.10866221e-01 -3.53798268e-01 2.12207624e+02] [ 5.21865290e-01 4.11887610e-01 -7.46997467e-01 -2.76724679e+01] [ 8.26139883e-01 -2.59099169e-02 5.62869052e-01 1.40134187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:-27.66, Z:140.16 [[ 2.12232335e-01 -9.11074179e-01 -3.53413748e-01 2.12214386e+02] [ 5.21967047e-01 4.11428373e-01 -7.47179427e-01 -2.76576481e+01] [ 8.26140326e-01 -2.58946954e-02 5.62869103e-01 1.40157663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:-27.64, Z:140.18 [[ 2.11565368e-01 -9.11386000e-01 -3.53009426e-01 2.12220977e+02] [ 5.22422216e-01 4.10709731e-01 -7.47256679e-01 -2.76440137e+01] [ 8.26023682e-01 -2.63263324e-02 5.63020249e-01 1.40179607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:-27.63, Z:140.20 [[ 2.12418653e-01 -9.11417345e-01 -3.52415577e-01 2.12227731e+02] [ 5.22735762e-01 4.10690241e-01 -7.47048090e-01 -2.76299836e+01] [ 8.25606225e-01 -2.55332760e-02 5.63668708e-01 1.40202477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:-27.62, Z:140.23 [[ 2.13292503e-01 -9.11394197e-01 -3.51947334e-01 2.12233970e+02] [ 5.22651794e-01 4.10798185e-01 -7.47047491e-01 -2.76150255e+01] [ 8.25434074e-01 -2.46062767e-02 5.63961985e-01 1.40225788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:-27.60, Z:140.25 [[ 2.14447897e-01 -9.11280695e-01 -3.51538896e-01 2.12239466e+02] [ 5.22194694e-01 4.11123818e-01 -7.47188000e-01 -2.76011553e+01] [ 8.25424013e-01 -2.33388505e-02 5.64030582e-01 1.40248112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:-27.59, Z:140.27 [[ 2.17884366e-01 -9.10700236e-01 -3.50929455e-01 2.12244425e+02] [ 5.21386559e-01 4.12572680e-01 -7.46953707e-01 -2.75859133e+01] [ 8.25034823e-01 -2.02203661e-02 5.64719999e-01 1.40271494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:-27.57, Z:140.29 [[ 2.19449111e-01 -9.10451764e-01 -3.50599021e-01 2.12249861e+02] [ 5.20458448e-01 4.13201855e-01 -7.47253124e-01 -2.75713096e+01] [ 8.25206090e-01 -1.84881889e-02 5.64529092e-01 1.40293824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:-27.56, Z:140.32 [[ 2.20898436e-01 -9.10210592e-01 -3.50314944e-01 2.12255031e+02] [ 5.19324263e-01 4.13806468e-01 -7.47707507e-01 -2.75568659e+01] [ 8.25533882e-01 -1.67596310e-02 5.64103646e-01 1.40315440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:-27.54, Z:140.34 [[ 2.24310118e-01 -9.09437247e-01 -3.50155487e-01 2.12259674e+02] [ 5.16695523e-01 4.15637161e-01 -7.48512850e-01 -2.75409991e+01] [ 8.26263098e-01 -1.30247666e-02 5.63133775e-01 1.40338331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:-27.53, Z:140.36 [[ 2.25950254e-01 -9.09151500e-01 -3.49842869e-01 2.12265171e+02] [ 5.15648661e-01 4.16315149e-01 -7.48857900e-01 -2.75259140e+01] [ 8.26470169e-01 -1.11913741e-02 5.62869268e-01 1.40360850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:-27.51, Z:140.38 [[ 2.27231022e-01 -9.08958727e-01 -3.49514085e-01 2.12270713e+02] [ 5.14819665e-01 4.16773221e-01 -7.49173408e-01 -2.75112262e+01] [ 8.26635818e-01 -9.70128542e-03 5.62653632e-01 1.40382610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:-27.50, Z:140.41 [[ 2.28084798e-01 -9.08841893e-01 -3.49261705e-01 2.12276624e+02] [ 5.13811357e-01 4.17055014e-01 -7.49708613e-01 -2.74962993e+01] [ 8.27027940e-01 -8.45749243e-03 5.62097195e-01 1.40405476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:-27.48, Z:140.43 [[ 2.28622051e-01 -9.08743173e-01 -3.49167299e-01 2.12282501e+02] [ 5.12440291e-01 4.17291174e-01 -7.50515173e-01 -2.74822247e+01] [ 8.27729972e-01 -7.34307383e-03 5.61078580e-01 1.40428432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:-27.47, Z:140.45 [[ 2.28786523e-01 -9.08904963e-01 -3.48638056e-01 2.12288901e+02] [ 5.12833759e-01 4.16942823e-01 -7.50440016e-01 -2.74674739e+01] [ 8.27440791e-01 -7.10280288e-03 5.61508048e-01 1.40451445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:-27.47, Z:140.49 [[ 2.27401519e-01 -9.00607840e-01 -3.70397176e-01 2.12299345e+02] [ 5.08349370e-01 4.34209230e-01 -7.43668785e-01 -2.74684563e+01] [ 8.30583811e-01 -1.91797599e-02 5.56563266e-01 1.40485381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:-27.43, Z:140.50 [[ 2.29112015e-01 -9.13700801e-01 -3.35646439e-01 2.12296124e+02] [ 5.13336839e-01 4.06386608e-01 -7.55867194e-01 -2.74339187e+01] [ 8.27038678e-01 8.78573761e-04 5.62144335e-01 1.40496582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.30, Y:-27.42, Z:140.52 [[ 2.29711228e-01 -9.11570698e-01 -3.40986238e-01 2.12303572e+02] [ 5.13204707e-01 4.11138806e-01 -7.53382911e-01 -2.74206836e+01] [ 8.26954461e-01 -1.93522866e-03 5.62265573e-01 1.40520335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:212.31, Y:-27.40, Z:140.54 [[ 2.32466496e-01 -9.12587931e-01 -3.36366760e-01 2.12310556e+02] [ 5.10798822e-01 4.08861063e-01 -7.56252071e-01 -2.74029048e+01] [ 8.27673783e-01 3.98752410e-03 5.61195339e-01 1.40542672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.32, Y:-27.39, Z:140.57 [[ 2.33015065e-01 -9.08371928e-01 -3.47223875e-01 2.12319996e+02] [ 5.09853730e-01 4.18159062e-01 -7.51792640e-01 -2.73923630e+01] [ 8.28102140e-01 -1.85437704e-03 5.60574177e-01 1.40567960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:-27.38, Z:140.59 [[ 2.33940523e-01 -9.08355775e-01 -3.46643359e-01 2.12327087e+02] [ 5.08019918e-01 4.18198258e-01 -7.53011275e-01 -2.73775188e+01] [ 8.28967789e-01 5.81205794e-05 5.59296345e-01 1.40591190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:212.33, Y:-27.36, Z:140.62 [[ 2.34223980e-01 -9.07505819e-01 -3.48672218e-01 2.12334343e+02] [ 5.07984925e-01 4.20038361e-01 -7.52010034e-01 -2.73640147e+01] [ 8.28909189e-01 -9.81447374e-04 5.59382332e-01 1.40615065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:-27.35, Z:140.64 [[ 2.34055662e-01 -9.08386063e-01 -3.46486231e-01 2.12340411e+02] [ 5.08519863e-01 4.18132468e-01 -7.52710295e-01 -2.73485381e+01] [ 8.28628684e-01 -1.90241724e-05 5.59798627e-01 1.40637845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:-27.33, Z:140.66 [[ 2.33480429e-01 -9.08720499e-01 -3.45997029e-01 2.12347079e+02] [ 5.09154290e-01 4.17404925e-01 -7.52685218e-01 -2.73344178e+01] [ 8.28401351e-01 -4.28604173e-04 5.60134822e-01 1.40660470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:-27.32, Z:140.68 [[ 2.30843149e-01 -9.09574301e-01 -3.45522839e-01 2.12354463e+02] [ 5.10591192e-01 4.15532846e-01 -7.52747693e-01 -2.73204501e+01] [ 8.28256045e-01 -2.65427042e-03 5.60343537e-01 1.40683292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:-27.31, Z:140.71 [[ 2.28668140e-01 -9.10304086e-01 -3.45046883e-01 2.12361231e+02] [ 5.11909738e-01 4.13915667e-01 -7.52743144e-01 -2.73065798e+01] [ 8.28045471e-01 -4.50448481e-03 5.60642852e-01 1.40705349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.37, Y:-27.29, Z:140.73 [[ 2.26329078e-01 -9.11081678e-01 -3.44536392e-01 2.12368753e+02] [ 5.13350491e-01 4.12174535e-01 -7.52717361e-01 -2.72921852e+01] [ 8.27796123e-01 -6.50609955e-03 5.60991309e-01 1.40728230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28999999999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.38, Y:-27.28, Z:140.75 [[ 2.23495478e-01 -9.11955539e-01 -3.44073925e-01 2.12376081e+02] [ 5.14938444e-01 4.10191446e-01 -7.52716000e-01 -2.72780565e+01] [ 8.27579706e-01 -8.94826954e-03 5.61276900e-01 1.40751568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:-27.27, Z:140.77 [[ 2.17637586e-01 -9.13638951e-01 -3.43362415e-01 2.12384055e+02] [ 5.18839065e-01 4.06269672e-01 -7.52164197e-01 -2.72650112e+01] [ 8.26704243e-01 -1.44506339e-02 5.62451130e-01 1.40774022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:-27.25, Z:140.80 [[ 2.14488341e-01 -9.14591021e-01 -3.42809007e-01 2.12390986e+02] [ 5.20819978e-01 4.04012255e-01 -7.52011069e-01 -2.72506413e+01] [ 8.26281612e-01 -1.72441724e-02 5.62993194e-01 1.40797366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:-27.26, Z:140.84 [[ 2.08904699e-01 -9.02222991e-01 -3.77296305e-01 2.12402940e+02] [ 5.16052207e-01 4.29422265e-01 -7.41138744e-01 -2.72608094e+01] [ 8.30691848e-01 -3.98772245e-02 5.55302495e-01 1.40835440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:-27.21, Z:140.84 [[ 2.05882241e-01 -9.28316462e-01 -3.09582057e-01 2.12395887e+02] [ 5.25399887e-01 3.71756243e-01 -7.65344533e-01 -2.72076130e+01] [ 8.25570992e-01 -5.08353015e-03 5.64275372e-01 1.40836932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:-27.21, Z:140.87 [[ 2.04170706e-01 -9.17524524e-01 -3.41266860e-01 2.12411191e+02] [ 5.27448589e-01 3.96787250e-01 -7.51237555e-01 -2.72073034e+01] [ 8.24689219e-01 -2.66200221e-02 5.64959349e-01 1.40865829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:-27.19, Z:140.89 [[ 2.02476931e-01 -9.18032728e-01 -3.40909084e-01 2.12416786e+02] [ 5.27968086e-01 3.95527428e-01 -7.51536928e-01 -2.71933674e+01] [ 8.24774389e-01 -2.78202261e-02 5.64777162e-01 1.40887868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:-27.18, Z:140.91 [[ 2.01618571e-01 -9.18404015e-01 -3.40417415e-01 2.12422511e+02] [ 5.28656314e-01 3.94620262e-01 -7.51530006e-01 -2.71785329e+01] [ 8.24543785e-01 -2.84414101e-02 5.65082855e-01 1.40910429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:-27.16, Z:140.93 [[ 2.02053905e-01 -9.18418404e-01 -3.40120353e-01 2.12426435e+02] [ 5.28155974e-01 3.94638258e-01 -7.51872271e-01 -2.71620200e+01] [ 8.24757835e-01 -2.77178676e-02 5.64806368e-01 1.40933326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:-27.15, Z:140.96 [[ 2.02868798e-01 -9.18310070e-01 -3.39927736e-01 2.12431157e+02] [ 5.27084163e-01 3.94972392e-01 -7.52448732e-01 -2.71460913e+01] [ 8.25243319e-01 -2.65221560e-02 5.64154269e-01 1.40956551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:-27.13, Z:140.98 [[ 2.03978798e-01 -9.18160064e-01 -3.39668583e-01 2.12435550e+02] [ 5.26128470e-01 3.95411507e-01 -7.52886827e-01 -2.71300466e+01] [ 8.25579483e-01 -2.51363614e-02 5.63725714e-01 1.40978773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:-27.11, Z:141.00 [[ 2.07010451e-01 -9.17534479e-01 -3.39524895e-01 2.12438024e+02] [ 5.23889624e-01 3.97054165e-01 -7.53583208e-01 -2.71137383e+01] [ 8.26248350e-01 -2.18739698e-02 5.62881154e-01 1.41001098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:-27.10, Z:141.02 [[ 2.08743799e-01 -9.17224380e-01 -3.39301433e-01 2.12442760e+02] [ 5.22920372e-01 3.97865063e-01 -7.53828678e-01 -2.70985368e+01] [ 8.26426228e-01 -2.00705698e-02 5.62687179e-01 1.41024193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:-27.08, Z:141.05 [[ 2.10267195e-01 -9.17000199e-01 -3.38966580e-01 2.12447442e+02] [ 5.22097546e-01 3.98461469e-01 -7.54083955e-01 -2.70832903e+01] [ 8.26560257e-01 -1.84145013e-02 5.62546929e-01 1.41047268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:-27.07, Z:141.07 [[ 2.13654240e-01 -9.16353242e-01 -3.38597993e-01 2.12450789e+02] [ 5.20589306e-01 4.00085211e-01 -7.54266928e-01 -2.70668261e+01] [ 8.26642995e-01 -1.51181667e-02 5.62523600e-01 1.41070389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:-27.05, Z:141.09 [[ 2.14900702e-01 -9.16199677e-01 -3.38224542e-01 2.12455292e+02] [ 5.20024337e-01 4.00485914e-01 -7.54443982e-01 -2.70522077e+01] [ 8.26675497e-01 -1.37544512e-02 5.62510833e-01 1.41092558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:-27.04, Z:141.11 [[ 2.16088634e-01 -9.16052762e-01 -3.37865416e-01 2.12460311e+02] [ 5.19827211e-01 4.00859220e-01 -7.54381573e-01 -2.70370556e+01] [ 8.26489790e-01 -1.26183529e-02 5.62810273e-01 1.41114984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:-27.02, Z:141.14 [[ 2.17468934e-01 -9.15895901e-01 -3.37404744e-01 2.12465406e+02] [ 5.19392232e-01 4.01260369e-01 -7.54467909e-01 -2.70220888e+01] [ 8.26401217e-01 -1.11720713e-02 5.62970881e-01 1.41137804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:-27.01, Z:141.16 [[ 2.19183670e-01 -9.15678840e-01 -3.36883927e-01 2.12470508e+02] [ 5.19047966e-01 4.01798407e-01 -7.54418484e-01 -2.70067953e+01] [ 8.26164468e-01 -9.50270551e-03 5.63348889e-01 1.41160813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:-26.99, Z:141.18 [[ 2.23189177e-01 -9.15657751e-01 -3.34301473e-01 2.12473411e+02] [ 5.17622678e-01 4.01934046e-01 -7.55324954e-01 -2.69890816e+01] [ 8.25986292e-01 -4.46166942e-03 5.63672546e-01 1.41181161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:-26.97, Z:141.21 [[ 2.27619111e-01 -9.14968294e-01 -3.33200483e-01 2.12479560e+02] [ 5.14461459e-01 4.03524934e-01 -7.56635338e-01 -2.69747600e+01] [ 8.26752047e-01 8.05856548e-04 5.62565910e-01 1.41206099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:-26.96, Z:141.23 [[ 2.31308710e-01 -9.12935293e-01 -3.36222294e-01 2.12486112e+02] [ 5.12727238e-01 4.08097682e-01 -7.55358896e-01 -2.69603306e+01] [ 8.26805334e-01 2.33076348e-03 5.62483339e-01 1.41229739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:-26.95, Z:141.25 [[ 2.39961085e-01 -9.10848992e-01 -3.35816605e-01 2.12490848e+02] [ 5.08945215e-01 4.12609472e-01 -7.55465547e-01 -2.69452701e+01] [ 8.26676143e-01 1.03700781e-02 5.62582452e-01 1.41252509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:-26.93, Z:141.27 [[ 2.44092596e-01 -9.09938712e-01 -3.35306344e-01 2.12496626e+02] [ 5.07529131e-01 4.14499378e-01 -7.55383642e-01 -2.69313430e+01] [ 8.26337090e-01 1.42058164e-02 5.62996633e-01 1.41274686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:-26.92, Z:141.30 [[ 2.47828834e-01 -9.09112329e-01 -3.34806873e-01 2.12503091e+02] [ 5.06663249e-01 4.16183869e-01 -7.55038634e-01 -2.69169088e+01] [ 8.25756151e-01 1.74860057e-02 5.63756169e-01 1.41298124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03999999999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.51, Y:-26.91, Z:141.32 [[ 2.52199217e-01 -9.05614871e-01 -3.40965189e-01 2.12511678e+02] [ 5.03479621e-01 4.23708982e-01 -7.52980059e-01 -2.69070973e+01] [ 8.26379953e-01 1.82319569e-02 5.62817706e-01 1.41324722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:-26.89, Z:141.34 [[ 2.54794466e-01 -9.09406837e-01 -3.28723265e-01 2.12516485e+02] [ 5.04770279e-01 4.15034684e-01 -7.56936705e-01 -2.68870944e+01] [ 8.24794971e-01 2.69335494e-02 5.64790084e-01 1.41344161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:-26.88, Z:141.37 [[ 2.55354723e-01 -9.07530589e-01 -3.33439943e-01 2.12525665e+02] [ 5.04963488e-01 4.19283542e-01 -7.54462184e-01 -2.68754117e+01] [ 8.24503391e-01 2.42804850e-02 5.65335844e-01 1.41367175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:-26.86, Z:141.39 [[ 2.55140890e-01 -9.07757080e-01 -3.32986801e-01 2.12533834e+02] [ 5.05264448e-01 4.18793812e-01 -7.54532691e-01 -2.68613317e+01] [ 8.24385204e-01 2.42657502e-02 5.65508806e-01 1.41390173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:-26.85, Z:141.41 [[ 2.54382297e-01 -9.08116680e-01 -3.32586442e-01 2.12542179e+02] [ 5.05682504e-01 4.18040733e-01 -7.54670226e-01 -2.68475242e+01] [ 8.24363301e-01 2.37916009e-02 5.65560879e-01 1.41413269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:-26.83, Z:141.44 [[ 2.52645132e-01 -9.08759220e-01 -3.32155262e-01 2.12553381e+02] [ 5.06622719e-01 4.16718602e-01 -7.54770844e-01 -2.68349104e+01] [ 8.24320240e-01 2.24117781e-02 5.65679993e-01 1.41435867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:-26.82, Z:141.46 [[ 2.51442561e-01 -9.09202551e-01 -3.31854425e-01 2.12562084e+02] [ 5.06802177e-01 4.15788432e-01 -7.55163250e-01 -2.68217495e+01] [ 8.24577584e-01 2.16956369e-02 5.65332740e-01 1.41458564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:-26.81, Z:141.48 [[ 2.50380282e-01 -9.09592083e-01 -3.31590043e-01 2.12571216e+02] [ 5.07194615e-01 4.14974233e-01 -7.55347608e-01 -2.68084961e+01] [ 8.24659528e-01 2.09434627e-02 5.65241572e-01 1.41481412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:-26.80, Z:141.50 [[ 2.48772502e-01 -9.10113051e-01 -3.31370602e-01 2.12583237e+02] [ 5.07241577e-01 4.13878698e-01 -7.55916930e-01 -2.67964845e+01] [ 8.25117097e-01 1.99663990e-02 5.64608819e-01 1.41504178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:-26.78, Z:141.52 [[ 2.47124818e-01 -9.11861286e-01 -3.27777852e-01 2.12591040e+02] [ 5.08262468e-01 4.09983096e-01 -7.57352708e-01 -2.67799629e+01] [ 8.24983992e-01 2.05634704e-02 5.64781866e-01 1.41524624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:-26.77, Z:141.55 [[ 2.47014805e-01 -9.10901547e-01 -3.30517864e-01 2.12601623e+02] [ 5.06573163e-01 4.12156374e-01 -7.57304928e-01 -2.67697125e+01] [ 8.26055274e-01 1.96340489e-02 5.63247004e-01 1.41549338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:-26.76, Z:141.57 [[ 2.45940528e-01 -9.11019779e-01 -3.30992778e-01 2.12611533e+02] [ 5.06226230e-01 4.11934727e-01 -7.57657432e-01 -2.67566303e+01] [ 8.26588326e-01 1.87814427e-02 5.62493552e-01 1.41572607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:-26.74, Z:141.60 [[ 2.45702738e-01 -9.11222067e-01 -3.30612324e-01 2.12617837e+02] [ 5.06342292e-01 4.11486382e-01 -7.57823489e-01 -2.67415844e+01] [ 8.26587955e-01 1.87963043e-02 5.62493601e-01 1.41596065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.63, Y:-26.73, Z:141.62 [[ 2.44480228e-01 -9.11596617e-01 -3.30486044e-01 2.12627491e+02] [ 5.05969832e-01 4.10681726e-01 -7.58508437e-01 -2.67285391e+01] [ 8.27178304e-01 1.82243476e-02 5.61643950e-01 1.41618688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:-26.72, Z:141.64 [[ 2.41970637e-01 -9.12378558e-01 -3.30175073e-01 2.12641083e+02] [ 5.06758347e-01 4.09022540e-01 -7.58878474e-01 -2.67172527e+01] [ 8.27433495e-01 1.63073338e-02 5.61326895e-01 1.41641285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.65, Y:-26.70, Z:141.66 [[ 2.40416786e-01 -9.12965705e-01 -3.29686807e-01 2.12651095e+02] [ 5.07747282e-01 4.07758500e-01 -7.58897690e-01 -2.67042573e+01] [ 8.27280162e-01 1.50541634e-02 5.61587843e-01 1.41663899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:-26.69, Z:141.69 [[ 2.38591566e-01 -9.13601942e-01 -3.29249991e-01 2.12660803e+02] [ 5.08757122e-01 4.06383153e-01 -7.58959106e-01 -2.66915643e+01] [ 8.27188162e-01 1.35729633e-02 5.61761087e-01 1.41685930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.67, Y:-26.68, Z:141.71 [[ 2.36962893e-01 -9.14207729e-01 -3.28744301e-01 2.12670913e+02] [ 5.09872588e-01 4.05061676e-01 -7.58916980e-01 -2.66783685e+01] [ 8.26969486e-01 1.22174552e-02 5.62114048e-01 1.41709163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.68, Y:-26.67, Z:141.73 [[ 2.34747875e-01 -9.15054494e-01 -3.27976688e-01 2.12684508e+02] [ 5.12397950e-01 4.03207923e-01 -7.58202949e-01 -2.66669536e+01] [ 8.26039815e-01 9.93194839e-03 5.63524250e-01 1.41732762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.69, Y:-26.65, Z:141.76 [[ 2.33831097e-01 -9.15477652e-01 -3.27450282e-01 2.12694062e+02] [ 5.13385072e-01 4.02264900e-01 -7.58036092e-01 -2.66538884e+01] [ 8.25686857e-01 9.14432429e-03 5.64054603e-01 1.41755928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:-26.64, Z:141.78 [[ 2.33554358e-01 -9.15740073e-01 -3.26913569e-01 2.12703256e+02] [ 5.14088301e-01 4.01671699e-01 -7.57874043e-01 -2.66409327e+01] [ 8.25327560e-01 8.94234499e-03 5.64583434e-01 1.41778419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:-26.63, Z:141.80 [[ 2.33555896e-01 -9.15927396e-01 -3.26387269e-01 2.12715383e+02] [ 5.14543793e-01 4.01242033e-01 -7.57792528e-01 -2.66284936e+01] [ 8.25043228e-01 9.04636954e-03 5.64997199e-01 1.41801836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:-26.62, Z:141.82 [[ 2.33699469e-01 -9.16022316e-01 -3.26017906e-01 2.12723889e+02] [ 5.14422314e-01 4.01016401e-01 -7.57994413e-01 -2.66157409e+01] [ 8.25078325e-01 9.43200603e-03 5.64939639e-01 1.41824008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:-26.60, Z:141.85 [[ 2.33882359e-01 -9.16161038e-01 -3.25496536e-01 2.12732493e+02] [ 5.14814359e-01 4.00693245e-01 -7.57899135e-01 -2.66019386e+01] [ 8.24781921e-01 9.68894711e-03 5.65367939e-01 1.41846317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.74, Y:-26.59, Z:141.87 [[ 2.33850239e-01 -9.16297555e-01 -3.25135135e-01 2.12740981e+02] [ 5.14581509e-01 4.00373242e-01 -7.58226310e-01 -2.65884702e+01] [ 8.24936323e-01 1.00028750e-02 5.65137157e-01 1.41868486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.75, Y:-26.58, Z:141.89 [[ 2.34240169e-01 -9.16305900e-01 -3.24830789e-01 2.12752198e+02] [ 5.13920311e-01 4.00333979e-01 -7.58695341e-01 -2.65763751e+01] [ 8.25237819e-01 1.07797851e-02 5.64682512e-01 1.41890333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:-26.56, Z:141.91 [[ 2.34094221e-01 -9.16455154e-01 -3.24514788e-01 2.12760787e+02] [ 5.13534817e-01 3.99984513e-01 -7.59140554e-01 -2.65621737e+01] [ 8.25519163e-01 1.10607742e-02 5.64265692e-01 1.41913427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.77, Y:-26.55, Z:141.94 [[ 2.34203366e-01 -9.16519475e-01 -3.24254275e-01 2.12769398e+02] [ 5.12999673e-01 3.99823111e-01 -7.59587267e-01 -2.65482517e+01] [ 8.25820876e-01 1.15555574e-02 5.63814109e-01 1.41936076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.78, Y:-26.53, Z:141.96 [[ 2.34212265e-01 -9.16574989e-01 -3.24090888e-01 2.12777980e+02] [ 5.12095788e-01 3.99679735e-01 -7.60272328e-01 -2.65341729e+01] [ 8.26379162e-01 1.20995252e-02 5.62984087e-01 1.41959018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.79, Y:-26.52, Z:141.98 [[ 2.34397891e-01 -9.16605449e-01 -3.23870469e-01 2.12786523e+02] [ 5.11333624e-01 3.99590238e-01 -7.60832154e-01 -2.65204655e+01] [ 8.26798376e-01 1.27315917e-02 5.62354295e-01 1.41980860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.80, Y:-26.51, Z:142.00 [[ 2.35293758e-01 -9.16433735e-01 -3.23706744e-01 2.12797898e+02] [ 5.10453887e-01 3.99945804e-01 -7.61235958e-01 -2.65078141e+01] [ 8.27087466e-01 1.38767034e-02 5.61901914e-01 1.42003193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.81, Y:-26.49, Z:142.03 [[ 2.35545749e-01 -9.16499497e-01 -3.23337087e-01 2.12806578e+02] [ 5.10111606e-01 3.99775024e-01 -7.61555040e-01 -2.64940671e+01] [ 8.27226903e-01 1.44430513e-02 5.61682338e-01 1.42026292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:-26.48, Z:142.05 [[ 2.35986362e-01 -9.16505485e-01 -3.22998658e-01 2.12815328e+02] [ 5.09730233e-01 3.99735525e-01 -7.61831084e-01 -2.64808230e+01] [ 8.27336405e-01 1.51395643e-02 5.61502686e-01 1.42049532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.83, Y:-26.47, Z:142.07 [[ 2.37270446e-01 -9.16320629e-01 -3.22582145e-01 2.12826219e+02] [ 5.09301914e-01 4.00105710e-01 -7.61923212e-01 -2.64699430e+01] [ 8.27232915e-01 1.64901566e-02 5.61617110e-01 1.42071945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.83, Y:-26.46, Z:142.09 [[ 2.37929556e-01 -9.16368545e-01 -3.21959961e-01 2.12834808e+02] [ 5.09715885e-01 3.99969189e-01 -7.61718035e-01 -2.64569495e+01] [ 8.26788512e-01 1.71271276e-02 5.62252095e-01 1.42094587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.84, Y:-26.44, Z:142.12 [[ 2.38544389e-01 -9.16405868e-01 -3.21398289e-01 2.12843476e+02] [ 5.10006170e-01 3.99856226e-01 -7.61583026e-01 -2.64439373e+01] [ 8.26432260e-01 1.77562474e-02 5.62756106e-01 1.42117556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:-26.43, Z:142.14 [[ 2.39826123e-01 -9.16267050e-01 -3.20839718e-01 2.12854682e+02] [ 5.10137968e-01 4.00120869e-01 -7.61355727e-01 -2.64321968e+01] [ 8.25979833e-01 1.89204702e-02 5.63382048e-01 1.42140447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.86, Y:-26.42, Z:142.16 [[ 2.40182808e-01 -9.16279745e-01 -3.20536501e-01 2.12862840e+02] [ 5.09532889e-01 4.00056824e-01 -7.61794443e-01 -2.64187416e+01] [ 8.26249632e-01 1.96460391e-02 5.62961436e-01 1.42162913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.87, Y:-26.40, Z:142.19 [[ 2.40906509e-01 -9.16223681e-01 -3.20153432e-01 2.12871291e+02] [ 5.09008662e-01 4.00135440e-01 -7.62103544e-01 -2.64040070e+01] [ 8.26362049e-01 2.06348341e-02 5.62761022e-01 1.42185880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:-26.39, Z:142.21 [[ 2.41447654e-01 -9.16125424e-01 -3.20026933e-01 2.12879174e+02] [ 5.07695238e-01 4.00302829e-01 -7.62891336e-01 -2.63903836e+01] [ 8.27011835e-01 2.17221740e-02 5.61764694e-01 1.42207645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:-26.35, Z:142.21 [[ 2.40053179e-01 -9.28325779e-01 -2.83876239e-01 2.12875096e+02] [ 5.16903248e-01 3.69758318e-01 -7.72068532e-01 -2.63481649e+01] [ 8.21696722e-01 3.86009559e-02 5.68616271e-01 1.42208230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:-26.37, Z:142.25 [[ 2.42733925e-01 -9.13495625e-01 -3.26505720e-01 2.12896859e+02] [ 5.03968561e-01 4.06333934e-01 -7.62173487e-01 -2.63659527e+01] [ 8.28912499e-01 2.04567442e-02 5.59004106e-01 1.42254049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:-26.35, Z:142.27 [[ 2.44846871e-01 -9.15119837e-01 -3.20321236e-01 2.12904446e+02] [ 5.01597387e-01 4.02286920e-01 -7.65875510e-01 -2.63489184e+01] [ 8.29728915e-01 2.68499269e-02 5.57520412e-01 1.42274199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.91, Y:-26.33, Z:142.30 [[ 2.44299987e-01 -9.15352163e-01 -3.20074889e-01 2.12910618e+02] [ 5.01070128e-01 4.01756287e-01 -7.66498932e-01 -2.63347399e+01] [ 8.30208554e-01 2.68757136e-02 5.56804682e-01 1.42295709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:-26.29, Z:142.29 [[ 2.41687815e-01 -9.30119244e-01 -2.76523401e-01 2.12901754e+02] [ 5.13828207e-01 3.64413102e-01 -7.76648997e-01 -2.62861623e+01] [ 8.23144928e-01 4.56210761e-02 5.65995710e-01 1.42292605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.91, Y:-26.28, Z:142.32 [[ 2.41767437e-01 -9.27629979e-01 -2.84694798e-01 2.12911409e+02] [ 5.13358679e-01 3.71253454e-01 -7.73714249e-01 -2.62774547e+01] [ 8.23414460e-01 4.09083656e-02 5.65963897e-01 1.42318047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:212.92, Y:-26.26, Z:142.34 [[ 2.41600645e-01 -9.28427912e-01 -2.82224629e-01 2.12916787e+02] [ 5.13191962e-01 3.69088462e-01 -7.74859805e-01 -2.62611642e+01] [ 8.23567325e-01 4.23712173e-02 5.65633752e-01 1.42339895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.93, Y:-26.25, Z:142.37 [[ 2.41399559e-01 -9.25850859e-01 -2.90734311e-01 2.12925446e+02] [ 5.13194216e-01 3.76069918e-01 -7.71494079e-01 -2.62526336e+01] [ 8.23624884e-01 3.70351633e-02 5.65924418e-01 1.42366379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.93, Y:-26.23, Z:142.38 [[ 2.41389052e-01 -9.30756832e-01 -2.74632564e-01 2.12927472e+02] [ 5.15986805e-01 3.62783368e-01 -7.75980570e-01 -2.62271717e+01] [ 8.21881343e-01 4.56064345e-02 5.67830178e-01 1.42383061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.95, Y:-26.26, Z:142.44 [[ 2.41998095e-01 -9.11743877e-01 -3.31903638e-01 2.12952402e+02] [ 5.01424641e-01 4.10368853e-01 -7.61689394e-01 -2.62562823e+01] [ 8.30668557e-01 1.79027197e-02 5.56479327e-01 1.42437319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.96, Y:-26.24, Z:142.46 [[ 2.40720339e-01 -9.16521617e-01 -3.19439891e-01 2.12955706e+02] [ 5.02295444e-01 3.99253597e-01 -7.67004466e-01 -2.62359049e+01] [ 8.30513699e-01 2.41803731e-02 5.56473094e-01 1.42455233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.95, Y:-26.19, Z:142.45 [[ 2.37221798e-01 -9.31820386e-01 -2.74657216e-01 2.12947148e+02] [ 5.16104584e-01 3.60414338e-01 -7.77005511e-01 -2.61872181e+01] [ 8.23019974e-01 4.25707964e-02 5.66414910e-01 1.42451602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.97, Y:-26.21, Z:142.50 [[ 2.38245582e-01 -9.14363505e-01 -3.27381160e-01 2.12971029e+02] [ 5.02281477e-01 4.04509719e-01 -7.64254673e-01 -2.62124640e+01] [ 8.31235442e-01 1.76428071e-02 5.55640505e-01 1.42503013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.96, Y:-26.16, Z:142.50 [[ 2.35740987e-01 -9.31542215e-01 -2.76866917e-01 2.12962426e+02] [ 5.14787848e-01 3.61342855e-01 -7.77447627e-01 -2.61615554e+01] [ 8.24269166e-01 4.07485466e-02 5.64729934e-01 1.42499160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.98, Y:-26.18, Z:142.55 [[ 2.36461585e-01 -9.14384578e-01 -3.28613393e-01 2.12984008e+02] [ 5.02731165e-01 4.04552258e-01 -7.63936416e-01 -2.61847116e+01] [ 8.31472967e-01 1.54374215e-02 5.55350692e-01 1.42548255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.99, Y:-26.16, Z:142.57 [[ 2.36395942e-01 -9.18078492e-01 -3.18196230e-01 2.12987606e+02] [ 5.02868942e-01 3.95807584e-01 -7.68413420e-01 -2.61641258e+01] [ 8.31408315e-01 2.16388131e-02 5.55240466e-01 1.42568684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.99, Y:-26.15, Z:142.59 [[ 2.35742814e-01 -9.18383623e-01 -3.17800011e-01 2.12993129e+02] [ 5.03168468e-01 3.95118656e-01 -7.68571883e-01 -2.61497983e+01] [ 8.31412544e-01 2.12783536e-02 5.55248065e-01 1.42590209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.00, Y:-26.14, Z:142.61 [[ 2.34837591e-01 -9.18831195e-01 -3.17175885e-01 2.12999623e+02] [ 5.04258632e-01 3.94117788e-01 -7.68371265e-01 -2.61351986e+01] [ 8.31008146e-01 2.05037785e-02 5.55882233e-01 1.42612349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:-26.12, Z:142.63 [[ 2.33919325e-01 -9.19204921e-01 -3.16771310e-01 2.13005739e+02] [ 5.04535080e-01 3.93272645e-01 -7.68622781e-01 -2.61206204e+01] [ 8.31099333e-01 1.99734837e-02 5.55765200e-01 1.42634629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:-26.11, Z:142.66 [[ 2.32770124e-01 -9.19651889e-01 -3.16320207e-01 2.13011942e+02] [ 5.05108461e-01 3.92266460e-01 -7.68760345e-01 -2.61061875e+01] [ 8.31073710e-01 1.91684280e-02 5.55831863e-01 1.42656394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:-26.09, Z:142.68 [[ 2.31356711e-01 -9.20189034e-01 -3.15794577e-01 2.13018488e+02] [ 5.06098917e-01 3.91059074e-01 -7.68724064e-01 -2.60916063e+01] [ 8.30865789e-01 1.80261776e-02 5.56180814e-01 1.42678384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.03, Y:-26.08, Z:142.70 [[ 2.29663394e-01 -9.20816413e-01 -3.15201301e-01 2.13025008e+02] [ 5.07495765e-01 3.89645526e-01 -7.68520925e-01 -2.60779039e+01] [ 8.30483458e-01 1.65377985e-02 5.56797744e-01 1.42699580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.03, Y:-26.06, Z:142.72 [[ 2.26060826e-01 -9.21924447e-01 -3.14566078e-01 2.13032753e+02] [ 5.09783847e-01 3.87140814e-01 -7.68272360e-01 -2.60639846e+01] [ 8.30070438e-01 1.33155789e-02 5.57499564e-01 1.42722102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.04, Y:-26.05, Z:142.74 [[ 2.24182623e-01 -9.22550460e-01 -3.14074514e-01 2.13039428e+02] [ 5.10846575e-01 3.85696187e-01 -7.68293061e-01 -2.60495349e+01] [ 8.29926459e-01 1.17940634e-02 5.57748126e-01 1.42744446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:-26.03, Z:142.77 [[ 2.22646335e-01 -9.23076333e-01 -3.13621895e-01 2.13045727e+02] [ 5.11616795e-01 3.84469984e-01 -7.68395137e-01 -2.60349445e+01] [ 8.29865570e-01 1.06261325e-02 5.57862188e-01 1.42767090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:-26.02, Z:142.79 [[ 2.20777030e-01 -9.23615545e-01 -3.13355752e-01 2.13052100e+02] [ 5.11859037e-01 3.83205991e-01 -7.68865069e-01 -2.60200537e+01] [ 8.30215532e-01 9.35377312e-03 5.57364044e-01 1.42790536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.06, Y:-26.01, Z:142.81 [[ 2.20133781e-01 -9.23858424e-01 -3.13092209e-01 2.13057351e+02] [ 5.11572987e-01 3.82624057e-01 -7.69345117e-01 -2.60064048e+01] [ 8.30562579e-01 9.18933304e-03 5.56849494e-01 1.42811952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.06, Y:-25.99, Z:142.83 [[ 2.19862524e-01 -9.24039386e-01 -3.12748596e-01 2.13062910e+02] [ 5.11173211e-01 3.82181994e-01 -7.69830418e-01 -2.59915369e+01] [ 8.30880508e-01 9.38815477e-03 5.56371678e-01 1.42834595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.07, Y:-25.98, Z:142.86 [[ 2.19815700e-01 -9.24149256e-01 -3.12456733e-01 2.13067616e+02] [ 5.10574243e-01 3.81905742e-01 -7.70364814e-01 -2.59777032e+01] [ 8.31261090e-01 9.80592084e-03 5.55795685e-01 1.42856065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.07, Y:-25.96, Z:142.88 [[ 2.20431640e-01 -9.24122303e-01 -3.12102326e-01 2.13072023e+02] [ 5.09880312e-01 3.81944852e-01 -7.70804902e-01 -2.59623942e+01] [ 8.31523878e-01 1.07749571e-02 5.55384498e-01 1.42878725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.08, Y:-25.95, Z:142.90 [[ 2.20431200e-01 -9.24265116e-01 -3.11679454e-01 2.13076943e+02] [ 5.09855060e-01 3.81591544e-01 -7.70996570e-01 -2.59478589e+01] [ 8.31539478e-01 1.10403519e-02 5.55355928e-01 1.42901057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.08, Y:-25.93, Z:142.92 [[ 2.19966509e-01 -9.24531839e-01 -3.11216345e-01 2.13081984e+02] [ 5.10198077e-01 3.80950867e-01 -7.71086480e-01 -2.59331237e+01] [ 8.31452138e-01 1.08312201e-02 5.55490798e-01 1.42923331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.09, Y:-25.92, Z:142.95 [[ 2.19373826e-01 -9.24826118e-01 -3.10759996e-01 2.13087403e+02] [ 5.10562379e-01 3.80244704e-01 -7.71193894e-01 -2.59184386e+01] [ 8.31385098e-01 1.05173923e-02 5.55597159e-01 1.42945588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.09, Y:-25.90, Z:142.97 [[ 2.17685313e-01 -9.25424193e-01 -3.10166355e-01 2.13092557e+02] [ 5.11974819e-01 3.78825224e-01 -7.70956052e-01 -2.59047696e+01] [ 8.30960221e-01 9.02844572e-03 5.56258571e-01 1.42967810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:213.10, Y:-25.89, Z:142.99 [[ 2.17310121e-01 -9.25765362e-01 -3.09410417e-01 2.13098254e+02] [ 5.12636183e-01 3.77993414e-01 -7.70924849e-01 -2.58910319e+01] [ 8.30650622e-01 8.91479721e-03 5.56722616e-01 1.42988831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:-25.88, Z:143.01 [[ 2.15363379e-01 -9.26388826e-01 -3.08905097e-01 2.13102795e+02] [ 5.13693223e-01 3.76496589e-01 -7.70953690e-01 -2.58770163e+01] [ 8.30504599e-01 7.35273664e-03 5.56963239e-01 1.43011021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:-25.86, Z:143.03 [[ 2.15167624e-01 -9.26587329e-01 -3.08445805e-01 2.13108385e+02] [ 5.13776746e-01 3.76005846e-01 -7.71137510e-01 -2.58621817e+01] [ 8.30503672e-01 7.45154390e-03 5.56963307e-01 1.43033804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:-25.86, Z:143.06 [[ 2.16046227e-01 -9.21950528e-01 -3.21451787e-01 2.13117371e+02] [ 5.16844217e-01 3.87305805e-01 -7.63456789e-01 -2.58560553e+01] [ 8.28369533e-01 -1.19853871e-03 5.60180757e-01 1.43058670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:-25.83, Z:143.07 [[ 2.13713058e-01 -9.32607559e-01 -2.90808991e-01 2.13114679e+02] [ 5.14466121e-01 3.60507042e-01 -7.78048381e-01 -2.58256346e+01] [ 8.30452490e-01 1.66677255e-02 5.56840056e-01 1.43072204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:-25.82, Z:143.10 [[ 2.12298195e-01 -9.27548676e-01 -3.07543380e-01 2.13124889e+02] [ 5.14031364e-01 3.73656876e-01 -7.72108992e-01 -2.58201515e+01] [ 8.31084372e-01 5.83040280e-03 5.56115791e-01 1.43099687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:-25.76, Z:143.09 [[ 2.08262693e-01 -9.47146682e-01 -2.44007814e-01 2.13108626e+02] [ 5.31278359e-01 3.19013458e-01 -7.84839932e-01 -2.57575674e+01] [ 8.21200314e-01 3.38168070e-02 5.69637137e-01 1.43086360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:-25.72, Z:143.09 [[ 2.04573614e-01 -9.56093216e-01 -2.09846131e-01 2.13100577e+02] [ 5.39271777e-01 2.88996125e-01 -7.90991271e-01 -2.57177056e+01] [ 8.16906106e-01 4.86518468e-02 5.74715070e-01 1.43091323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.13, Y:-25.75, Z:143.14 [[ 2.08268754e-01 -9.38471963e-01 -2.75489564e-01 2.13129682e+02] [ 5.28489223e-01 3.44986583e-01 -7.75682537e-01 -2.57454481e+01] [ 8.22996517e-01 1.59571700e-02 5.67822245e-01 1.43141277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.13, Y:-25.72, Z:143.16 [[ 2.08167973e-01 -9.44035446e-01 -2.55857717e-01 2.13128994e+02] [ 5.29420009e-01 3.28708161e-01 -7.82090403e-01 -2.57192466e+01] [ 8.22423583e-01 2.73499794e-02 5.68217766e-01 1.43157847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:-25.76, Z:143.22 [[ 2.12591572e-01 -9.20610334e-01 -3.27538452e-01 2.13158026e+02] [ 5.09700743e-01 3.90462415e-01 -7.66644804e-01 -2.57600427e+01] [ 8.33672584e-01 -3.96436834e-03 5.52244789e-01 1.43220567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.14, Y:-25.69, Z:143.21 [[ 2.10237393e-01 -9.44359055e-01 -2.52954964e-01 2.13139388e+02] [ 5.25443143e-01 3.27336963e-01 -7.85340701e-01 -2.56924541e+01] [ 8.24445112e-01 3.21945298e-02 5.65025460e-01 1.43205703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.15, Y:-25.69, Z:143.23 [[ 2.12329353e-01 -9.39711961e-01 -2.68062823e-01 2.13149265e+02] [ 5.22627144e-01 3.40991057e-01 -7.81400005e-01 -2.56862855e+01] [ 8.25697956e-01 2.58172495e-02 5.63521389e-01 1.43234394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:-25.67, Z:143.26 [[ 2.12947544e-01 -9.39339612e-01 -2.68876249e-01 2.13155305e+02] [ 5.21400524e-01 3.41979623e-01 -7.81787332e-01 -2.56720360e+01] [ 8.26314007e-01 2.62874758e-02 5.62595886e-01 1.43258053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:-25.66, Z:143.29 [[ 2.14033032e-01 -9.37012765e-01 -2.76037930e-01 2.13163441e+02] [ 5.17502487e-01 3.48440320e-01 -7.81524484e-01 -2.56629337e+01] [ 8.28481163e-01 2.44217393e-02 5.59484174e-01 1.43285917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.17, Y:-25.65, Z:143.31 [[ 2.14311788e-01 -9.34616483e-01 -2.83835317e-01 2.13170972e+02] [ 5.14735896e-01 3.55028013e-01 -7.80385845e-01 -2.56547125e+01] [ 8.30130962e-01 2.11456595e-02 5.57167341e-01 1.43312618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.18, Y:-25.64, Z:143.34 [[ 2.15452295e-01 -9.34589153e-01 -2.83060814e-01 2.13176253e+02] [ 5.12553032e-01 3.54960628e-01 -7.81851867e-01 -2.56401164e+01] [ 8.31185718e-01 2.33681007e-02 5.55503585e-01 1.43335880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.18, Y:-25.63, Z:143.36 [[ 2.17118443e-01 -9.33154503e-01 -2.86500010e-01 2.13182943e+02] [ 5.08512689e-01 3.58655175e-01 -7.82803494e-01 -2.56285770e+01] [ 8.33231317e-01 2.42721852e-02 5.52391559e-01 1.43362097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.20, Y:-25.63, Z:143.40 [[ 2.19905989e-01 -9.24767108e-01 -3.10559419e-01 2.13198645e+02] [ 4.98244775e-01 3.80170188e-01 -7.79245002e-01 -2.56347345e+01] [ 8.38685579e-01 1.66260354e-02 5.44362081e-01 1.43402358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:-25.60, Z:143.41 [[ 2.17800363e-01 -9.32322457e-01 -2.88682936e-01 2.13194839e+02] [ 5.07589165e-01 3.60839084e-01 -7.82399128e-01 -2.56017216e+01] [ 8.33616364e-01 2.38744835e-02 5.51827661e-01 1.43408712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.20, Y:-25.59, Z:143.43 [[ 2.17989808e-01 -9.31918496e-01 -2.89841958e-01 2.13201107e+02] [ 5.05812266e-01 3.61866360e-01 -7.83075149e-01 -2.55896808e+01] [ 8.34646269e-01 2.40967839e-02 5.50258985e-01 1.43434014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:-25.58, Z:143.46 [[ 2.17108249e-01 -9.32318231e-01 -2.89217433e-01 2.13206836e+02] [ 5.06361857e-01 3.60868960e-01 -7.83180224e-01 -2.55767470e+01] [ 8.34542796e-01 2.35862106e-02 5.50438019e-01 1.43458423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:-25.57, Z:143.49 [[ 2.15898131e-01 -9.30047355e-01 -2.97321232e-01 2.13214783e+02] [ 5.04352119e-01 3.66958346e-01 -7.81646027e-01 -2.55702104e+01] [ 8.36072328e-01 1.88013231e-02 5.48296975e-01 1.43486541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.23, Y:-25.56, Z:143.52 [[ 2.17279803e-01 -9.29808576e-01 -2.97061439e-01 2.13225212e+02] [ 5.00990158e-01 3.67418870e-01 -7.83589328e-01 -2.55588701e+01] [ 8.37734056e-01 2.14332773e-02 5.45657645e-01 1.43515989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.23, Y:-25.55, Z:143.54 [[ 2.13110875e-01 -9.26625611e-01 -3.09755923e-01 2.13230578e+02] [ 5.06031874e-01 3.75884864e-01 -7.76300401e-01 -2.55496352e+01] [ 8.35772396e-01 8.69168743e-03 5.49007246e-01 1.43536688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.23, Y:-25.53, Z:143.56 [[ 2.08610713e-01 -9.32522604e-01 -2.94759502e-01 2.13233771e+02] [ 5.07404403e-01 3.60852460e-01 -7.82512795e-01 -2.55278054e+01] [ 8.36075560e-01 1.36782825e-02 5.48443764e-01 1.43556412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:-25.51, Z:143.58 [[ 2.05860604e-01 -9.33523243e-01 -2.93523024e-01 2.13240060e+02] [ 5.08115213e-01 3.58312963e-01 -7.83218201e-01 -2.55133834e+01] [ 8.36325500e-01 1.20902580e-02 5.48099885e-01 1.43579685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:-25.50, Z:143.61 [[ 2.05229804e-01 -9.33534204e-01 -2.93929612e-01 2.13251103e+02] [ 5.05933151e-01 3.58276440e-01 -7.84646187e-01 -2.55003060e+01] [ 8.37802109e-01 1.23240485e-02 5.45834905e-01 1.43608154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.26, Y:-25.50, Z:143.64 [[ 1.98011275e-01 -9.28431591e-01 -3.14334719e-01 2.13263127e+02] [ 5.08331986e-01 3.71455825e-01 -7.76929316e-01 -2.54974309e+01] [ 8.38087183e-01 -5.94562722e-03 5.45503917e-01 1.43636836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:-25.48, Z:143.66 [[ 1.91801797e-01 -9.29324484e-01 -3.15544094e-01 2.13265129e+02] [ 5.11603723e-01 3.69048797e-01 -7.75928229e-01 -2.54845511e+01] [ 8.37540269e-01 -1.26091046e-02 5.46230088e-01 1.43655596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:-25.46, Z:143.68 [[ 1.91548742e-01 -9.37290418e-01 -2.91197102e-01 2.13269105e+02] [ 5.10318073e-01 3.48543701e-01 -7.86188752e-01 -2.54563934e+01] [ 8.38382099e-01 1.99032265e-03 5.45079347e-01 1.43676770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:-25.45, Z:143.71 [[ 1.88422362e-01 -9.30602351e-01 -3.13809301e-01 2.13280238e+02] [ 5.11651148e-01 3.65761201e-01 -7.77452151e-01 -2.54539322e+01] [ 8.38278066e-01 -1.40715184e-02 5.45061350e-01 1.43705634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:-25.44, Z:143.73 [[ 1.80962756e-01 -9.30831949e-01 -3.17497029e-01 2.13281085e+02] [ 5.13859641e-01 3.64745769e-01 -7.76472017e-01 -2.54426949e+01] [ 8.38570659e-01 -2.26363931e-02 5.44322371e-01 1.43726922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:-25.40, Z:143.73 [[ 1.79245089e-01 -9.45559618e-01 -2.71639847e-01 2.13275058e+02] [ 5.19063303e-01 3.25448247e-01 -7.90352279e-01 -2.53983544e+01] [ 8.35729912e-01 6.68487918e-04 5.49140299e-01 1.43733341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.29, Y:-25.40, Z:143.77 [[ 1.80821214e-01 -9.35843289e-01 -3.02491367e-01 2.13292756e+02] [ 5.13871411e-01 3.52138556e-01 -7.82262495e-01 -2.54043432e+01] [ 8.38593979e-01 -1.39920116e-02 5.44577232e-01 1.43773101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.29, Y:-25.37, Z:143.78 [[ 1.77329553e-01 -9.41968844e-01 -2.85041973e-01 2.13289242e+02] [ 5.21462358e-01 3.35565296e-01 -7.84520836e-01 -2.53748145e+01] [ 8.34644379e-01 -9.51993013e-03 5.50706939e-01 1.43781820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:-25.37, Z:143.81 [[ 1.79060670e-01 -9.38905034e-01 -2.93929605e-01 2.13295904e+02] [ 5.17591888e-01 3.43972193e-01 -7.83442256e-01 -2.53680956e+01] [ 8.36681489e-01 -1.18518843e-02 5.47561521e-01 1.43810827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.31, Y:-25.36, Z:143.84 [[ 1.82826682e-01 -9.35188565e-01 -3.03309663e-01 2.13306258e+02] [ 5.12175021e-01 3.53937411e-01 -7.82563133e-01 -2.53614973e+01] [ 8.39196730e-01 -1.22742118e-02 5.43689426e-01 1.43843441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:-25.32, Z:143.85 [[ 1.82068211e-01 -9.45851155e-01 -2.68731760e-01 2.13297577e+02] [ 5.22457036e-01 3.24585340e-01 -7.88468771e-01 -2.53194473e+01] [ 8.33000488e-01 3.15429981e-03 5.53263263e-01 1.43845090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:-25.34, Z:143.89 [[ 1.87207062e-01 -9.28913442e-01 -3.19489176e-01 2.13318010e+02] [ 5.11102374e-01 3.69857109e-01 -7.75873754e-01 -2.53410814e+01] [ 8.38884902e-01 -1.80426301e-02 5.44009729e-01 1.43894536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:-25.32, Z:143.91 [[ 1.90064128e-01 -9.31234368e-01 -3.10931150e-01 2.13319682e+02] [ 5.10423377e-01 3.64265071e-01 -7.78960162e-01 -2.53222126e+01] [ 8.38655832e-01 -1.06541435e-02 5.44557513e-01 1.43914726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:-25.26, Z:143.90 [[ 1.93351750e-01 -9.49980509e-01 -2.45259320e-01 2.13301549e+02] [ 5.23244667e-01 3.11302718e-01 -7.93287865e-01 -2.52597077e+01] [ 8.29957902e-01 2.50529653e-02 5.57263160e-01 1.43904995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:213.33, Y:-25.29, Z:143.95 [[ 1.97854059e-01 -9.22837245e-01 -3.30492345e-01 2.13329861e+02] [ 5.18479911e-01 3.84657183e-01 -7.63686738e-01 -2.52941074e+01] [ 8.31884820e-01 -2.02551202e-02 5.54578558e-01 1.43954054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:-25.26, Z:143.97 [[ 1.99072106e-01 -9.37489570e-01 -2.85453328e-01 2.13321794e+02] [ 5.14900361e-01 3.47897247e-01 -7.83482689e-01 -2.52557660e+01] [ 8.33815276e-01 8.98952649e-03 5.51970356e-01 1.43965461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.33, Y:-25.25, Z:143.99 [[ 2.01592988e-01 -9.32585806e-01 -2.99406048e-01 2.13329401e+02] [ 5.13445670e-01 3.60934024e-01 -7.78524357e-01 -2.52477310e+01] [ 8.34106594e-01 3.21631222e-03 5.51593913e-01 1.43990927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.33, Y:-25.23, Z:144.01 [[ 2.07029538e-01 -9.31518648e-01 -2.99018026e-01 2.13332255e+02] [ 5.11099271e-01 3.63596252e-01 -7.78829443e-01 -2.52328508e+01] [ 8.34215983e-01 8.41280514e-03 5.51373665e-01 1.44012269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.31, Y:-25.16, Z:143.99 [[ 2.04816681e-01 -9.54764265e-01 -2.15581365e-01 2.13307783e+02] [ 5.31123492e-01 2.93414582e-01 -7.94868366e-01 -2.51590174e+01] [ 8.22166627e-01 4.83019734e-02 5.67193932e-01 1.43991764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.33, Y:-25.18, Z:144.04 [[ 2.09410552e-01 -9.39818683e-01 -2.69977896e-01 2.13331480e+02] [ 5.22339561e-01 3.40921358e-01 -7.81622678e-01 -2.51780815e+01] [ 8.26624826e-01 2.26599002e-02 5.62297008e-01 1.44037293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.35, Y:-25.20, Z:144.09 [[ 2.14343717e-01 -9.23206262e-01 -3.18978008e-01 2.13350532e+02] [ 5.08514535e-01 3.84293461e-01 -7.70539748e-01 -2.52008818e+01] [ 8.33948283e-01 2.95540017e-03 5.51834692e-01 1.44086278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.33, Y:-25.14, Z:144.08 [[ 2.12958978e-01 -9.43962591e-01 -2.52156896e-01 2.13334620e+02] [ 5.21261917e-01 3.28046321e-01 -7.87827155e-01 -2.51416881e+01] [ 8.26398504e-01 3.63350793e-02 5.61912159e-01 1.44078348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.35, Y:-25.14, Z:144.11 [[ 2.14018454e-01 -9.36588839e-01 -2.77484142e-01 2.13348102e+02] [ 5.17294485e-01 3.49632273e-01 -7.81129752e-01 -2.51427568e+01] [ 8.28614818e-01 2.36351653e-02 5.59319999e-01 1.44112950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78999999999996 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:213.36, Y:-25.15, Z:144.15 [[ 2.15653661e-01 -9.27774248e-01 -3.04513455e-01 2.13361770e+02] [ 5.14036224e-01 3.73006780e-01 -7.72420030e-01 -2.51463197e+01] [ 8.30216995e-01 1.00442605e-02 5.57349849e-01 1.44146653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.36, Y:-25.11, Z:144.16 [[ 2.14023112e-01 -9.37518834e-01 -2.74321971e-01 2.13358812e+02] [ 5.18473339e-01 3.47032903e-01 -7.81507237e-01 -2.51142688e+01] [ 8.27876503e-01 2.50319824e-02 5.60351582e-01 1.44158216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.37, Y:-25.10, Z:144.18 [[ 2.12911405e-01 -9.35478245e-01 -2.82044653e-01 2.13366514e+02] [ 5.17871075e-01 3.52825718e-01 -7.79309671e-01 -2.51049252e+01] [ 8.28539850e-01 1.98611493e-02 5.59577744e-01 1.44183576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.37, Y:-25.09, Z:144.21 [[ 2.12228971e-01 -9.35220391e-01 -2.83410804e-01 2.13372937e+02] [ 5.16952729e-01 3.53559133e-01 -7.79586952e-01 -2.50915713e+01] [ 8.29288092e-01 1.89409479e-02 5.58500224e-01 1.44207930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:-25.08, Z:144.23 [[ 2.11546089e-01 -9.33354655e-01 -2.89995414e-01 2.13380093e+02] [ 5.14716752e-01 3.58621747e-01 -7.78753560e-01 -2.50818873e+01] [ 8.30851923e-01 1.54767726e-02 5.56278305e-01 1.44233327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:-25.06, Z:144.26 [[ 2.10810149e-01 -9.35804153e-01 -2.82541446e-01 2.13384809e+02] [ 5.13644692e-01 3.51962094e-01 -7.82490776e-01 -2.50627480e+01] [ 8.31701997e-01 1.98310834e-02 5.54868017e-01 1.44255058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.39, Y:-25.04, Z:144.27 [[ 2.09217926e-01 -9.37972720e-01 -2.76468869e-01 2.13389765e+02] [ 5.14163362e-01 3.46007533e-01 -7.84802411e-01 -2.50422796e+01] [ 8.31783564e-01 2.20445690e-02 5.54662186e-01 1.44274647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.40, Y:-25.04, Z:144.30 [[ 2.09303431e-01 -9.33797726e-01 -2.90196280e-01 2.13400629e+02] [ 5.11271605e-01 3.57477890e-01 -7.81543923e-01 -2.50362220e+01] [ 8.33542692e-01 1.52107066e-02 5.52245611e-01 1.44303784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:-25.02, Z:144.33 [[ 2.09814798e-01 -9.33295846e-01 -2.91438868e-01 2.13408791e+02] [ 5.08625440e-01 3.58752445e-01 -7.82685661e-01 -2.50234681e+01] [ 8.35031683e-01 1.59858116e-02 5.49969583e-01 1.44330400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:213.42, Y:-25.01, Z:144.35 [[ 2.09392894e-01 -9.32378741e-01 -2.94659972e-01 2.13415746e+02] [ 5.07782665e-01 3.61206084e-01 -7.82104168e-01 -2.50115672e+01] [ 8.35650274e-01 1.41438291e-02 5.49079750e-01 1.44353037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.42, Y:-24.99, Z:144.37 [[ 2.07326659e-01 -9.36908915e-01 -2.81455754e-01 2.13418722e+02] [ 5.12019431e-01 3.49077949e-01 -7.84844372e-01 -2.49890364e+01] [ 8.33577686e-01 1.86083465e-02 5.52088734e-01 1.44369005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.43, Y:-24.99, Z:144.40 [[ 2.07870390e-01 -9.31542827e-01 -2.98358613e-01 2.13431846e+02] [ 5.07564486e-01 3.63466672e-01 -7.81197972e-01 -2.49883230e+01] [ 8.36162779e-01 1.09516908e-02 5.48372015e-01 1.44403785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.43, Y:-24.97, Z:144.42 [[ 2.05696851e-01 -9.35260043e-01 -2.88058080e-01 2.13434757e+02] [ 5.12740396e-01 3.53714547e-01 -7.82293619e-01 -2.49661060e+01] [ 8.33538297e-01 1.32163202e-02 5.52303573e-01 1.44420987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:-24.94, Z:144.44 [[ 2.03106780e-01 -9.39607597e-01 -2.75472686e-01 2.13438864e+02] [ 5.18598854e-01 3.41864585e-01 -7.83698816e-01 -2.49445784e+01] [ 8.30543716e-01 1.63147235e-02 5.56714438e-01 1.44438211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.45, Y:-24.93, Z:144.46 [[ 2.02922269e-01 -9.38554957e-01 -2.79172251e-01 2.13445563e+02] [ 5.18348067e-01 3.44842073e-01 -7.82559407e-01 -2.49316404e+01] [ 8.30745348e-01 1.40903338e-02 5.56474284e-01 1.44463021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.45, Y:-24.91, Z:144.48 [[ 2.01432758e-01 -9.42503374e-01 -2.66668773e-01 2.13448602e+02] [ 5.21957107e-01 3.33659737e-01 -7.85004432e-01 -2.49086213e+01] [ 8.28845958e-01 1.89359472e-02 5.59156335e-01 1.44480916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.47, Y:-24.92, Z:144.52 [[ 2.01952001e-01 -9.29504378e-01 -3.08604925e-01 2.13468304e+02] [ 5.13822676e-01 3.68804863e-01 -7.74576807e-01 -2.49248657e+01] [ 8.33787531e-01 -2.14087238e-03 5.52081308e-01 1.44524966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.47, Y:-24.91, Z:144.55 [[ 2.00460436e-01 -9.33300199e-01 -2.97936828e-01 2.13472168e+02] [ 5.14550732e-01 3.59086319e-01 -7.78649189e-01 -2.49058475e+01] [ 8.33698482e-01 2.78474287e-03 5.52212900e-01 1.44545009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:-24.89, Z:144.57 [[ 1.98558263e-01 -9.33889475e-01 -2.97363524e-01 2.13478013e+02] [ 5.15855796e-01 3.57559870e-01 -7.78488110e-01 -2.48920718e+01] [ 8.33347115e-01 1.17854979e-03 5.52748765e-01 1.44567280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:-24.88, Z:144.59 [[ 1.96137961e-01 -9.34557495e-01 -2.96870661e-01 2.13485075e+02] [ 5.17003685e-01 3.55811290e-01 -7.78527788e-01 -2.48787421e+01] [ 8.33208911e-01 -7.84372860e-04 5.52957769e-01 1.44589626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:-24.86, Z:144.61 [[ 1.94947130e-01 -9.34934171e-01 -2.96468739e-01 2.13491091e+02] [ 5.17276086e-01 3.54817914e-01 -7.78800166e-01 -2.48640981e+01] [ 8.33319307e-01 -1.53133218e-03 5.52789822e-01 1.44612477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:-24.82, Z:144.61 [[ 1.91744489e-01 -9.47277140e-01 -2.56710093e-01 2.13484209e+02] [ 5.27122569e-01 3.20034040e-01 -7.87222974e-01 -2.48193712e+01] [ 8.27874295e-01 1.56279829e-02 5.60695923e-01 1.44613161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.51, Y:-24.84, Z:144.66 [[ 1.93295479e-01 -9.31284459e-01 -3.08781661e-01 2.13505808e+02] [ 5.16062809e-01 3.64169121e-01 -7.75280612e-01 -2.48424617e+01] [ 8.34455532e-01 -9.49249450e-03 5.50993519e-01 1.44660955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:-24.78, Z:144.65 [[ 1.90580650e-01 -9.50398161e-01 -2.45809583e-01 2.13492352e+02] [ 5.28329066e-01 3.10343307e-01 -7.90288194e-01 -2.47834556e+01] [ 8.27373805e-01 2.07452898e-02 5.61268402e-01 1.44653176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.50, Y:-24.78, Z:144.68 [[ 1.91265302e-01 -9.45232408e-01 -2.64486821e-01 2.13503430e+02] [ 5.26273623e-01 3.26212682e-01 -7.85252418e-01 -2.47790625e+01] [ 8.28524990e-01 1.09991030e-02 5.59844051e-01 1.44681413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.52, Y:-24.80, Z:144.73 [[ 1.93401117e-01 -9.28944406e-01 -3.15687025e-01 2.13524192e+02] [ 5.13173810e-01 3.70017286e-01 -7.74428724e-01 -2.48032774e+01] [ 8.36210888e-01 -1.22269330e-02 5.48271697e-01 1.44731362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.52, Y:-24.78, Z:144.75 [[ 1.93482959e-01 -9.35407300e-01 -2.95935007e-01 2.13524412e+02] [ 5.12572850e-01 3.53571913e-01 -7.82467875e-01 -2.47786111e+01] [ 8.36560469e-01 -2.94050721e-04 5.47874526e-01 1.44748876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:-24.76, Z:144.77 [[ 1.93578472e-01 -9.35521984e-01 -2.95509717e-01 2.13529446e+02] [ 5.12411180e-01 3.53268466e-01 -7.82710785e-01 -2.47643922e+01] [ 8.36637411e-01 9.34753698e-05 5.47757094e-01 1.44771025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:-24.75, Z:144.79 [[ 1.93792932e-01 -9.35660467e-01 -2.94930146e-01 2.13534599e+02] [ 5.12823030e-01 3.52901286e-01 -7.82606685e-01 -2.47497083e+01] [ 8.36335363e-01 4.16672684e-04 5.48218010e-01 1.44793703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.54, Y:-24.74, Z:144.82 [[ 1.93087042e-01 -9.35990408e-01 -2.94345630e-01 2.13539698e+02] [ 5.13710002e-01 3.52025480e-01 -7.82419386e-01 -2.47354912e+01] [ 8.35954202e-01 -1.33249037e-04 5.48799193e-01 1.44816535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:-24.69, Z:144.81 [[ 1.90444231e-01 -9.50303632e-01 -2.46280333e-01 2.13530769e+02] [ 5.26291839e-01 3.10606750e-01 -7.91543017e-01 -2.46853855e+01] [ 8.28702537e-01 2.11294715e-02 5.59290309e-01 1.44814818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:-24.69, Z:144.85 [[ 1.88877940e-01 -9.42912982e-01 -2.74299530e-01 2.13545042e+02] [ 5.27859361e-01 3.33027579e-01 -7.81317558e-01 -2.46880470e+01] [ 8.28063777e-01 2.78207653e-03 5.60627007e-01 1.44847330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.56, Y:-24.70, Z:144.89 [[ 1.89742521e-01 -9.31678515e-01 -3.09794966e-01 2.13560821e+02] [ 5.18135420e-01 3.63030186e-01 -7.74431902e-01 -2.47033685e+01] [ 8.33986488e-01 -1.35730836e-02 5.51617901e-01 1.44892321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.56, Y:-24.68, Z:144.91 [[ 1.88947631e-01 -9.37596692e-01 -2.91909638e-01 2.13561224e+02] [ 5.18153467e-01 3.47705964e-01 -7.81420212e-01 -2.46802782e+01] [ 8.34155727e-01 -3.60649369e-03 5.51517195e-01 1.44908899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:-24.67, Z:144.93 [[ 1.88332185e-01 -9.37888241e-01 -2.91370271e-01 2.13566058e+02] [ 5.18682706e-01 3.46914902e-01 -7.81420694e-01 -2.46650825e+01] [ 8.33965970e-01 -3.96205363e-03 5.51801653e-01 1.44931037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.56, Y:-24.61, Z:144.93 [[ 1.85635086e-01 -9.51628527e-01 -2.44832108e-01 2.13556224e+02] [ 5.30520287e-01 3.06791210e-01 -7.90207174e-01 -2.46128849e+01] [ 8.27096028e-01 1.68017763e-02 5.61809452e-01 1.44928991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:-24.61, Z:144.96 [[ 1.85608576e-01 -9.46409534e-01 -2.64307491e-01 2.13567238e+02] [ 5.28850887e-01 3.22915099e-01 -7.84883799e-01 -2.46079847e+01] [ 8.28170390e-01 5.90191288e-03 5.60445334e-01 1.44958662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.59, Y:-24.63, Z:145.01 [[ 1.87008421e-01 -9.31563053e-01 -3.11798219e-01 2.13585651e+02] [ 5.16966470e-01 3.63217188e-01 -7.75125114e-01 -2.46301178e+01] [ 8.35328390e-01 -1.62343009e-02 5.49511536e-01 1.45006404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:-24.57, Z:145.00 [[ 1.84106643e-01 -9.52008596e-01 -2.44508441e-01 2.13570765e+02] [ 5.28277405e-01 3.05616767e-01 -7.92162468e-01 -2.45686555e+01] [ 8.28871358e-01 1.66740881e-02 5.59190707e-01 1.44999001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.59, Y:-24.60, Z:145.05 [[ 1.84251536e-01 -9.32388651e-01 -3.10970699e-01 2.13594487e+02] [ 5.17563004e-01 3.61008261e-01 -7.75758707e-01 -2.46005916e+01] [ 8.35571606e-01 -1.80121960e-02 5.49086198e-01 1.45052300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.59, Y:-24.58, Z:145.07 [[ 1.82647415e-01 -9.38953899e-01 -2.91557023e-01 2.13594360e+02] [ 5.17913220e-01 3.43951244e-01 -7.83239068e-01 -2.45764028e+01] [ 8.35706778e-01 -7.94464569e-03 5.49118443e-01 1.45069261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.60, Y:-24.56, Z:145.09 [[ 1.80453935e-01 -9.39544441e-01 -2.91019966e-01 2.13599292e+02] [ 5.18990160e-01 3.42289711e-01 -7.83254089e-01 -2.45609025e+01] [ 8.35515165e-01 -9.69521683e-03 5.49381845e-01 1.45091825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.60, Y:-24.52, Z:145.10 [[ 1.76355515e-01 -9.48574877e-01 -2.62877225e-01 2.13595297e+02] [ 5.26717360e-01 3.16552145e-01 -7.88900223e-01 -2.45243370e+01] [ 8.31545281e-01 6.64907188e-04 5.55456572e-01 1.45099260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:-24.54, Z:145.14 [[ 1.73845391e-01 -9.38037439e-01 -2.99772487e-01 2.13611069e+02] [ 5.20874217e-01 3.45928523e-01 -7.80399582e-01 -2.45360199e+01] [ 8.35743879e-01 -2.04748889e-02 5.48737595e-01 1.45139640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:-24.52, Z:145.16 [[ 1.71830296e-01 -9.41439820e-01 -2.90112763e-01 2.13613171e+02] [ 5.21153533e-01 3.36779888e-01 -7.84205523e-01 -2.45176632e+01] [ 8.35986450e-01 -1.64430246e-02 5.48503676e-01 1.45158835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:-24.48, Z:145.16 [[ 1.67678873e-01 -9.51704342e-01 -2.57182116e-01 2.13606589e+02] [ 5.30473644e-01 3.06990816e-01 -7.90160966e-01 -2.44776597e+01] [ 8.30952170e-01 -3.93503353e-03 5.56329944e-01 1.45163023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.62, Y:-24.48, Z:145.20 [[ 1.67579924e-01 -9.44194747e-01 -2.83572300e-01 2.13619358e+02] [ 5.25288145e-01 3.28925519e-01 -7.84780458e-01 -2.44812707e+01] [ 8.34259752e-01 -1.74437177e-02 5.51095621e-01 1.45199927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.63, Y:-24.47, Z:145.23 [[ 1.68842999e-01 -9.41646812e-01 -2.91192931e-01 2.13626983e+02] [ 5.21318582e-01 3.36045227e-01 -7.84410952e-01 -2.44743120e+01] [ 8.36492067e-01 -1.93619888e-02 5.47636864e-01 1.45229421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.63, Y:-24.46, Z:145.25 [[ 1.69605285e-01 -9.41845614e-01 -2.90104960e-01 2.13629846e+02] [ 5.20810863e-01 3.35565739e-01 -7.84953298e-01 -2.44588669e+01] [ 8.36654106e-01 -1.79575870e-02 5.47437149e-01 1.45251891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.63, Y:-24.44, Z:145.27 [[ 1.70420607e-01 -9.41816963e-01 -2.89719908e-01 2.13633637e+02] [ 5.20293522e-01 3.35700123e-01 -7.85238867e-01 -2.44447144e+01] [ 8.36810294e-01 -1.69185071e-02 5.47231484e-01 1.45273993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:-24.43, Z:145.30 [[ 1.71893707e-01 -9.41699798e-01 -2.89230088e-01 2.13637368e+02] [ 5.19840081e-01 3.36103779e-01 -7.85366500e-01 -2.44293428e+01] [ 8.36790800e-01 -1.53538335e-02 5.47307424e-01 1.45296945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:-24.41, Z:145.32 [[ 1.75684303e-01 -9.41126327e-01 -2.88818736e-01 2.13639355e+02] [ 5.18506640e-01 3.37850653e-01 -7.85498441e-01 -2.44147439e+01] [ 8.36830861e-01 -1.17546861e-02 5.47335306e-01 1.45318616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:-24.40, Z:145.34 [[ 1.77789966e-01 -9.40837962e-01 -2.88469507e-01 2.13642679e+02] [ 5.17730248e-01 3.38718761e-01 -7.85636679e-01 -2.44003051e+01] [ 8.36866846e-01 -9.67107106e-03 5.47321069e-01 1.45341147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.65, Y:-24.39, Z:145.36 [[ 1.80113655e-01 -9.40523648e-01 -2.88052668e-01 2.13646228e+02] [ 5.16735731e-01 3.39649837e-01 -7.85889415e-01 -2.43856546e+01] [ 8.36984621e-01 -7.29769119e-03 5.47177748e-01 1.45364230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.65, Y:-24.37, Z:145.39 [[ 1.82284525e-01 -9.40230091e-01 -2.87645144e-01 2.13649771e+02] [ 5.15747551e-01 3.40502448e-01 -7.86169540e-01 -2.43704264e+01] [ 8.37124134e-01 -5.04573731e-03 5.46989694e-01 1.45387026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.65, Y:-24.36, Z:145.41 [[ 1.86778633e-01 -9.39425489e-01 -2.87390836e-01 2.13652028e+02] [ 5.13157932e-01 3.42752822e-01 -7.86885913e-01 -2.43551218e+01] [ 8.37724704e-01 -5.03411651e-04 5.46092545e-01 1.45410005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:-24.34, Z:145.43 [[ 1.88864972e-01 -9.39144293e-01 -2.86946023e-01 2.13655619e+02] [ 5.12327173e-01 3.43518987e-01 -7.87093116e-01 -2.43401112e+01] [ 8.37765415e-01 1.64407437e-03 5.46027845e-01 1.45432699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:-24.33, Z:145.46 [[ 1.91153609e-01 -9.38813876e-01 -2.86511437e-01 2.13659418e+02] [ 5.11381292e-01 3.44401861e-01 -7.87322381e-01 -2.43251280e+01] [ 8.37824249e-01 3.98292548e-03 5.45925512e-01 1.45455188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:-24.31, Z:145.48 [[ 1.95505635e-01 -9.38072721e-01 -2.86001951e-01 2.13661921e+02] [ 5.10038687e-01 3.46344691e-01 -7.87341027e-01 -2.43100787e+01] [ 8.37638397e-01 8.05754729e-03 5.46165718e-01 1.45477629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:-24.30, Z:145.50 [[ 1.97392575e-01 -9.37828447e-01 -2.85506526e-01 2.13665685e+02] [ 5.09537016e-01 3.46956482e-01 -7.87396488e-01 -2.42953954e+01] [ 8.37501165e-01 9.95007680e-03 5.46344942e-01 1.45499877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:-24.28, Z:145.52 [[ 1.99056004e-01 -9.37618048e-01 -2.85042284e-01 2.13669700e+02] [ 5.08963705e-01 3.47470539e-01 -7.87540584e-01 -2.42802271e+01] [ 8.37456061e-01 1.16885052e-02 5.46379653e-01 1.45523126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:-24.26, Z:145.55 [[ 2.00401600e-01 -9.37463977e-01 -2.84605850e-01 2.13673832e+02] [ 5.08582414e-01 3.47835864e-01 -7.87625634e-01 -2.42648560e+01] [ 8.37366782e-01 1.30959076e-02 5.46484556e-01 1.45545708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.68, Y:-24.25, Z:145.57 [[ 2.02726048e-01 -9.37108308e-01 -2.84130550e-01 2.13677618e+02] [ 5.07917359e-01 3.48700270e-01 -7.87672570e-01 -2.42499712e+01] [ 8.37210909e-01 1.53669088e-02 5.46664205e-01 1.45567993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.68, Y:-24.24, Z:145.59 [[ 2.03531177e-01 -9.37087546e-01 -2.83622973e-01 2.13682204e+02] [ 5.07854351e-01 3.48714453e-01 -7.87706918e-01 -2.42361493e+01] [ 8.37053773e-01 1.62837554e-02 5.46878250e-01 1.45590268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:-24.22, Z:145.61 [[ 2.03954306e-01 -9.37148145e-01 -2.83118341e-01 2.13687078e+02] [ 5.07832767e-01 3.48522247e-01 -7.87805893e-01 -2.42211839e+01] [ 8.36963871e-01 1.68996337e-02 5.46997148e-01 1.45613690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:-24.21, Z:145.64 [[ 2.04370277e-01 -9.37203274e-01 -2.82635478e-01 2.13691858e+02] [ 5.08013777e-01 3.48348680e-01 -7.87765955e-01 -2.42066677e+01] [ 8.36752527e-01 1.74132301e-02 5.47304291e-01 1.45636261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.70, Y:-24.19, Z:145.66 [[ 2.04653627e-01 -9.37271286e-01 -2.82204589e-01 2.13696485e+02] [ 5.07885209e-01 3.48139544e-01 -7.87941288e-01 -2.41928967e+01] [ 8.36761321e-01 1.79275059e-02 5.47274243e-01 1.45658136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.70, Y:-24.18, Z:145.68 [[ 2.05013315e-01 -9.37319214e-01 -2.81784016e-01 2.13701439e+02] [ 5.07497457e-01 3.47975194e-01 -7.88263659e-01 -2.41777213e+01] [ 8.36908520e-01 1.85998742e-02 5.47026666e-01 1.45681203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.71, Y:-24.16, Z:145.70 [[ 2.06117978e-01 -9.37160187e-01 -2.81506949e-01 2.13706144e+02] [ 5.06436725e-01 3.48324616e-01 -7.88791357e-01 -2.41632264e+01] [ 8.37279656e-01 2.00186218e-02 5.46408302e-01 1.45702655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.71, Y:-24.15, Z:145.72 [[ 2.06054213e-01 -9.37256108e-01 -2.81234153e-01 2.13711202e+02] [ 5.05421286e-01 3.48035318e-01 -7.89569973e-01 -2.41486026e+01] [ 8.37908698e-01 2.05524919e-02 5.45423331e-01 1.45724977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.72, Y:-24.13, Z:145.75 [[ 2.05788219e-01 -9.37384208e-01 -2.81001879e-01 2.13716241e+02] [ 5.04424403e-01 3.47669178e-01 -7.90368373e-01 -2.41343069e+01] [ 8.38574523e-01 2.09042946e-02 5.44385690e-01 1.45747068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.70, Y:-24.08, Z:145.74 [[ 2.01994914e-01 -9.54679557e-01 -2.18597798e-01 2.13699333e+02] [ 5.17935446e-01 2.93561501e-01 -8.03470297e-01 -2.40762880e+01] [ 8.31228566e-01 4.90773653e-02 5.53760313e-01 1.45737863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.73, Y:-24.11, Z:145.80 [[ 2.03427353e-01 -9.32424145e-01 -2.98667920e-01 2.13733112e+02] [ 5.02811446e-01 3.61238843e-01 -7.85294307e-01 -2.41141640e+01] [ 8.40117826e-01 9.57669313e-03 5.42319394e-01 1.45796855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.73, Y:-24.09, Z:145.81 [[ 2.02323733e-01 -9.38323422e-01 -2.80382352e-01 2.13734170e+02] [ 5.03871732e-01 3.45240772e-01 -7.91784117e-01 -2.40909773e+01] [ 8.39749001e-01 1.89199767e-02 5.42645049e-01 1.45814703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.74, Y:-24.08, Z:145.84 [[ 2.00504442e-01 -9.38856061e-01 -2.79905815e-01 2.13740538e+02] [ 5.04617440e-01 3.43863040e-01 -7.91908738e-01 -2.40768641e+01] [ 8.39737583e-01 1.75358640e-02 5.42709209e-01 1.45837897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.75, Y:-24.06, Z:145.86 [[ 1.98280683e-01 -9.39457531e-01 -2.79471499e-01 2.13746905e+02] [ 5.05528190e-01 3.42302824e-01 -7.92003804e-01 -2.40635891e+01] [ 8.39717822e-01 1.57583342e-02 5.42794303e-01 1.45859908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.76, Y:-24.05, Z:145.88 [[ 1.93224837e-01 -9.40694929e-01 -2.78849805e-01 2.13755180e+02] [ 5.08021445e-01 3.39064288e-01 -7.91801503e-01 -2.40509045e+01] [ 8.39391669e-01 1.13340349e-02 5.43408838e-01 1.45882102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.76, Y:-24.04, Z:145.90 [[ 1.90467857e-01 -9.41444481e-01 -2.78216257e-01 2.13761882e+02] [ 5.09763281e-01 3.37049530e-01 -7.91542173e-01 -2.40369453e+01] [ 8.38965669e-01 8.93890916e-03 5.44110929e-01 1.45904671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.77, Y:-24.02, Z:145.93 [[ 1.90192971e-01 -9.41633686e-01 -2.77763631e-01 2.13766739e+02] [ 5.09866232e-01 3.36520181e-01 -7.91701076e-01 -2.40221969e+01] [ 8.38965470e-01 8.95368350e-03 5.44110992e-01 1.45927707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:-24.01, Z:145.95 [[ 1.84443134e-01 -9.43012883e-01 -2.76961066e-01 2.13775501e+02] [ 5.13765799e-01 3.32737170e-01 -7.90778527e-01 -2.40091585e+01] [ 8.37869580e-01 3.56054635e-03 5.45858854e-01 1.45950721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:-24.00, Z:145.97 [[ 1.80985833e-01 -9.43846237e-01 -2.76402623e-01 2.13782093e+02] [ 5.15506071e-01 3.30384495e-01 -7.90632390e-01 -2.39958545e+01] [ 8.37554547e-01 6.06030884e-04 5.46353378e-01 1.45973301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.79, Y:-23.98, Z:146.00 [[ 1.77277509e-01 -9.44721139e-01 -2.75816340e-01 2.13788883e+02] [ 5.17457865e-01 3.27864603e-01 -7.90406326e-01 -2.39824368e+01] [ 8.37143980e-01 -2.60207018e-03 5.46976404e-01 1.45995772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.80, Y:-23.97, Z:146.02 [[ 1.73848195e-01 -9.45504183e-01 -2.75315537e-01 2.13796024e+02] [ 5.18899140e-01 3.25564350e-01 -7.90412258e-01 -2.39687495e+01] [ 8.36971020e-01 -5.44925092e-03 5.47220082e-01 1.46019018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.80, Y:-23.96, Z:146.04 [[ 1.66985560e-01 -9.46862386e-01 -2.74895334e-01 2.13804546e+02] [ 5.21272279e-01 3.21440865e-01 -7.90538413e-01 -2.39553620e+01] [ 8.36893682e-01 -1.12868176e-02 5.47249096e-01 1.46041689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.81, Y:-23.94, Z:146.06 [[ 1.63933609e-01 -9.47447834e-01 -2.74715077e-01 2.13810774e+02] [ 5.21699126e-01 3.19619049e-01 -7.90995377e-01 -2.39414786e+01] [ 8.37231028e-01 -1.36478890e-02 5.46679011e-01 1.46064406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.82, Y:-23.93, Z:146.09 [[ 1.60913168e-01 -9.48061202e-01 -2.74384603e-01 2.13816726e+02] [ 5.22097902e-01 3.17690763e-01 -7.91508914e-01 -2.39265336e+01] [ 8.37568346e-01 -1.58914189e-02 5.46101391e-01 1.46086937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.82, Y:-23.91, Z:146.11 [[ 1.58432829e-01 -9.48569759e-01 -2.74070159e-01 2.13822261e+02] [ 5.22220439e-01 3.16076632e-01 -7.92074098e-01 -2.39120385e+01] [ 8.37964708e-01 -1.76344984e-02 5.45439430e-01 1.46109308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.83, Y:-23.90, Z:146.13 [[ 1.56731404e-01 -9.48975264e-01 -2.73644322e-01 2.13826977e+02] [ 5.22641549e-01 3.14787349e-01 -7.92309748e-01 -2.38974020e+01] [ 8.38022123e-01 -1.88380730e-02 5.45310965e-01 1.46131373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.83, Y:-23.88, Z:146.15 [[ 1.54362503e-01 -9.49471441e-01 -2.73269463e-01 2.13831669e+02] [ 5.23032307e-01 3.13178814e-01 -7.92689243e-01 -2.38826862e+01] [ 8.38218005e-01 -2.05672624e-02 5.44947304e-01 1.46154049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-23.87, Z:146.18 [[ 1.53578656e-01 -9.49730770e-01 -2.72809570e-01 2.13835898e+02] [ 5.23296849e-01 3.12362875e-01 -7.92836580e-01 -2.38683778e+01] [ 8.38196877e-01 -2.09976122e-02 5.44963389e-01 1.46176636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-23.85, Z:146.20 [[ 1.52372235e-01 -9.50060008e-01 -2.72339278e-01 2.13840304e+02] [ 5.23754129e-01 3.11303843e-01 -7.92951152e-01 -2.38535235e+01] [ 8.38131442e-01 -2.18150821e-02 5.45031914e-01 1.46199346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-23.84, Z:146.22 [[ 1.50805010e-01 -9.50459332e-01 -2.71817784e-01 2.13844850e+02] [ 5.24583300e-01 3.09995723e-01 -7.92915515e-01 -2.38389736e+01] [ 8.37896301e-01 -2.30154377e-02 5.45344001e-01 1.46221651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.83, Y:-23.79, Z:146.22 [[ 1.42289534e-01 -9.63089061e-01 -2.28501968e-01 2.13832590e+02] [ 5.35996847e-01 2.69045023e-01 -8.00201322e-01 -2.37930074e+01] [ 8.32142457e-01 -8.61606133e-03 5.54494991e-01 1.46220239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.86, Y:-23.81, Z:146.27 [[ 1.44573392e-01 -9.50025052e-01 -2.76678397e-01 2.13855901e+02] [ 5.26186135e-01 3.10616779e-01 -7.91609353e-01 -2.38131368e+01] [ 8.37989669e-01 -3.11386872e-02 5.44796932e-01 1.46270220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-23.77, Z:146.27 [[ 1.37965376e-01 -9.63133580e-01 -2.30952943e-01 2.13841942e+02] [ 5.36497638e-01 2.68682911e-01 -7.99987361e-01 -2.37662276e+01] [ 8.32547800e-01 -1.35351517e-02 5.53787830e-01 1.46266970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.85, Y:-23.76, Z:146.30 [[ 1.37605581e-01 -9.59886503e-01 -2.44300236e-01 2.13851225e+02] [ 5.33832460e-01 2.79630790e-01 -7.98015994e-01 -2.37601128e+01] [ 8.34318649e-01 -2.06039409e-02 5.50897331e-01 1.46297087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.85, Y:-23.74, Z:146.32 [[ 1.34984220e-01 -9.62533889e-01 -2.35176046e-01 2.13851349e+02] [ 5.34902031e-01 2.70579672e-01 -8.00416428e-01 -2.37384170e+01] [ 8.34061795e-01 -1.77525575e-02 5.51385318e-01 1.46316568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.86, Y:-23.74, Z:146.35 [[ 1.35677601e-01 -9.57803014e-01 -2.53387006e-01 2.13861398e+02] [ 5.32002985e-01 2.86184556e-01 -7.96913561e-01 -2.37361620e+01] [ 8.35801659e-01 -2.66793234e-02 5.48382896e-01 1.46347736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.86, Y:-23.71, Z:146.36 [[ 1.35712100e-01 -9.62503011e-01 -2.34883330e-01 2.13859182e+02] [ 5.34169052e-01 2.70751353e-01 -8.00847756e-01 -2.37090225e+01] [ 8.34413356e-01 -1.67826749e-02 5.50883556e-01 1.46363026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:-23.72, Z:146.41 [[ 1.41004883e-01 -9.50553829e-01 -2.76703887e-01 2.13878982e+02] [ 5.23953045e-01 3.08796216e-01 -7.93799788e-01 -2.37247546e+01] [ 8.39994541e-01 -3.30501979e-02 5.41587348e-01 1.46409241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:-23.71, Z:146.43 [[ 1.44923361e-01 -9.51088676e-01 -2.72814130e-01 2.13879449e+02] [ 5.22618067e-01 3.07705022e-01 -7.95102494e-01 -2.37067877e+01] [ 8.40159256e-01 -2.73486675e-02 5.41649771e-01 1.46431455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:-23.69, Z:146.45 [[ 1.47474482e-01 -9.50838085e-01 -2.72320055e-01 2.13882124e+02] [ 5.22157232e-01 3.08681948e-01 -7.95026591e-01 -2.36915122e+01] [ 8.40001847e-01 -2.49477514e-02 5.42009693e-01 1.46453914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:-23.67, Z:146.47 [[ 1.47897950e-01 -9.54432909e-01 -2.59198802e-01 2.13878478e+02] [ 5.25867310e-01 2.97853309e-01 -7.96710097e-01 -2.36662485e+01] [ 8.37609556e-01 -1.84723864e-02 5.45956960e-01 1.46468084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:-23.66, Z:146.50 [[ 1.53835043e-01 -9.51423545e-01 -2.66698365e-01 2.13885943e+02] [ 5.21095414e-01 3.07443117e-01 -7.96202424e-01 -2.36587058e+01] [ 8.39520309e-01 -1.64914607e-02 5.43077971e-01 1.46498332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90999999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.89, Y:-23.65, Z:146.52 [[ 1.61375315e-01 -9.49025473e-01 -2.70755719e-01 2.13887612e+02] [ 5.19892310e-01 3.14946513e-01 -7.94053323e-01 -2.36461495e+01] [ 8.38850400e-01 -1.26232112e-02 5.44215638e-01 1.46521218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:-23.63, Z:146.54 [[ 1.63102402e-01 -9.48225485e-01 -2.72517956e-01 2.13888805e+02] [ 5.19519746e-01 3.17364123e-01 -7.93334259e-01 -2.36329557e+01] [ 8.38747185e-01 -1.21837361e-02 5.44384714e-01 1.46543707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:-23.62, Z:146.57 [[ 1.70598873e-01 -9.46691911e-01 -2.73258942e-01 2.13891055e+02] [ 5.14685304e-01 3.22100187e-01 -7.94575678e-01 -2.36205820e+01] [ 8.40235123e-01 -5.08864593e-03 5.42198343e-01 1.46571901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.90, Y:-23.61, Z:146.60 [[ 1.73988947e-01 -9.44946994e-01 -2.77133586e-01 2.13895124e+02] [ 5.11944469e-01 3.27202696e-01 -7.94261454e-01 -2.36091481e+01] [ 8.41213830e-01 -3.68429257e-03 5.40690039e-01 1.46598200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:-23.58, Z:146.61 [[ 1.78210428e-01 -9.51689526e-01 -2.50056173e-01 2.13891634e+02] [ 5.15849957e-01 3.06762666e-01 -7.99872170e-01 -2.35751668e+01] [ 8.37937865e-01 1.35540956e-02 5.45597307e-01 1.46609678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.90, Y:-23.57, Z:146.64 [[ 1.80804605e-01 -9.46065660e-01 -2.68829801e-01 2.13899992e+02] [ 5.14755051e-01 3.23934197e-01 -7.93784526e-01 -2.35684387e+01] [ 8.38055447e-01 5.13840011e-03 5.45560872e-01 1.46637508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.91, Y:-23.59, Z:146.68 [[ 1.81237444e-01 -9.32170313e-01 -3.13387134e-01 2.13912967e+02] [ 5.03035024e-01 3.61693025e-01 -7.84941985e-01 -2.35863467e+01] [ 8.45049557e-01 -1.53838255e-02 5.34466635e-01 1.46681993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.90, Y:-23.52, Z:146.67 [[ 1.85359424e-01 -9.55096796e-01 -2.31153617e-01 2.13895363e+02] [ 5.12703196e-01 2.94671657e-01 -8.06414315e-01 -2.35190126e+01] [ 8.38318148e-01 3.09632950e-02 5.44301348e-01 1.46674890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.91, Y:-23.52, Z:146.71 [[ 1.87666031e-01 -9.44846514e-01 -2.68414840e-01 2.13908707e+02] [ 5.08936796e-01 3.27262948e-01 -7.96167257e-01 -2.35213952e+01] [ 8.40098089e-01 1.28073604e-02 5.42283296e-01 1.46706444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.91, Y:-23.51, Z:146.73 [[ 1.88036637e-01 -9.44854135e-01 -2.68128488e-01 2.13912357e+02] [ 5.07910811e-01 3.27206846e-01 -7.96845210e-01 -2.35064932e+01] [ 8.40635969e-01 1.36507358e-02 5.41428505e-01 1.46728983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:-23.49, Z:146.75 [[ 1.88080341e-01 -9.44923313e-01 -2.67853912e-01 2.13916121e+02] [ 5.06927782e-01 3.26982614e-01 -7.97562909e-01 -2.34921298e+01] [ 8.41219359e-01 1.42233142e-02 5.40506880e-01 1.46751165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:-23.48, Z:146.77 [[ 1.87704696e-01 -9.45098791e-01 -2.67498080e-01 2.13920127e+02] [ 5.06399518e-01 3.26469625e-01 -7.98108459e-01 -2.34769811e+01] [ 8.41621338e-01 1.43478068e-02 5.39877453e-01 1.46774356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.93, Y:-23.49, Z:146.82 [[ 1.84763484e-01 -9.33141555e-01 -3.08397948e-01 2.13934618e+02] [ 4.97569834e-01 3.59429086e-01 -7.89452337e-01 -2.34931597e+01] [ 8.47517974e-01 -7.58755119e-03 5.30712459e-01 1.46816468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:-23.43, Z:146.81 [[ 1.85194248e-01 -9.54061342e-01 -2.35520798e-01 2.13920172e+02] [ 5.07521044e-01 2.98086867e-01 -8.08434666e-01 -2.34338941e+01] [ 8.41501919e-01 3.01856882e-02 5.39410182e-01 1.46812882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.93, Y:-23.44, Z:146.84 [[ 1.82978332e-01 -9.46391565e-01 -2.66199052e-01 2.13934539e+02] [ 5.08159449e-01 3.22840064e-01 -7.98466197e-01 -2.34350031e+01] [ 8.41601393e-01 1.08304494e-02 5.39990553e-01 1.46843169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.94, Y:-23.42, Z:146.87 [[ 1.81579124e-01 -9.46835346e-01 -2.65578328e-01 2.13939760e+02] [ 5.09483833e-01 3.21574800e-01 -7.98132741e-01 -2.34214306e+01] [ 8.41103588e-01 9.61637958e-03 5.40788572e-01 1.46865924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:-23.41, Z:146.89 [[ 1.78607915e-01 -9.47556657e-01 -2.65019989e-01 2.13945451e+02] [ 5.10959606e-01 3.19508553e-01 -7.98019151e-01 -2.34089513e+01] [ 8.40844512e-01 7.11802718e-03 5.41229933e-01 1.46888485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:-23.39, Z:146.91 [[ 1.77781267e-01 -9.47858822e-01 -2.64494753e-01 2.13950641e+02] [ 5.11421024e-01 3.18621865e-01 -7.98078093e-01 -2.33944931e+01] [ 8.40739173e-01 6.61515734e-03 5.41399929e-01 1.46911884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.96, Y:-23.38, Z:146.93 [[ 1.77452561e-01 -9.48061330e-01 -2.63989210e-01 2.13955592e+02] [ 5.11983700e-01 3.18022365e-01 -7.97956431e-01 -2.33803924e+01] [ 8.40466109e-01 6.44124032e-03 5.41825831e-01 1.46933599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:-23.34, Z:146.94 [[ 1.77213937e-01 -9.56985584e-01 -2.29725515e-01 2.13949527e+02] [ 5.19366133e-01 2.89207169e-01 -8.04125633e-01 -2.33440277e+01] [ 8.35974904e-01 2.31906172e-02 5.48277443e-01 1.46941748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.97, Y:-23.36, Z:146.98 [[ 1.78493261e-01 -9.44402061e-01 -2.76124796e-01 2.13969126e+02] [ 5.11474970e-01 3.28792519e-01 -7.93907321e-01 -2.33575565e+01] [ 8.40555477e-01 4.76184649e-04 5.41725265e-01 1.46983196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.97, Y:-23.34, Z:147.00 [[ 1.79365712e-01 -9.48037688e-01 -2.62778394e-01 2.13970009e+02] [ 5.11107086e-01 3.18033033e-01 -7.98513955e-01 -2.33367334e+01] [ 8.40593533e-01 8.91812445e-03 5.41593001e-01 1.47002688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.97, Y:-23.32, Z:147.03 [[ 1.80284479e-01 -9.47958220e-01 -2.62436127e-01 2.13974682e+02] [ 5.10268278e-01 3.18233585e-01 -7.98970381e-01 -2.33219611e+01] [ 8.40906530e-01 1.01291283e-02 5.41085584e-01 1.47025726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:-23.31, Z:147.05 [[ 1.81180127e-01 -9.47900254e-01 -2.62028378e-01 2.13979773e+02] [ 5.09728386e-01 3.18368679e-01 -7.99261132e-01 -2.33065515e+01] [ 8.41041458e-01 1.12469316e-02 5.40853744e-01 1.47049149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:-23.29, Z:147.07 [[ 1.81933967e-01 -9.47830305e-01 -2.61758943e-01 2.13984452e+02] [ 5.08683310e-01 3.18535259e-01 -7.99860349e-01 -2.32915683e+01] [ 8.41511332e-01 1.23693605e-02 5.40097841e-01 1.47072791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65999999999997 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:213.99, Y:-23.28, Z:147.09 [[ 1.82798383e-01 -9.48705032e-01 -2.57960292e-01 2.13987356e+02] [ 5.07185393e-01 3.15769843e-01 -8.01905470e-01 -2.32754083e+01] [ 8.42227836e-01 1.57533313e-02 5.38891552e-01 1.47093242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:-23.26, Z:147.12 [[ 1.83259924e-01 -9.46744329e-01 -2.64747003e-01 2.13993875e+02] [ 5.07793909e-01 3.21762150e-01 -7.99133571e-01 -2.32646987e+01] [ 8.41760742e-01 1.20122422e-02 5.39717111e-01 1.47116886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.00, Y:-23.25, Z:147.14 [[ 1.82163659e-01 -9.48287280e-01 -2.59937755e-01 2.13997223e+02] [ 5.09129845e-01 3.17129810e-01 -8.00134666e-01 -2.32483482e+01] [ 8.41191537e-01 1.34133898e-02 5.40570883e-01 1.47138573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.00, Y:-23.23, Z:147.16 [[ 1.79600669e-01 -9.48818534e-01 -2.59782582e-01 2.14003201e+02] [ 5.11396507e-01 3.15640498e-01 -7.99277604e-01 -2.32349943e+01] [ 8.40367308e-01 1.06988877e-02 5.41911728e-01 1.47162011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.01, Y:-23.22, Z:147.18 [[ 1.77182608e-01 -9.49424120e-01 -2.59229946e-01 2.14008370e+02] [ 5.12678770e-01 3.13876180e-01 -7.99150939e-01 -2.32209263e+01] [ 8.40099281e-01 8.69395752e-03 5.42362990e-01 1.47184271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.01, Y:-23.21, Z:147.21 [[ 1.74841727e-01 -9.50003173e-01 -2.58697393e-01 2.14013711e+02] [ 5.13839987e-01 3.12166571e-01 -7.99074778e-01 -2.32074532e+01] [ 8.39880253e-01 6.78254905e-03 5.42729360e-01 1.47205947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.01, Y:-23.17, Z:147.22 [[ 1.70054575e-01 -9.57701949e-01 -2.32138792e-01 2.14010296e+02] [ 5.21523855e-01 2.87341265e-01 -8.03397701e-01 -2.31741394e+01] [ 8.36118598e-01 1.55555372e-02 5.48328109e-01 1.47216379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.02, Y:-23.17, Z:147.25 [[ 1.64715603e-01 -9.53833231e-01 -2.51139279e-01 2.14023373e+02] [ 5.20750977e-01 3.00335557e-01 -7.99135141e-01 -2.31711728e+01] [ 8.37667709e-01 8.49001315e-04 5.46179539e-01 1.47247042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:214.03, Y:-23.17, Z:147.28 [[ 1.63373413e-01 -9.50414628e-01 -2.64615122e-01 2.14033765e+02] [ 5.17421273e-01 3.10914092e-01 -7.97250057e-01 -2.31676873e+01] [ 8.39990687e-01 -6.66803037e-03 5.42559843e-01 1.47278353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.03, Y:-23.13, Z:147.29 [[ 1.58207074e-01 -9.58727529e-01 -2.36245735e-01 2.14029178e+02] [ 5.24136708e-01 2.84308661e-01 -8.02775994e-01 -2.31345548e+01] [ 8.36810154e-01 3.17977904e-03 5.47483932e-01 1.47288353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.04, Y:-23.14, Z:147.32 [[ 1.58026203e-01 -9.52400202e-01 -2.60694408e-01 2.14043798e+02] [ 5.19137926e-01 3.04713253e-01 -7.98527174e-01 -2.31381580e+01] [ 8.39954483e-01 -9.14813697e-03 5.42579744e-01 1.47324011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.05, Y:-23.12, Z:147.35 [[ 1.53863856e-01 -9.54139202e-01 -2.56796216e-01 2.14048164e+02] [ 5.20364165e-01 2.99176847e-01 -7.99821449e-01 -2.31223715e+01] [ 8.39968481e-01 -1.05639363e-02 5.42532353e-01 1.47346089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.05, Y:-23.11, Z:147.37 [[ 1.53581758e-01 -9.54308153e-01 -2.56336872e-01 2.14052588e+02] [ 5.20447262e-01 2.98638013e-01 -7.99968740e-01 -2.31075887e+01] [ 8.39968625e-01 -1.05492175e-02 5.42532416e-01 1.47369188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.06, Y:-23.09, Z:147.39 [[ 1.52077239e-01 -9.54665102e-01 -2.55904390e-01 2.14057275e+02] [ 5.20903296e-01 2.97454972e-01 -8.00112677e-01 -2.30933576e+01] [ 8.39959683e-01 -1.16225132e-02 5.42524329e-01 1.47391977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.06, Y:-23.08, Z:147.42 [[ 1.51120319e-01 -9.54943191e-01 -2.55433264e-01 2.14062258e+02] [ 5.21217550e-01 2.96537691e-01 -8.00248501e-01 -2.30785118e+01] [ 8.39937447e-01 -1.22024917e-02 5.42546021e-01 1.47415615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.07, Y:-23.06, Z:147.44 [[ 1.50351824e-01 -9.55167750e-01 -2.55046856e-01 2.14066926e+02] [ 5.21288097e-01 2.95796916e-01 -8.00476673e-01 -2.30638044e+01] [ 8.40031576e-01 -1.25997623e-02 5.42391184e-01 1.47438715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.07, Y:-23.05, Z:147.46 [[ 1.49822626e-01 -9.55376468e-01 -2.54576088e-01 2.14070568e+02] [ 5.21465646e-01 2.95113359e-01 -8.00613318e-01 -2.30491605e+01] [ 8.40015929e-01 -1.28026945e-02 5.42410666e-01 1.47460532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.07, Y:-23.03, Z:147.48 [[ 1.49926088e-01 -9.55504938e-01 -2.54032444e-01 2.14074609e+02] [ 5.21720649e-01 2.94709976e-01 -8.00595775e-01 -2.30344726e+01] [ 8.39839111e-01 -1.25037792e-02 5.42691370e-01 1.47483401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.08, Y:-23.03, Z:147.51 [[ 1.49652306e-01 -9.50946695e-01 -2.70748169e-01 2.14082872e+02] [ 5.18803252e-01 3.08630512e-01 -7.97239231e-01 -2.30320825e+01] [ 8.41693158e-01 -2.11563413e-02 5.39541506e-01 1.47514520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.08, Y:-23.00, Z:147.53 [[ 1.51386280e-01 -9.59577870e-01 -2.37260420e-01 2.14078658e+02] [ 5.21976326e-01 2.81436516e-01 -8.05192028e-01 -2.29973714e+01] [ 8.39418197e-01 -1.94929653e-03 5.43482558e-01 1.47525984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:-22.99, Z:147.55 [[ 1.53882716e-01 -9.55218582e-01 -2.52740123e-01 2.14087623e+02] [ 5.21589595e-01 2.95773878e-01 -8.00288765e-01 -2.29908913e+01] [ 8.39204626e-01 -8.67601013e-03 5.43746561e-01 1.47552520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:-22.98, Z:147.58 [[ 1.55452909e-01 -9.55073400e-01 -2.52327552e-01 2.14091950e+02] [ 5.20838095e-01 2.96287440e-01 -8.00588178e-01 -2.29761601e+01] [ 8.39381958e-01 -6.96804048e-03 5.43497355e-01 1.47575585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.10, Y:-22.96, Z:147.60 [[ 1.57171701e-01 -9.54878044e-01 -2.52001941e-01 2.14096021e+02] [ 5.19563160e-01 2.96955927e-01 -8.01168709e-01 -2.29613849e+01] [ 8.39851879e-01 -5.00987620e-03 5.42792522e-01 1.47598724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.10, Y:-22.95, Z:147.62 [[ 1.59063354e-01 -9.54662100e-01 -2.51632917e-01 2.14099949e+02] [ 5.18466389e-01 2.97676899e-01 -8.01611544e-01 -2.29461243e+01] [ 8.40173466e-01 -2.95618913e-03 5.42309698e-01 1.47621451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.10, Y:-22.93, Z:147.64 [[ 1.61445978e-01 -9.54371482e-01 -2.51217576e-01 2.14104106e+02] [ 5.17461781e-01 2.98621488e-01 -8.01909292e-01 -2.29308761e+01] [ 8.40338326e-01 -5.30464308e-04 5.42062005e-01 1.47643825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40999999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.11, Y:-22.92, Z:147.67 [[ 1.66051988e-01 -9.53645885e-01 -2.50970644e-01 2.14107658e+02] [ 5.14804738e-01 3.00903168e-01 -8.02766071e-01 -2.29164558e+01] [ 8.41072422e-01 4.10002537e-03 5.40906989e-01 1.47665102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.11, Y:-22.90, Z:147.69 [[ 1.67918734e-01 -9.53423661e-01 -2.50572586e-01 2.14111970e+02] [ 5.13706775e-01 3.01571622e-01 -8.03218467e-01 -2.29014494e+01] [ 8.41373073e-01 6.15459326e-03 5.40419719e-01 1.47687780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:-22.89, Z:147.71 [[ 1.69743718e-01 -9.52119001e-01 -2.54276381e-01 2.14118357e+02] [ 5.11538083e-01 3.05663950e-01 -8.03055627e-01 -2.28899832e+01] [ 8.42327644e-01 6.24159541e-03 5.38929664e-01 1.47714363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:-22.87, Z:147.73 [[ 1.72832294e-01 -9.54033244e-01 -2.44846009e-01 2.14120443e+02] [ 5.12307343e-01 2.99388377e-01 -8.04927193e-01 -2.28691472e+01] [ 8.41231350e-01 1.36810051e-02 5.40502216e-01 1.47732429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.13, Y:-22.86, Z:147.76 [[ 1.74045335e-01 -9.52001461e-01 -2.51796426e-01 2.14127158e+02] [ 5.10796997e-01 3.05887830e-01 -8.03442010e-01 -2.28587288e+01] [ 8.41899430e-01 1.12184758e-02 5.39517837e-01 1.47757930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.13, Y:-22.84, Z:147.78 [[ 1.74921802e-01 -9.52537809e-01 -2.49146716e-01 2.14131441e+02] [ 5.10566075e-01 3.04121860e-01 -8.04258775e-01 -2.28431127e+01] [ 8.41857854e-01 1.34765329e-02 5.39531034e-01 1.47781294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:-22.83, Z:147.80 [[ 1.76355915e-01 -9.52391337e-01 -2.48695262e-01 2.14136748e+02] [ 5.10268414e-01 3.04511882e-01 -8.04300105e-01 -2.28297834e+01] [ 8.41739114e-01 1.49417437e-02 5.39677689e-01 1.47803636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:-22.81, Z:147.82 [[ 1.76390407e-01 -9.54567724e-01 -2.40180942e-01 2.14139061e+02] [ 5.12362893e-01 2.97384762e-01 -8.05634265e-01 -2.28100945e+01] [ 8.40458619e-01 1.90463540e-02 5.41540900e-01 1.47823211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:-22.80, Z:147.85 [[ 1.76740991e-01 -9.53322817e-01 -2.44822853e-01 2.14145390e+02] [ 5.11739212e-01 3.01479450e-01 -8.04507999e-01 -2.27981085e+01] [ 8.40764891e-01 1.69040872e-02 5.41136444e-01 1.47848362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:-22.78, Z:147.87 [[ 1.77462663e-01 -9.53606781e-01 -2.43189455e-01 2.14149842e+02] [ 5.12173153e-01 3.00502484e-01 -8.04597364e-01 -2.27824962e+01] [ 8.40348537e-01 1.82308812e-02 5.41739763e-01 1.47871345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:-22.74, Z:147.88 [[ 1.75730576e-01 -9.62528547e-01 -2.06537069e-01 2.14140790e+02] [ 5.20629826e-01 2.68929266e-01 -8.10321932e-01 -2.27435611e+01] [ 8.35501854e-01 3.48689811e-02 5.48380165e-01 1.47875544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.16, Y:-22.76, Z:147.92 [[ 1.78885633e-01 -9.49827086e-01 -2.56570529e-01 2.14163928e+02] [ 5.08907534e-01 3.12508857e-01 -8.02091850e-01 -2.27619798e+01] [ 8.42029128e-01 1.29120335e-02 5.39277505e-01 1.47923426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.17, Y:-22.74, Z:147.94 [[ 1.78740891e-01 -9.52418682e-01 -2.46881241e-01 2.14166020e+02] [ 5.07908508e-01 3.04221399e-01 -8.05902158e-01 -2.27434031e+01] [ 8.42662828e-01 1.86545871e-02 5.38118356e-01 1.47944083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:214.17, Y:-22.73, Z:147.97 [[ 1.80303508e-01 -9.51133605e-01 -2.50670123e-01 2.14172117e+02] [ 5.08615584e-01 3.08286007e-01 -8.03909153e-01 -2.27319225e+01] [ 8.41903102e-01 1.74529095e-02 5.39346422e-01 1.47965658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.17, Y:-22.71, Z:147.99 [[ 1.78670780e-01 -9.55539083e-01 -2.34567290e-01 2.14172348e+02] [ 5.08417721e-01 2.93771303e-01 -8.09450333e-01 -2.27089402e+01] [ 8.42370567e-01 2.53669555e-02 5.38301351e-01 1.47985742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:-22.70, Z:148.01 [[ 1.77735278e-01 -9.53016692e-01 -2.45294428e-01 2.14180348e+02] [ 5.08159174e-01 3.02340881e-01 -8.06451639e-01 -2.27003347e+01] [ 8.42724406e-01 1.86862923e-02 5.38020816e-01 1.48010344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:-22.68, Z:148.03 [[ 1.75590573e-01 -9.56181753e-01 -2.34274209e-01 2.14182367e+02] [ 5.12230307e-01 2.91959321e-01 -8.07700358e-01 -2.26778573e+01] [ 8.40706883e-01 2.18222189e-02 5.41050577e-01 1.48027351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.19, Y:-22.67, Z:148.06 [[ 1.75574553e-01 -9.53370084e-01 -2.45477208e-01 2.14192480e+02] [ 5.08516536e-01 3.01336344e-01 -8.06602344e-01 -2.26713052e+01] [ 8.42961748e-01 1.67896262e-02 5.37711446e-01 1.48057377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:-22.65, Z:148.08 [[ 1.72953899e-01 -9.55491095e-01 -2.39005683e-01 2.14195651e+02] [ 5.11272171e-01 2.94503825e-01 -8.07383592e-01 -2.26524680e+01] [ 8.41835920e-01 1.74431863e-02 5.39451591e-01 1.48076953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.19, Y:-22.61, Z:148.08 [[ 1.67391594e-01 -9.66030340e-01 -1.96889401e-01 2.14187004e+02] [ 5.20997788e-01 2.56220599e-01 -8.14194270e-01 -2.26111330e+01] [ 8.36983488e-01 3.37103345e-02 5.46188845e-01 1.48078823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.21, Y:-22.62, Z:148.12 [[ 1.67948133e-01 -9.56376897e-01 -2.39032750e-01 2.14209420e+02] [ 5.12474767e-01 2.91840214e-01 -8.07588325e-01 -2.26244424e+01] [ 8.42118185e-01 1.31346980e-02 5.39133046e-01 1.48123288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.22, Y:-22.61, Z:148.15 [[ 1.66419929e-01 -9.55347959e-01 -2.44161187e-01 2.14217802e+02] [ 5.11204505e-01 2.95330200e-01 -8.07124542e-01 -2.26144056e+01] [ 8.43192956e-01 9.50530995e-03 5.37527011e-01 1.48152817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.22, Y:-22.60, Z:148.18 [[ 1.65725437e-01 -9.55269077e-01 -2.44940952e-01 2.14224793e+02] [ 5.11384948e-01 2.95616853e-01 -8.06905268e-01 -2.26020508e+01] [ 8.43220324e-01 8.46561215e-03 5.37501459e-01 1.48175686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:-22.59, Z:148.20 [[ 1.62169092e-01 -9.56056068e-01 -2.44249831e-01 2.14232452e+02] [ 5.13708527e-01 2.93136177e-01 -8.06334131e-01 -2.25889269e+01] [ 8.42499101e-01 5.28925290e-03 5.38671782e-01 1.48198645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.24, Y:-22.58, Z:148.22 [[ 1.60245560e-01 -9.56531101e-01 -2.43658807e-01 2.14237976e+02] [ 5.14991849e-01 2.91607032e-01 -8.06069932e-01 -2.25752953e+01] [ 8.42083580e-01 3.68682859e-03 5.39334452e-01 1.48220335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.24, Y:-22.56, Z:148.24 [[ 1.58318685e-01 -9.56985982e-01 -2.43131703e-01 2.14243510e+02] [ 5.15790932e-01 2.90125709e-01 -8.06093535e-01 -2.25607459e+01] [ 8.41958971e-01 2.21454063e-03 5.39537012e-01 1.48243563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.25, Y:-22.55, Z:148.27 [[ 1.56771243e-01 -9.57355668e-01 -2.42678598e-01 2.14248996e+02] [ 5.16414689e-01 2.88910039e-01 -8.06130795e-01 -2.25469663e+01] [ 8.41866169e-01 1.05533379e-03 5.39685316e-01 1.48265534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:-22.53, Z:148.29 [[ 1.55180500e-01 -9.57732290e-01 -2.42214518e-01 2.14255279e+02] [ 5.16683923e-01 2.87661016e-01 -8.06404901e-01 -2.25330479e+01] [ 8.41995687e-01 -1.00316424e-05 5.39484257e-01 1.48286552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.25, Y:-22.49, Z:148.29 [[ 1.52376061e-01 -9.66900122e-01 -2.04659936e-01 2.14246398e+02] [ 5.25129337e-01 2.54636432e-01 -8.12034154e-01 -2.24923223e+01] [ 8.37269798e-01 1.62616295e-02 5.46548117e-01 1.48289849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.27, Y:-22.51, Z:148.34 [[ 1.55284586e-01 -9.55953957e-01 -2.49075750e-01 2.14267568e+02] [ 5.15671479e-01 2.93496445e-01 -8.04948919e-01 -2.25081849e+01] [ 8.42596952e-01 -3.44510109e-03 5.38533664e-01 1.48335353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.27, Y:-22.49, Z:148.36 [[ 1.57711877e-01 -9.57536418e-01 -2.41352381e-01 2.14269547e+02] [ 5.14767507e-01 2.88295713e-01 -8.07403243e-01 -2.24901144e+01] [ 8.42698866e-01 3.09671716e-03 5.38376292e-01 1.48356801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.27, Y:-22.48, Z:148.38 [[ 1.58918738e-01 -9.57449014e-01 -2.40907079e-01 2.14272969e+02] [ 5.14308046e-01 2.88568283e-01 -8.07598650e-01 -2.24759842e+01] [ 8.42752673e-01 4.44210896e-03 5.38282639e-01 1.48378803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.28, Y:-22.46, Z:148.40 [[ 1.60236388e-01 -9.57351698e-01 -2.40420521e-01 2.14276585e+02] [ 5.13927262e-01 2.88865491e-01 -8.07734794e-01 -2.24609989e+01] [ 8.42735468e-01 5.86984562e-03 5.38295899e-01 1.48401802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.28, Y:-22.45, Z:148.42 [[ 1.61395349e-01 -9.57265233e-01 -2.39989196e-01 2.14279584e+02] [ 5.13302683e-01 2.89121160e-01 -8.08040414e-01 -2.24466243e+01] [ 8.42894950e-01 7.22686639e-03 5.38029623e-01 1.48423564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.28, Y:-22.43, Z:148.45 [[ 1.62609484e-01 -9.57172185e-01 -2.39540320e-01 2.14282778e+02] [ 5.12638904e-01 2.89390019e-01 -8.08365493e-01 -2.24316883e+01] [ 8.43065543e-01 8.65020830e-03 5.37741262e-01 1.48445885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-22.42, Z:148.47 [[ 1.64605056e-01 -9.56927565e-01 -2.39154365e-01 2.14285773e+02] [ 5.11526137e-01 2.90125828e-01 -8.08806538e-01 -2.24162479e+01] [ 8.43354129e-01 1.07999366e-02 5.37249639e-01 1.48468721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-22.40, Z:148.49 [[ 1.64802467e-01 -9.57007914e-01 -2.38696461e-01 2.14289148e+02] [ 5.11376509e-01 2.89843103e-01 -8.09002498e-01 -2.24012939e+01] [ 8.43406316e-01 1.12618445e-02 5.37158224e-01 1.48491220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-22.39, Z:148.51 [[ 1.64950714e-01 -9.57105344e-01 -2.38202903e-01 2.14292617e+02] [ 5.11468736e-01 2.89506960e-01 -8.09064554e-01 -2.23862735e+01] [ 8.43321406e-01 1.16224382e-02 5.37283840e-01 1.48513990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.30, Y:-22.37, Z:148.54 [[ 1.64999172e-01 -9.57220662e-01 -2.37705444e-01 2.14295823e+02] [ 5.11625491e-01 2.89114748e-01 -8.09105691e-01 -2.23717979e+01] [ 8.43216834e-01 1.18856045e-02 5.37442185e-01 1.48536690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.30, Y:-22.36, Z:148.56 [[ 1.64528505e-01 -9.57427437e-01 -2.37198386e-01 2.14299335e+02] [ 5.11957906e-01 2.88437228e-01 -8.09137237e-01 -2.23576272e+01] [ 8.43107036e-01 1.16905514e-02 5.37618691e-01 1.48558795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.30, Y:-22.34, Z:148.58 [[ 1.63918776e-01 -9.57656873e-01 -2.36693787e-01 2.14302492e+02] [ 5.12195449e-01 2.87685473e-01 -8.09254528e-01 -2.23439266e+01] [ 8.43081524e-01 1.14185312e-02 5.37664543e-01 1.48580603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:-22.33, Z:148.60 [[ 1.63188587e-01 -9.57909535e-01 -2.36175377e-01 2.14305982e+02] [ 5.12616210e-01 2.86859485e-01 -8.09281321e-01 -2.23292878e+01] [ 8.42967441e-01 1.09981484e-02 5.37852149e-01 1.48603328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.30, Y:-22.30, Z:148.62 [[ 1.60831724e-01 -9.62399967e-01 -2.18905140e-01 2.14303542e+02] [ 5.17592662e-01 2.71090056e-01 -8.11546682e-01 -2.23011480e+01] [ 8.40375507e-01 1.72187577e-02 5.41731042e-01 1.48617866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:-22.30, Z:148.65 [[ 1.59701779e-01 -9.57425310e-01 -2.40483092e-01 2.14314804e+02] [ 5.13800085e-01 2.88629404e-01 -8.07900080e-01 -2.23017447e+01] [ 8.42914476e-01 5.46284749e-03 5.38019835e-01 1.48651875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.32, Y:-22.28, Z:148.67 [[ 1.57353169e-01 -9.59117282e-01 -2.35231841e-01 2.14317154e+02] [ 5.14660654e-01 2.82938964e-01 -8.09363920e-01 -2.22848206e+01] [ 8.42831176e-01 6.29140500e-03 5.38141270e-01 1.48673279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.32, Y:-22.27, Z:148.70 [[ 1.54306678e-01 -9.59720553e-01 -2.34789074e-01 2.14321006e+02] [ 5.15413503e-01 2.80929110e-01 -8.09584928e-01 -2.22704592e+01] [ 8.42934380e-01 3.91090123e-03 5.38002170e-01 1.48695728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.33, Y:-22.26, Z:148.72 [[ 1.47184248e-01 -9.60939756e-01 -2.34374874e-01 2.14325156e+02] [ 5.17164166e-01 2.76750368e-01 -8.09907686e-01 -2.22567274e+01] [ 8.43135827e-01 -2.00463242e-03 5.37696903e-01 1.48717768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.33, Y:-22.24, Z:148.74 [[ 1.43164169e-01 -9.61665934e-01 -2.33885981e-01 2.14329193e+02] [ 5.18305236e-01 2.74173361e-01 -8.10054721e-01 -2.22423220e+01] [ 8.43127335e-01 -5.25351726e-03 5.37688290e-01 1.48740296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.33, Y:-22.23, Z:148.76 [[ 1.39221567e-01 -9.62357255e-01 -2.33422083e-01 2.14333122e+02] [ 5.19433957e-01 2.71656148e-01 -8.10179796e-01 -2.22276261e+01] [ 8.43092948e-01 -8.45285516e-03 5.37701432e-01 1.48763157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:-22.21, Z:148.79 [[ 1.35538876e-01 -9.62992719e-01 -2.32968315e-01 2.14336937e+02] [ 5.20384403e-01 2.69286309e-01 -8.10361004e-01 -2.22133649e+01] [ 8.43106924e-01 -1.13976583e-02 5.37625155e-01 1.48785225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:-22.20, Z:148.81 [[ 1.28362496e-01 -9.64054717e-01 -2.32640434e-01 2.14340464e+02] [ 5.22172174e-01 2.65131460e-01 -8.10580983e-01 -2.21979355e+01] [ 8.43124718e-01 -1.74301630e-02 5.37435484e-01 1.48808556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:-22.18, Z:148.83 [[ 1.28103268e-01 -9.64192970e-01 -2.32209970e-01 2.14344585e+02] [ 5.22235360e-01 2.64629282e-01 -8.10704368e-01 -2.21826784e+01] [ 8.43125010e-01 -1.74143778e-02 5.37435538e-01 1.48832403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.35, Y:-22.17, Z:148.85 [[ 1.24735822e-01 -9.64730945e-01 -2.31808497e-01 2.14348147e+02] [ 5.23137730e-01 2.62467210e-01 -8.10825431e-01 -2.21682248e+01] [ 8.43070513e-01 -2.01287945e-02 5.37426219e-01 1.48854953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.35, Y:-22.15, Z:148.88 [[ 1.21751285e-01 -9.65211070e-01 -2.31396231e-01 2.14351906e+02] [ 5.23692004e-01 2.60508306e-01 -8.11099320e-01 -2.21538200e+01] [ 8.43162683e-01 -2.24279717e-02 5.37190540e-01 1.48878108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.35, Y:-22.14, Z:148.90 [[ 1.16846989e-01 -9.65895026e-01 -2.31070507e-01 2.14354713e+02] [ 5.24186095e-01 2.57597086e-01 -8.11709726e-01 -2.21389014e+01] [ 8.43549476e-01 -2.62781095e-02 5.36408186e-01 1.48901270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:-22.12, Z:148.92 [[ 1.14630409e-01 -9.66262446e-01 -2.30644217e-01 2.14357605e+02] [ 5.24762295e-01 2.56035948e-01 -8.11831341e-01 -2.21240903e+01] [ 8.43495348e-01 -2.79728300e-02 5.36407605e-01 1.48924459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:-22.11, Z:148.95 [[ 1.12721338e-01 -9.66592374e-01 -2.30202265e-01 2.14360355e+02] [ 5.25360407e-01 2.54624289e-01 -8.11888486e-01 -2.21093703e+01] [ 8.43380307e-01 -2.94219990e-02 5.36510953e-01 1.48947607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:-22.10, Z:148.97 [[ 1.09125311e-01 -9.65982559e-01 -2.34455460e-01 2.14361223e+02] [ 5.26174276e-01 2.56244177e-01 -8.10851128e-01 -2.20988149e+01] [ 8.43345894e-01 -3.48800510e-02 5.36237899e-01 1.48970710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:-22.07, Z:148.99 [[ 1.07774196e-01 -9.70406522e-01 -2.16092354e-01 2.14357247e+02] [ 5.27906352e-01 2.40043272e-01 -8.14674236e-01 -2.20746953e+01] [ 8.42436707e-01 -2.62756657e-02 5.38154238e-01 1.48989148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:-22.07, Z:149.02 [[ 1.07369065e-01 -9.67951252e-01 -2.27029198e-01 2.14363093e+02] [ 5.26677607e-01 2.49051647e-01 -8.12763173e-01 -2.20671023e+01] [ 8.43257127e-01 -3.23055723e-02 5.36538692e-01 1.49018069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:-22.05, Z:149.04 [[ 1.07930695e-01 -9.69048247e-01 -2.22028063e-01 2.14364931e+02] [ 5.26056986e-01 2.45173185e-01 -8.14342776e-01 -2.20500118e+01] [ 8.43572767e-01 -2.89068316e-02 5.36236312e-01 1.49041361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.36, Y:-22.03, Z:149.06 [[ 1.07779590e-01 -9.71382546e-01 -2.11658947e-01 2.14363265e+02] [ 5.29545680e-01 2.36276811e-01 -8.14711385e-01 -2.20266149e+01] [ 8.41406521e-01 -2.42738219e-02 5.39857248e-01 1.49058175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-22.01, Z:149.08 [[ 1.12644080e-01 -9.70854490e-01 -2.11548744e-01 2.14365920e+02] [ 5.29095825e-01 2.38816271e-01 -8.14263100e-01 -2.20091351e+01] [ 8.41052269e-01 -2.02076394e-02 5.40576297e-01 1.49082616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-22.01, Z:149.12 [[ 1.12995827e-01 -9.63296676e-01 -2.43498371e-01 2.14374644e+02] [ 5.26530234e-01 2.65881888e-01 -8.07510207e-01 -2.20139999e+01] [ 8.42613705e-01 -3.69639702e-02 5.37248368e-01 1.49115744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-21.98, Z:149.13 [[ 1.15373041e-01 -9.70344725e-01 -2.12415104e-01 2.14366871e+02] [ 5.29102093e-01 2.41014743e-01 -8.13611006e-01 -2.19808514e+01] [ 8.40678320e-01 -1.85205005e-02 5.41218028e-01 1.49127714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-21.98, Z:149.16 [[ 1.18086896e-01 -9.66051549e-01 -2.29782268e-01 2.14374494e+02] [ 5.25865937e-01 2.57127862e-01 -8.10771410e-01 -2.19765897e+01] [ 8.42330399e-01 -2.50931887e-02 5.38377034e-01 1.49158980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-21.95, Z:149.17 [[ 1.22475545e-01 -9.69594517e-01 -2.11863667e-01 2.14368359e+02] [ 5.27926814e-01 2.44411250e-01 -8.13361187e-01 -2.19491937e+01] [ 8.40412411e-01 -1.22316558e-02 5.41809345e-01 1.49174849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-21.94, Z:149.20 [[ 1.24147144e-01 -9.68016510e-01 -2.18017253e-01 2.14372121e+02] [ 5.27941762e-01 2.50475519e-01 -8.11504474e-01 -2.19362042e+01] [ 8.40157713e-01 -1.43544499e-02 5.42152162e-01 1.49199561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-21.93, Z:149.23 [[ 1.26829402e-01 -9.64276540e-01 -2.32561944e-01 2.14379701e+02] [ 5.24118445e-01 2.64200511e-01 -8.09628276e-01 -2.19301881e+01] [ 8.42148537e-01 -1.92053344e-02 5.38903513e-01 1.49231305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-21.91, Z:149.25 [[ 1.27944302e-01 -9.67081128e-01 -2.19964425e-01 2.14377200e+02] [ 5.25765075e-01 2.54195008e-01 -8.11761038e-01 -2.19077041e+01] [ 8.40952639e-01 -1.17894132e-02 5.40980285e-01 1.49248509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-21.89, Z:149.27 [[ 1.32109339e-01 -9.68240783e-01 -2.12266126e-01 2.14375835e+02] [ 5.27519120e-01 2.49975193e-01 -8.11933483e-01 -2.18851011e+01] [ 8.39208378e-01 -4.71044433e-03 5.43789583e-01 1.49267836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-21.88, Z:149.29 [[ 1.33239641e-01 -9.65205626e-01 -2.25000661e-01 2.14381834e+02] [ 5.27738517e-01 2.61258351e-01 -8.08230247e-01 -2.18759458e+01] [ 8.38891683e-01 -1.10532068e-02 5.44186154e-01 1.49293647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-21.85, Z:149.31 [[ 1.34064935e-01 -9.69096326e-01 -2.07072222e-01 2.14378270e+02] [ 5.31814690e-01 2.46677974e-01 -8.10137712e-01 -2.18489057e+01] [ 8.36181636e-01 -1.51298986e-03 5.48450528e-01 1.49309538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:-21.85, Z:149.34 [[ 1.35687097e-01 -9.62732438e-01 -2.33955689e-01 2.14388562e+02] [ 5.27761137e-01 2.70082467e-01 -8.05309657e-01 -2.18496930e+01] [ 8.38485059e-01 -1.42025904e-02 5.44739472e-01 1.49341850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:-21.83, Z:149.36 [[ 1.38240618e-01 -9.64791032e-01 -2.23758342e-01 2.14385920e+02] [ 5.26835509e-01 2.62945752e-01 -8.08272156e-01 -2.18283123e+01] [ 8.38650033e-01 -6.14779723e-03 5.44635958e-01 1.49362785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:-21.81, Z:149.38 [[ 1.39212647e-01 -9.64716902e-01 -2.23475139e-01 2.14387895e+02] [ 5.25723613e-01 2.63244205e-01 -8.08898740e-01 -2.18134435e+01] [ 8.39186822e-01 -4.87722255e-03 5.43821378e-01 1.49384761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:-21.80, Z:149.41 [[ 1.40297429e-01 -9.64653205e-01 -2.23071348e-01 2.14389649e+02] [ 5.24847078e-01 2.63499105e-01 -8.09384808e-01 -2.17982550e+01] [ 8.39554749e-01 -3.52373699e-03 5.43263662e-01 1.49407159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-21.77, Z:149.42 [[ 1.41429265e-01 -9.68598853e-01 -2.04484777e-01 2.14382654e+02] [ 5.28609639e-01 2.48538454e-01 -8.11665255e-01 -2.17691522e+01] [ 8.37000366e-01 6.70059622e-03 5.47161301e-01 1.49421537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:-21.77, Z:149.45 [[ 1.43593830e-01 -9.62939748e-01 -2.28315250e-01 2.14393369e+02] [ 5.23442471e-01 2.69694532e-01 -8.08252955e-01 -2.17690288e+01] [ 8.39874272e-01 -3.44976089e-03 5.42770032e-01 1.49453991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.39, Y:-21.75, Z:149.48 [[ 1.44090046e-01 -9.64320167e-01 -2.22091590e-01 2.14393679e+02] [ 5.22757895e-01 2.64737945e-01 -8.10332033e-01 -2.17516154e+01] [ 8.40215592e-01 6.60648074e-04 5.42252084e-01 1.49475252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:-21.74, Z:149.50 [[ 1.44260929e-01 -9.64395972e-01 -2.21651064e-01 2.14396112e+02] [ 5.22537237e-01 2.64460155e-01 -8.10565027e-01 -2.17363160e+01] [ 8.40323521e-01 1.11192972e-03 5.42084074e-01 1.49498114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:-21.72, Z:149.52 [[ 1.43960543e-01 -9.64528922e-01 -2.21267531e-01 2.14398771e+02] [ 5.22069741e-01 2.63974288e-01 -8.11024513e-01 -2.17209724e+01] [ 8.40665539e-01 1.23844713e-03 5.41553246e-01 1.49521818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:-21.71, Z:149.55 [[ 1.43471225e-01 -9.64712275e-01 -2.20785492e-01 2.14400936e+02] [ 5.22522577e-01 2.63304501e-01 -8.10950613e-01 -2.17056480e+01] [ 8.40467825e-01 9.82674077e-04 5.41860563e-01 1.49545406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:-21.69, Z:149.57 [[ 1.42852643e-01 -9.64899622e-01 -2.20367514e-01 2.14403899e+02] [ 5.22616504e-01 2.62618023e-01 -8.11112670e-01 -2.16912712e+01] [ 8.40514790e-01 7.01889448e-04 5.41788147e-01 1.49568672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:-21.68, Z:149.59 [[ 1.42316416e-01 -9.65105872e-01 -2.19810587e-01 2.14406629e+02] [ 5.23400878e-01 2.61859762e-01 -8.10852012e-01 -2.16764890e+01] [ 8.40117586e-01 3.48498297e-04 5.42404203e-01 1.49591321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:-21.66, Z:149.61 [[ 1.41112319e-01 -9.65393182e-01 -2.19324685e-01 2.14409190e+02] [ 5.23780590e-01 2.60798404e-01 -8.10948880e-01 -2.16618621e+01] [ 8.40084048e-01 -4.43135815e-04 5.42456078e-01 1.49613804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:-21.65, Z:149.64 [[ 1.40352333e-01 -9.65611614e-01 -2.18850256e-01 2.14412843e+02] [ 5.23984755e-01 2.59987520e-01 -8.11077349e-01 -2.16474831e+01] [ 8.40084043e-01 -8.37599723e-04 5.42455619e-01 1.49636641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.42, Y:-21.63, Z:149.66 [[ 1.39720766e-01 -9.65808972e-01 -2.18383005e-01 2.14416877e+02] [ 5.24111825e-01 2.59252375e-01 -8.11230548e-01 -2.16326823e+01] [ 8.40110054e-01 -1.11136176e-03 5.42414843e-01 1.49659506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.42, Y:-21.62, Z:149.68 [[ 1.39111737e-01 -9.66005389e-01 -2.17902532e-01 2.14420879e+02] [ 5.24304848e-01 2.58518245e-01 -8.11340091e-01 -2.16194524e+01] [ 8.40090680e-01 -1.38042424e-03 5.42444231e-01 1.49681658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.42, Y:-21.61, Z:149.70 [[ 1.39133957e-01 -9.66107802e-01 -2.17433798e-01 2.14424331e+02] [ 5.24117321e-01 2.58136841e-01 -8.11582655e-01 -2.16050931e+01] [ 8.40204009e-01 -1.04211322e-03 5.42269433e-01 1.49704091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:-21.59, Z:149.73 [[ 1.39733073e-01 -9.66169754e-01 -2.16773325e-01 2.14428040e+02] [ 5.25148072e-01 2.57906456e-01 -8.10989373e-01 -2.15897277e+01] [ 8.39460643e-01 -5.16056593e-04 5.43420245e-01 1.49726538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.42, Y:-21.56, Z:149.74 [[ 1.39108197e-01 -9.70310344e-01 -1.97855367e-01 2.14424547e+02] [ 5.27667250e-01 2.41700211e-01 -8.14339169e-01 -2.15626307e+01] [ 8.37983403e-01 8.87945573e-03 5.45623471e-01 1.49740095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:214.44, Y:-21.56, Z:149.77 [[ 1.41647334e-01 -9.64912210e-01 -2.21089260e-01 2.14436511e+02] [ 5.23811669e-01 2.62570712e-01 -8.10356685e-01 -2.15626822e+01] [ 8.39974624e-01 -1.02427054e-03 5.42624716e-01 1.49768541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.44, Y:-21.54, Z:149.79 [[ 1.42564000e-01 -9.67577712e-01 -2.08491911e-01 2.14436542e+02] [ 5.22871067e-01 2.52474917e-01 -8.14163536e-01 -2.15423195e+01] [ 8.40405469e-01 7.05602252e-03 5.41912225e-01 1.49789779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.44, Y:-21.53, Z:149.81 [[ 1.43777576e-01 -9.66257215e-01 -2.13717111e-01 2.14442730e+02] [ 5.22405883e-01 2.57526069e-01 -8.12879091e-01 -2.15296490e+01] [ 8.40488014e-01 5.22670925e-03 5.41804928e-01 1.49814802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:-21.51, Z:149.84 [[ 1.45211293e-01 -9.66138831e-01 -2.13282533e-01 2.14447301e+02] [ 5.22071242e-01 2.57935709e-01 -8.12964199e-01 -2.15147642e+01] [ 8.40449462e-01 6.70290538e-03 5.41848477e-01 1.49838663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:-21.50, Z:149.86 [[ 1.48153889e-01 -9.65805406e-01 -2.12768283e-01 2.14451824e+02] [ 5.21821314e-01 2.59098097e-01 -8.12755002e-01 -2.15008694e+01] [ 8.40091032e-01 9.38578911e-03 5.42364237e-01 1.49861286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.46, Y:-21.49, Z:149.88 [[ 1.49429242e-01 -9.65700885e-01 -2.12350425e-01 2.14456038e+02] [ 5.22134094e-01 2.59443584e-01 -8.12443853e-01 -2.14861882e+01] [ 8.39670703e-01 1.05274721e-02 5.42993815e-01 1.49884495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.46, Y:-21.47, Z:149.91 [[ 1.50066332e-01 -9.65729448e-01 -2.11770466e-01 2.14460207e+02] [ 5.22943701e-01 2.59313177e-01 -8.11964631e-01 -2.14716212e+01] [ 8.39053027e-01 1.11045224e-02 5.43936309e-01 1.49907116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.47, Y:-21.46, Z:149.93 [[ 1.51895835e-01 -9.65601724e-01 -2.11047309e-01 2.14465427e+02] [ 5.24023723e-01 2.59719427e-01 -8.11138063e-01 -2.14577320e+01] [ 8.38049397e-01 1.26146968e-02 5.45448510e-01 1.49929805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.47, Y:-21.44, Z:149.95 [[ 1.52413248e-01 -9.65618928e-01 -2.10595079e-01 2.14469896e+02] [ 5.23752499e-01 2.59618167e-01 -8.11345627e-01 -2.14428271e+01] [ 8.38125003e-01 1.33601229e-02 5.45314575e-01 1.49953023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.47, Y:-21.43, Z:149.98 [[ 1.53144644e-01 -9.65585292e-01 -2.10218366e-01 2.14474610e+02] [ 5.23236285e-01 2.59692822e-01 -8.11654747e-01 -2.14278182e+01] [ 8.38314087e-01 1.43066998e-02 5.44999826e-01 1.49976416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.48, Y:-21.41, Z:150.00 [[ 1.53624640e-01 -9.65572417e-01 -2.09927078e-01 2.14479164e+02] [ 5.22244092e-01 2.59692568e-01 -8.12293592e-01 -2.14130542e+01] [ 8.38844788e-01 1.51551340e-02 5.44159667e-01 1.49998687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.49, Y:-21.40, Z:150.02 [[ 1.54385578e-01 -9.65463591e-01 -2.09869361e-01 2.14485125e+02] [ 5.19350474e-01 2.60003433e-01 -8.14047481e-01 -2.13972002e+01] [ 8.40499958e-01 1.66814390e-02 5.41554753e-01 1.50021688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.49, Y:-21.38, Z:150.04 [[ 1.54497991e-01 -9.65504175e-01 -2.09599757e-01 2.14489893e+02] [ 5.18266657e-01 2.59815156e-01 -8.14797986e-01 -2.13823942e+01] [ 8.41148051e-01 1.72560866e-02 5.40529540e-01 1.50043955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.49, Y:-21.37, Z:150.07 [[ 1.53811329e-01 -9.65647274e-01 -2.09445499e-01 2.14494758e+02] [ 5.17393771e-01 2.59295108e-01 -8.15518076e-01 -2.13681637e+01] [ 8.41811000e-01 1.70701229e-02 5.39502410e-01 1.50066468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.49, Y:-21.33, Z:150.07 [[ 1.51422463e-01 -9.73737488e-01 -1.70019239e-01 2.14485691e+02] [ 5.27279153e-01 2.25056867e-01 -8.19344922e-01 -2.13264949e+01] [ 8.36090864e-01 3.44196256e-02 5.47510144e-01 1.50070801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:-21.35, Z:150.12 [[ 1.50908026e-01 -9.61864895e-01 -2.28128672e-01 2.14513209e+02] [ 5.17146129e-01 2.73489370e-01 -8.11026169e-01 -2.13490974e+01] [ 8.42488367e-01 4.41449863e-03 5.38696448e-01 1.50117882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:-21.33, Z:150.14 [[ 1.49746916e-01 -9.66536771e-01 -2.08284738e-01 2.14512926e+02] [ 5.18211143e-01 2.56131579e-01 -8.15998668e-01 -2.13266924e+01] [ 8.42041016e-01 1.42578115e-02 5.39225038e-01 1.50136872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.52, Y:-21.31, Z:150.16 [[ 1.48909988e-01 -9.66825583e-01 -2.07543024e-01 2.14518303e+02] [ 5.18786715e-01 2.55062499e-01 -8.15967809e-01 -2.13137472e+01] [ 8.41834996e-01 1.38351931e-02 5.39557622e-01 1.50158866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.52, Y:-21.30, Z:150.18 [[ 1.45146094e-01 -9.68615008e-01 -2.01785972e-01 2.14523964e+02] [ 5.21407011e-01 2.48210484e-01 -8.16410611e-01 -2.12984912e+01] [ 8.40872963e-01 1.32861909e-02 5.41069438e-01 1.50181736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.53, Y:-21.29, Z:150.21 [[ 1.43966813e-01 -9.67800697e-01 -2.06483334e-01 2.14531034e+02] [ 5.22405314e-01 2.51541053e-01 -8.14751365e-01 -2.12865695e+01] [ 8.40455975e-01 9.42916646e-03 5.41797790e-01 1.50206558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:-21.27, Z:150.23 [[ 1.43193011e-01 -9.68043622e-01 -2.05881783e-01 2.14536106e+02] [ 5.23707983e-01 2.50628644e-01 -8.14196064e-01 -2.12721322e+01] [ 8.39777179e-01 8.76525279e-03 5.42860443e-01 1.50229874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:-21.26, Z:150.25 [[ 1.42216973e-01 -9.68301205e-01 -2.05346315e-01 2.14542086e+02] [ 5.24647115e-01 2.49656849e-01 -8.13889957e-01 -2.12586520e+01] [ 8.39356740e-01 8.01461424e-03 5.43521875e-01 1.50252295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.55, Y:-21.24, Z:150.28 [[ 1.41927943e-01 -9.68439617e-01 -2.04893064e-01 2.14545574e+02] [ 5.24725480e-01 2.49119311e-01 -8.14004139e-01 -2.12436233e+01] [ 8.39356676e-01 8.01732206e-03 5.43521935e-01 1.50275395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.55, Y:-21.23, Z:150.30 [[ 1.41364859e-01 -9.68616066e-01 -2.04447777e-01 2.14550066e+02] [ 5.24851918e-01 2.48439765e-01 -8.14130301e-01 -2.12291785e+01] [ 8.39372647e-01 7.78460672e-03 5.43500652e-01 1.50298066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.55, Y:-21.21, Z:150.32 [[ 1.40573560e-01 -9.68821088e-01 -2.04021502e-01 2.14554614e+02] [ 5.24758885e-01 2.47650083e-01 -8.14430813e-01 -2.12143136e+01] [ 8.39563688e-01 7.42534256e-03 5.43210528e-01 1.50321086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.56, Y:-21.20, Z:150.34 [[ 1.39818776e-01 -9.69019148e-01 -2.03599117e-01 2.14558987e+02] [ 5.24610394e-01 2.46883294e-01 -8.14759212e-01 -2.11996860e+01] [ 8.39782498e-01 7.10842311e-03 5.42876437e-01 1.50343464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.56, Y:-21.18, Z:150.37 [[ 1.38302151e-01 -9.69307390e-01 -2.03262637e-01 2.14564778e+02] [ 5.24096625e-01 2.45772607e-01 -8.15425382e-01 -2.11846860e+01] [ 8.40354236e-01 6.24582188e-03 5.42001612e-01 1.50366466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:-21.17, Z:150.39 [[ 1.37094739e-01 -9.69548607e-01 -2.02929869e-01 2.14569452e+02] [ 5.23757756e-01 2.44835541e-01 -8.15924856e-01 -2.11705854e+01] [ 8.40763252e-01 5.57291268e-03 5.41374267e-01 1.50388770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:-21.16, Z:150.41 [[ 1.35619795e-01 -9.69839417e-01 -2.02530928e-01 2.14574037e+02] [ 5.23417327e-01 2.43698990e-01 -8.16483376e-01 -2.11562398e+01] [ 8.41214344e-01 4.72311085e-03 5.40681162e-01 1.50411686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.58, Y:-21.14, Z:150.43 [[ 1.34091354e-01 -9.70142114e-01 -2.02098458e-01 2.14578774e+02] [ 5.23506081e-01 2.42508584e-01 -8.16780858e-01 -2.11416624e+01] [ 8.41404119e-01 3.72347958e-03 5.40393601e-01 1.50434609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.58, Y:-21.13, Z:150.46 [[ 1.32587530e-01 -9.70439614e-01 -2.01661852e-01 2.14583252e+02] [ 5.23620366e-01 2.41328537e-01 -8.17057066e-01 -2.11273595e+01] [ 8.41571304e-01 2.73732574e-03 5.40139100e-01 1.50456512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:-21.11, Z:150.48 [[ 1.30044087e-01 -9.70885955e-01 -2.01169078e-01 2.14589353e+02] [ 5.24217021e-01 2.39540804e-01 -8.17200537e-01 -2.11127625e+01] [ 8.41596727e-01 8.15842479e-04 5.40105808e-01 1.50479197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:-21.10, Z:150.50 [[ 1.28903513e-01 -9.71142896e-01 -2.00662304e-01 2.14593937e+02] [ 5.24722708e-01 2.38498373e-01 -8.17180890e-01 -2.10986290e+01] [ 8.41457048e-01 4.54204098e-05 5.40324008e-01 1.50501515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.60, Y:-21.08, Z:150.52 [[ 1.27668474e-01 -9.71421752e-01 -2.00101326e-01 2.14598379e+02] [ 5.25603085e-01 2.37358407e-01 -8.16946989e-01 -2.10841516e+01] [ 8.41095808e-01 -8.75499148e-04 5.40885455e-01 1.50524081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.60, Y:-21.07, Z:150.55 [[ 1.26763038e-01 -9.71649989e-01 -1.99568109e-01 2.14602964e+02] [ 5.26216806e-01 2.36419391e-01 -8.16824182e-01 -2.10704448e+01] [ 8.40848979e-01 -1.47297787e-03 5.41267794e-01 1.50546154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.61, Y:-21.06, Z:150.57 [[ 1.25003117e-01 -9.71998948e-01 -1.98978053e-01 2.14608887e+02] [ 5.27270526e-01 2.34968011e-01 -8.16563425e-01 -2.10567829e+01] [ 8.40452267e-01 -2.84228890e-03 5.41878130e-01 1.50569356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.61, Y:-21.04, Z:150.59 [[ 1.24145041e-01 -9.72217124e-01 -1.98448665e-01 2.14613128e+02] [ 5.27887093e-01 2.34056152e-01 -8.16426931e-01 -2.10418354e+01] [ 8.40192374e-01 -3.40313442e-03 5.42277782e-01 1.50592272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.62, Y:-21.03, Z:150.61 [[ 1.23891806e-01 -9.72353217e-01 -1.97939489e-01 2.14617248e+02] [ 5.28214844e-01 2.33489995e-01 -8.16377058e-01 -2.10269619e+01] [ 8.40023749e-01 -3.41214778e-03 5.42538900e-01 1.50614936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.62, Y:-21.01, Z:150.64 [[ 1.24017575e-01 -9.72398772e-01 -1.97636712e-01 2.14622390e+02] [ 5.27061192e-01 2.33308083e-01 -8.17174301e-01 -2.10126692e+01] [ 8.40729529e-01 -2.82266624e-03 5.41447959e-01 1.50637865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.63, Y:-21.00, Z:150.66 [[ 1.24475619e-01 -9.72425773e-01 -1.97215458e-01 2.14626480e+02] [ 5.26618639e-01 2.33203146e-01 -8.17489512e-01 -2.09980799e+01] [ 8.40939135e-01 -2.09982284e-03 5.41125643e-01 1.50660575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.63, Y:-20.98, Z:150.68 [[ 1.25361994e-01 -9.72397924e-01 -1.96790872e-01 2.14629914e+02] [ 5.26031104e-01 2.33326575e-01 -8.17832494e-01 -2.09842161e+01] [ 8.41175159e-01 -9.93007231e-04 5.40761838e-01 1.50682268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.63, Y:-20.97, Z:150.70 [[ 1.26762157e-01 -9.72313905e-01 -1.96308494e-01 2.14633400e+02] [ 5.25561834e-01 2.33677973e-01 -8.18033840e-01 -2.09692636e+01] [ 8.41258649e-01 5.23482511e-04 5.40632603e-01 1.50704903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.64, Y:-20.96, Z:150.73 [[ 1.28061078e-01 -9.72229446e-01 -1.95883295e-01 2.14636610e+02] [ 5.24914182e-01 2.34021359e-01 -8.18351456e-01 -2.09551189e+01] [ 8.41466257e-01 1.97704997e-03 5.40306052e-01 1.50727174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:214.63, Y:-20.93, Z:150.74 [[ 1.29553767e-01 -9.74540566e-01 -1.82993186e-01 2.14633966e+02] [ 5.27919866e-01 2.24008741e-01 -8.19219567e-01 -2.09316331e+01] [ 8.39354774e-01 9.52724235e-03 5.43500501e-01 1.50742177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.64, Y:-20.92, Z:150.77 [[ 1.33076731e-01 -9.72036758e-01 -1.93481589e-01 2.14643020e+02] [ 5.24109055e-01 2.34707650e-01 -8.18670885e-01 -2.09244346e+01] [ 8.41189801e-01 7.54059262e-03 5.40687393e-01 1.50773246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.65, Y:-20.91, Z:150.80 [[ 1.33713487e-01 -9.71673625e-01 -1.94861670e-01 2.14646805e+02] [ 5.24510278e-01 2.36218095e-01 -8.17979205e-01 -2.09113662e+01] [ 8.40838672e-01 7.16790351e-03 5.41238348e-01 1.50795433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.65, Y:-20.89, Z:150.81 [[ 1.33664003e-01 -9.73731892e-01 -1.84337019e-01 2.14645060e+02] [ 5.27339060e-01 2.27369558e-01 -8.18667576e-01 -2.08893772e+01] [ 8.39075354e-01 1.22182755e-02 5.43877986e-01 1.50811694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.65, Y:-20.88, Z:150.84 [[ 1.37011969e-01 -9.72063570e-01 -1.90578428e-01 2.14653461e+02] [ 5.23467246e-01 2.34385987e-01 -8.19173517e-01 -2.08803887e+01] [ 8.40957646e-01 1.24750114e-02 5.40957126e-01 1.50840841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:-20.87, Z:150.86 [[ 1.36770100e-01 -9.71358458e-01 -1.94310796e-01 2.14658209e+02] [ 5.23077741e-01 2.37394948e-01 -8.18555627e-01 -2.08681935e+01] [ 8.41239334e-01 1.03142828e-02 5.40564519e-01 1.50863665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:-20.85, Z:150.89 [[ 1.35763108e-01 -9.71581694e-01 -1.93900467e-01 2.14661983e+02] [ 5.22664123e-01 2.36499205e-01 -8.19078959e-01 -2.08538913e+01] [ 8.41659428e-01 9.85588753e-03 5.39918761e-01 1.50885957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.67, Y:-20.84, Z:150.91 [[ 1.34901783e-01 -9.71799473e-01 -1.93409651e-01 2.14665515e+02] [ 5.22800857e-01 2.35621244e-01 -8.19244709e-01 -2.08392949e+01] [ 8.41712999e-01 9.40284086e-03 5.39843323e-01 1.50908727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.67, Y:-20.82, Z:150.93 [[ 1.33990438e-01 -9.72015878e-01 -1.92955164e-01 2.14669336e+02] [ 5.23001697e-01 2.34747586e-01 -8.19367314e-01 -2.08244937e+01] [ 8.41733798e-01 8.87150706e-03 5.39819886e-01 1.50931753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.67, Y:-20.81, Z:150.95 [[ 1.32738435e-01 -9.72283756e-01 -1.92470274e-01 2.14672862e+02] [ 5.23355760e-01 2.33665621e-01 -8.19450502e-01 -2.08102744e+01] [ 8.41712098e-01 8.04215109e-03 5.39866713e-01 1.50953585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.68, Y:-20.80, Z:150.98 [[ 1.29723207e-01 -9.72783225e-01 -1.92001786e-01 2.14676756e+02] [ 5.23865688e-01 2.31645690e-01 -8.19698125e-01 -2.07958523e+01] [ 8.41864972e-01 5.75072139e-03 5.39657575e-01 1.50976051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.68, Y:-20.78, Z:151.00 [[ 1.27674991e-01 -9.73142763e-01 -1.91552239e-01 2.14680253e+02] [ 5.24214555e-01 2.30162922e-01 -8.19892755e-01 -2.07807392e+01] [ 8.41960924e-01 4.26532876e-03 5.39521649e-01 1.50998671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.68, Y:-20.77, Z:151.02 [[ 1.25472997e-01 -9.73513875e-01 -1.91121069e-01 2.14683683e+02] [ 5.24422897e-01 2.28612189e-01 -8.20193326e-01 -2.07656582e+01] [ 8.42162189e-01 2.68384962e-03 5.39217623e-01 1.51021488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:-20.75, Z:151.04 [[ 1.23142642e-01 -9.73908189e-01 -1.90627197e-01 2.14687229e+02] [ 5.25068170e-01 2.26940525e-01 -8.20244729e-01 -2.07505788e+01] [ 8.42104095e-01 9.14829340e-04 5.39314247e-01 1.51043944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.68, Y:-20.72, Z:151.05 [[ 1.15821319e-01 -9.79808489e-01 -1.62974683e-01 2.14679728e+02] [ 5.32958968e-01 1.99762945e-01 -8.22222296e-01 -2.07170210e+01] [ 8.38176688e-01 8.37205141e-03 5.45334529e-01 1.51052670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.70, Y:-20.72, Z:151.09 [[ 1.16313993e-01 -9.73816302e-01 -1.95327587e-01 2.14696642e+02] [ 5.26734868e-01 2.27208834e-01 -8.19101047e-01 -2.07244611e+01] [ 8.42034105e-01 -7.61293743e-03 5.39370568e-01 1.51092227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:-20.69, Z:151.10 [[ 1.11162339e-01 -9.79875696e-01 -1.65790698e-01 2.14687881e+02] [ 5.33147159e-01 1.99586117e-01 -8.22143229e-01 -2.06904546e+01] [ 8.38687690e-01 3.00052453e-03 5.44604403e-01 1.51100493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.70, Y:-20.69, Z:151.13 [[ 1.09156492e-01 -9.77449205e-01 -1.80770328e-01 2.14696640e+02] [ 5.30972296e-01 2.11073619e-01 -8.20680418e-01 -2.06853844e+01] [ 8.40329269e-01 -6.40144006e-03 5.42038505e-01 1.51130227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.70, Y:-20.68, Z:151.16 [[ 1.08812001e-01 -9.76305792e-01 -1.87047988e-01 2.14704351e+02] [ 5.27439012e-01 2.16197522e-01 -8.21624440e-01 -2.06775398e+01] [ 8.42596011e-01 -9.25380632e-03 5.38466647e-01 1.51160689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:-20.67, Z:151.19 [[ 1.02637826e-01 -9.74298035e-01 -2.00521359e-01 2.14709802e+02] [ 5.27696300e-01 2.24213013e-01 -8.19307719e-01 -2.06716543e+01] [ 8.43209399e-01 -2.17224167e-02 5.37146205e-01 1.51188634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:-20.64, Z:151.20 [[ 1.01636229e-01 -9.79760127e-01 -1.72453385e-01 2.14705841e+02] [ 5.29530137e-01 2.00033346e-01 -8.24369150e-01 -2.06413081e+01] [ 8.42180450e-01 -7.53349298e-03 5.39143149e-01 1.51204422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-20.64, Z:151.24 [[ 9.85719722e-02 -9.74748600e-01 -2.00371487e-01 2.14716536e+02] [ 5.28809570e-01 2.21877985e-01 -8.19225609e-01 -2.06420076e+01] [ 8.42997037e-01 -2.52056760e-02 5.37327339e-01 1.51237097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-20.62, Z:151.26 [[ 9.73146894e-02 -9.77587479e-01 -1.86688437e-01 2.14715765e+02] [ 5.28492074e-01 2.09705535e-01 -8.22629757e-01 -2.06213330e+01] [ 8.43342148e-01 -1.86093999e-02 5.37054663e-01 1.51256968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-20.62, Z:151.29 [[ 9.62284099e-02 -9.74917852e-01 -2.00687006e-01 2.14722803e+02] [ 5.26520696e-01 2.20961586e-01 -8.20945756e-01 -2.06162564e+01] [ 8.44698792e-01 -2.66675575e-02 5.34577208e-01 1.51286636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:-20.58, Z:151.30 [[ 9.66590209e-02 -9.81677793e-01 -1.64212499e-01 2.14714922e+02] [ 5.30796065e-01 1.90407060e-01 -8.25833330e-01 -2.05777987e+01] [ 8.41969460e-01 -7.33910698e-03 5.39475270e-01 1.51295379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-20.57, Z:151.32 [[ 9.68828990e-02 -9.77576843e-01 -1.86968499e-01 2.14724684e+02] [ 5.31725079e-01 2.09634948e-01 -8.20561777e-01 -2.05736155e+01] [ 8.41357323e-01 -1.99174358e-02 5.40112165e-01 1.51323311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.73, Y:-20.56, Z:151.35 [[ 9.95401284e-02 -9.77363499e-01 -1.86687852e-01 2.14725683e+02] [ 5.29532808e-01 2.10877298e-01 -8.21660374e-01 -2.05590605e+01] [ 8.42429088e-01 -1.70691633e-02 5.38536791e-01 1.51345919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.73, Y:-20.54, Z:151.37 [[ 1.01192182e-01 -9.77280207e-01 -1.86235172e-01 2.14727512e+02] [ 5.28770059e-01 2.11398901e-01 -8.22017475e-01 -2.05442976e+01] [ 8.42711319e-01 -1.52938408e-02 5.38148429e-01 1.51368253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.73, Y:-20.53, Z:151.39 [[ 1.03258589e-01 -9.77152111e-01 -1.85772483e-01 2.14729106e+02] [ 5.28060099e-01 2.12131441e-01 -8.22285099e-01 -2.05291792e+01] [ 8.42905805e-01 -1.31910369e-02 5.37899434e-01 1.51391017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.73, Y:-20.51, Z:151.41 [[ 1.05447424e-01 -9.77003041e-01 -1.85326464e-01 2.14730898e+02] [ 5.27425018e-01 2.12940560e-01 -8.22483537e-01 -2.05140355e+01] [ 8.43032438e-01 -1.10170428e-02 5.37749880e-01 1.51413747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-20.47, Z:151.42 [[ 1.08653694e-01 -9.82802888e-01 -1.49307930e-01 2.14717653e+02] [ 5.34429197e-01 1.84395977e-01 -8.24853658e-01 -2.04745553e+01] [ 8.38200339e-01 9.82887943e-03 5.45273863e-01 1.51419916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.49, Z:151.46 [[ 1.13022440e-01 -9.73539319e-01 -1.98612998e-01 2.14737339e+02] [ 5.25766434e-01 2.28214271e-01 -8.19443655e-01 -2.04894225e+01] [ 8.43086938e-01 -1.18085262e-02 5.37647629e-01 1.51464209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-20.44, Z:151.46 [[ 1.13079971e-01 -9.83714559e-01 -1.39708934e-01 2.14717108e+02] [ 5.35172061e-01 1.78773655e-01 -8.25609379e-01 -2.04374228e+01] [ 8.37140243e-01 1.85915663e-02 5.46672267e-01 1.51459491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.46, Z:151.51 [[ 1.17068818e-01 -9.71980238e-01 -2.03836474e-01 2.14742737e+02] [ 5.24960102e-01 2.34794080e-01 -8.18100625e-01 -2.04626955e+01] [ 8.43037237e-01 -1.12319428e-02 5.37737910e-01 1.51511422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.44, Z:151.53 [[ 1.21326062e-01 -9.75503639e-01 -1.83501056e-01 2.14737404e+02] [ 5.24930435e-01 2.19956508e-01 -8.22233041e-01 -2.04382902e+01] [ 8.42453574e-01 3.43300762e-03 5.38758006e-01 1.51529684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.42, Z:151.55 [[ 1.23061942e-01 -9.75385823e-01 -1.82970642e-01 2.14738940e+02] [ 5.24933262e-01 2.20445602e-01 -8.22100242e-01 -2.04234785e+01] [ 8.42199994e-01 5.12187623e-03 5.39140925e-01 1.51552476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.41, Z:151.58 [[ 1.24881402e-01 -9.75254083e-01 -1.82439331e-01 2.14740422e+02] [ 5.24922997e-01 2.20979912e-01 -8.21963336e-01 -2.04081346e+01] [ 8.41938527e-01 6.88133305e-03 5.39529577e-01 1.51575033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.39, Z:151.60 [[ 1.27055156e-01 -9.75072977e-01 -1.81905683e-01 2.14741900e+02] [ 5.24836184e-01 2.21703979e-01 -8.21823780e-01 -2.03933435e+01] [ 8.41667373e-01 8.94626415e-03 5.39922214e-01 1.51597123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.38, Z:151.62 [[ 1.31230154e-01 -9.74617154e-01 -1.81383710e-01 2.14741340e+02] [ 5.24041259e-01 2.23512012e-01 -8.21841310e-01 -2.03777873e+01] [ 8.41522077e-01 1.27978135e-02 5.40071116e-01 1.51619341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.36, Z:151.64 [[ 1.32833864e-01 -9.74483134e-01 -1.80935863e-01 2.14742677e+02] [ 5.23426043e-01 2.23992126e-01 -8.22102612e-01 -2.03624412e+01] [ 8.41653338e-01 1.44965239e-02 5.39823591e-01 1.51642305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.35, Z:151.67 [[ 1.34283267e-01 -9.74367290e-01 -1.80489302e-01 2.14744404e+02] [ 5.22868045e-01 2.24389393e-01 -8.22349322e-01 -2.03471844e+01] [ 8.41770166e-01 1.60556652e-02 5.39597261e-01 1.51665347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:-20.33, Z:151.69 [[ 1.35391674e-01 -9.74301576e-01 -1.80015373e-01 2.14746036e+02] [ 5.22921362e-01 2.24590357e-01 -8.22260555e-01 -2.03323812e+01] [ 8.41559471e-01 1.71933496e-02 5.39890771e-01 1.51686740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:-20.32, Z:151.71 [[ 1.36595579e-01 -9.74205703e-01 -1.79624322e-01 2.14746835e+02] [ 5.21741984e-01 2.24886419e-01 -8.22928552e-01 -2.03168135e+01] [ 8.42096758e-01 1.86908514e-02 5.39002506e-01 1.51709395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:-20.30, Z:151.73 [[ 1.36309937e-01 -9.74333517e-01 -1.79147422e-01 2.14749819e+02] [ 5.21817267e-01 2.24330805e-01 -8.23032460e-01 -2.03016979e+01] [ 8.42096396e-01 1.87052848e-02 5.39002571e-01 1.51732507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:-20.29, Z:151.75 [[ 1.36252454e-01 -9.74416276e-01 -1.78740568e-01 2.14752029e+02] [ 5.21501362e-01 2.23948944e-01 -8.23336626e-01 -2.02868555e+01] [ 8.42301371e-01 1.89681860e-02 5.38673008e-01 1.51754841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:-20.27, Z:151.78 [[ 1.35819970e-01 -9.74552625e-01 -1.78325872e-01 2.14754412e+02] [ 5.21105060e-01 2.23355970e-01 -8.23748522e-01 -2.02718505e+01] [ 8.42616432e-01 1.89549855e-02 5.38180505e-01 1.51777118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.76, Y:-20.26, Z:151.80 [[ 1.34817869e-01 -9.74760187e-01 -1.77951453e-01 2.14756738e+02] [ 5.20524010e-01 2.22485921e-01 -8.24351121e-01 -2.02567726e+01] [ 8.43136346e-01 1.85092575e-02 5.37381159e-01 1.51800802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.76, Y:-20.24, Z:151.82 [[ 1.32916219e-01 -9.75113508e-01 -1.77445556e-01 2.14758663e+02] [ 5.21498907e-01 2.21053393e-01 -8.24120311e-01 -2.02408520e+01] [ 8.42835790e-01 1.70012919e-02 5.37902210e-01 1.51824346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-20.19, Z:151.83 [[ 1.29156252e-01 -9.82779452e-01 -1.32148442e-01 2.14743691e+02] [ 5.33676041e-01 1.81208904e-01 -8.26046740e-01 -2.01947867e+01] [ 8.35768237e-01 3.61646438e-02 5.47890110e-01 1.51825413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.77, Y:-20.22, Z:151.88 [[ 1.30464349e-01 -9.71673353e-01 -1.97053163e-01 2.14770402e+02] [ 5.21887153e-01 2.36292485e-01 -8.19633858e-01 -2.02204212e+01] [ 8.42978560e-01 4.09348373e-03 5.37931585e-01 1.51876175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.77, Y:-20.20, Z:151.89 [[ 1.29481634e-01 -9.75750725e-01 -1.76479542e-01 2.14766722e+02] [ 5.22945686e-01 2.18411080e-01 -8.23908010e-01 -2.01968305e+01] [ 8.42473926e-01 1.43917406e-02 5.38544856e-01 1.51893834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:-20.16, Z:151.90 [[ 1.25755374e-01 -9.82289824e-01 -1.38896678e-01 2.14754824e+02] [ 5.33422982e-01 1.84998303e-01 -8.25369948e-01 -2.01555104e+01] [ 8.36448151e-01 2.97040265e-02 5.47240498e-01 1.51898153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:-20.18, Z:151.94 [[ 1.25704999e-01 -9.73083173e-01 -1.93151217e-01 2.14777660e+02] [ 5.23778300e-01 2.30446194e-01 -8.20091973e-01 -2.01753035e+01] [ 8.42528662e-01 1.92124441e-03 5.38648088e-01 1.51944747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:-20.15, Z:151.96 [[ 1.24576915e-01 -9.76573520e-01 -1.75455842e-01 2.14775330e+02] [ 5.24809608e-01 2.14926438e-01 -8.23639182e-01 -2.01532462e+01] [ 8.42054314e-01 1.05255168e-02 5.39290039e-01 1.51963861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:-20.14, Z:151.99 [[ 1.22155377e-01 -9.76999296e-01 -1.74786842e-01 2.14778217e+02] [ 5.26788828e-01 2.13075416e-01 -8.22856243e-01 -2.01385843e+01] [ 8.41172749e-01 8.44055917e-03 5.40700622e-01 1.51987171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:-20.12, Z:152.01 [[ 1.20401669e-01 -9.77309053e-01 -1.74271207e-01 2.14780877e+02] [ 5.27455454e-01 2.11697836e-01 -8.22784766e-01 -2.01246011e+01] [ 8.41007837e-01 7.14436058e-03 5.40975762e-01 1.52009276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:-20.11, Z:152.03 [[ 1.18700807e-01 -9.77609981e-01 -1.73749372e-01 2.14783484e+02] [ 5.27980466e-01 2.10341527e-01 -8.22795886e-01 -2.01105994e+01] [ 8.40920178e-01 5.93026141e-03 5.41126682e-01 1.52031011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:-20.10, Z:152.05 [[ 1.16855947e-01 -9.77917015e-01 -1.73271459e-01 2.14786239e+02] [ 5.28247553e-01 2.08942053e-01 -8.22981009e-01 -2.00956675e+01] [ 8.41010827e-01 4.64000110e-03 5.40998392e-01 1.52053595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:-20.08, Z:152.08 [[ 1.13953587e-01 -9.78335835e-01 -1.72839736e-01 2.14788566e+02] [ 5.28500296e-01 2.07009368e-01 -8.23307086e-01 -2.00804450e+01] [ 8.41250270e-01 2.47294382e-03 5.40640239e-01 1.52075940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:-20.07, Z:152.10 [[ 1.12248584e-01 -9.78611690e-01 -1.72393198e-01 2.14791416e+02] [ 5.28602370e-01 2.05711997e-01 -8.23566699e-01 -2.00653836e+01] [ 8.41415349e-01 1.31674270e-03 5.40387340e-01 1.52098590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:-20.05, Z:152.12 [[ 1.10731910e-01 -9.78859971e-01 -1.71963955e-01 2.14794503e+02] [ 5.28533165e-01 2.04531268e-01 -8.23905124e-01 -2.00502079e+01] [ 8.41659751e-01 3.43934939e-04 5.40008097e-01 1.52121463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:-20.01, Z:152.13 [[ 1.06565835e-01 -9.85179906e-01 -1.34403405e-01 2.14783414e+02] [ 5.36723973e-01 1.70784071e-01 -8.26293034e-01 -2.00099514e+01] [ 8.37001254e-01 1.59170772e-02 5.46969420e-01 1.52127814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:-20.00, Z:152.16 [[ 1.03717166e-01 -9.82104769e-01 -1.57203603e-01 2.14794266e+02] [ 5.35490529e-01 1.88331536e-01 -8.23274636e-01 -2.00049273e+01] [ 8.38148342e-01 1.20667171e-03 5.45441016e-01 1.52157238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:-19.99, Z:152.18 [[ 1.02167631e-01 -9.81389689e-01 -1.62591679e-01 2.14798850e+02] [ 5.33340554e-01 1.92009848e-01 -8.23820412e-01 -1.99940326e+01] [ 8.39708061e-01 -2.54895610e-03 5.43032112e-01 1.52183969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.81, Y:-19.99, Z:152.22 [[ 1.04164893e-01 -9.77901867e-01 -1.81266692e-01 2.14810153e+02] [ 5.26737379e-01 2.08841568e-01 -8.23973867e-01 -1.99948079e+01] [ 8.43621603e-01 -9.65079287e-03 5.36851426e-01 1.52219120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.81, Y:-19.98, Z:152.24 [[ 1.03373323e-01 -9.79657357e-01 -1.72004124e-01 2.14810138e+02] [ 5.27676115e-01 2.00603864e-01 -8.25418686e-01 -1.99771865e+01] [ 8.43132181e-01 -5.43619550e-03 5.37678876e-01 1.52240957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.81, Y:-19.96, Z:152.26 [[ 1.03179445e-01 -9.79771013e-01 -1.71472342e-01 2.14812690e+02] [ 5.28163614e-01 2.00048527e-01 -8.25241652e-01 -1.99629302e+01] [ 8.42850639e-01 -5.41747591e-03 5.38120295e-01 1.52263870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46999999999997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:214.81, Y:-19.94, Z:152.28 [[ 1.04099209e-01 -9.81141954e-01 -1.62861356e-01 2.14813990e+02] [ 5.30116960e-01 1.93288162e-01 -8.25600203e-01 -1.99417808e+01] [ 8.41510168e-01 -3.91239125e-04 5.40241135e-01 1.52284987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-19.94, Z:152.31 [[ 1.04851024e-01 -9.76907656e-01 -1.86165771e-01 2.14822442e+02] [ 5.27992123e-01 2.13318819e-01 -8.22021533e-01 -1.99404414e+01] [ 8.42751791e-01 -1.21042606e-02 5.38166244e-01 1.52313427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-19.92, Z:152.33 [[ 1.08580967e-01 -9.79410263e-01 -1.70193154e-01 2.14818220e+02] [ 5.27060497e-01 2.01879992e-01 -8.25500879e-01 -1.99184809e+01] [ 8.42862626e-01 -6.84041914e-05 5.38128785e-01 1.52332071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-19.90, Z:152.35 [[ 1.10880240e-01 -9.79229925e-01 -1.69747832e-01 2.14819678e+02] [ 5.26264666e-01 2.02740649e-01 -8.25797633e-01 -1.99033815e+01] [ 8.43060540e-01 2.23235312e-03 5.37814042e-01 1.52354077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-19.89, Z:152.38 [[ 1.13574161e-01 -9.79014674e-01 -1.69207498e-01 2.14821129e+02] [ 5.25967626e-01 2.03733571e-01 -8.25742507e-01 -1.98882524e+01] [ 8.42887280e-01 4.78534601e-03 5.38068893e-01 1.52376587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-19.87, Z:152.40 [[ 1.16412894e-01 -9.78756321e-01 -1.68772337e-01 2.14822929e+02] [ 5.25048826e-01 2.04887991e-01 -8.26041550e-01 -1.98735629e+01] [ 8.43072813e-01 7.54817000e-03 5.37746461e-01 1.52399452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-19.86, Z:152.42 [[ 1.21690940e-01 -9.78199147e-01 -1.68278766e-01 2.14823917e+02] [ 5.24017369e-01 2.07301651e-01 -8.26094318e-01 -1.98590447e+01] [ 8.42969223e-01 1.23471984e-02 5.37820077e-01 1.52423208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-19.84, Z:152.45 [[ 1.24108798e-01 -9.77987149e-01 -1.67744275e-01 2.14825588e+02] [ 5.24284613e-01 2.08158487e-01 -8.25709204e-01 -1.98444849e+01] [ 8.42450385e-01 1.45320344e-02 5.38577914e-01 1.52445055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-19.83, Z:152.47 [[ 1.26291946e-01 -9.77796876e-01 -1.67223243e-01 2.14827206e+02] [ 5.23871042e-01 2.08889487e-01 -8.25787087e-01 -1.98291239e+01] [ 8.42383212e-01 1.66868434e-02 5.38620528e-01 1.52468687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-19.81, Z:152.49 [[ 1.29712835e-01 -9.77430610e-01 -1.66745263e-01 2.14827672e+02] [ 5.23376053e-01 2.10323198e-01 -8.25737040e-01 -1.98134966e+01] [ 8.42171056e-01 1.98382149e-02 5.38845393e-01 1.52491250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-19.80, Z:152.51 [[ 1.30281043e-01 -9.77411593e-01 -1.66413427e-01 2.14829814e+02] [ 5.23285079e-01 2.10347829e-01 -8.25788421e-01 -1.97977308e+01] [ 8.42139879e-01 2.05029134e-02 5.38869237e-01 1.52514498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-19.76, Z:152.52 [[ 1.27080389e-01 -9.83940577e-01 -1.25345583e-01 2.14815651e+02] [ 5.33753875e-01 1.74349498e-01 -8.27471482e-01 -1.97552750e+01] [ 8.36036707e-01 3.82517068e-02 5.47338498e-01 1.52518644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:-19.77, Z:152.57 [[ 1.29474814e-01 -9.74400454e-01 -1.83793440e-01 2.14840724e+02] [ 5.22030804e-01 2.24569821e-01 -8.22831839e-01 -1.97747800e+01] [ 8.43042177e-01 1.05901624e-02 5.37743188e-01 1.52565413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:-19.75, Z:152.59 [[ 1.27075267e-01 -9.77938379e-01 -1.65796271e-01 2.14837537e+02] [ 5.22145806e-01 2.08069893e-01 -8.27085653e-01 -1.97523961e+01] [ 8.43336015e-01 1.85323029e-02 5.37066960e-01 1.52585136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:-19.74, Z:152.61 [[ 1.25346209e-01 -9.78234590e-01 -1.65364492e-01 2.14839871e+02] [ 5.22426455e-01 2.06779619e-01 -8.27232004e-01 -1.97381074e+01] [ 8.43420967e-01 1.72996103e-02 5.36974670e-01 1.52607455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:-19.69, Z:152.61 [[ 1.19834583e-01 -9.85320419e-01 -1.21586777e-01 2.14823775e+02] [ 5.33811586e-01 1.67207755e-01 -8.28906965e-01 -1.96944137e+01] [ 8.37069211e-01 3.44272906e-02 5.46012727e-01 1.52609140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-19.69, Z:152.64 [[ 1.19321885e-01 -9.82887217e-01 -1.40338901e-01 2.14834299e+02] [ 5.31312125e-01 1.82618927e-01 -8.27259182e-01 -1.96880990e+01] [ 8.38731014e-01 2.41463654e-02 5.44010330e-01 1.52639824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.85, Y:-19.70, Z:152.68 [[ 1.20800530e-01 -9.75958568e-01 -1.81416939e-01 2.14853793e+02] [ 5.21466575e-01 2.17897494e-01 -8.24980783e-01 -1.97004243e+01] [ 8.44677360e-01 5.05524586e-03 5.35251905e-01 1.52682907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.85, Y:-19.68, Z:152.70 [[ 1.18541806e-01 -9.79035447e-01 -1.65642489e-01 2.14851670e+02] [ 5.22376091e-01 2.03357190e-01 -8.28111751e-01 -1.96795707e+01] [ 8.44435350e-01 1.16381868e-02 5.35531038e-01 1.52702414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:-19.65, Z:152.71 [[ 1.14655110e-01 -9.83323585e-01 -1.41169876e-01 2.14843678e+02] [ 5.28785952e-01 1.80712962e-01 -8.29293822e-01 -1.96485809e+01] [ 8.40975400e-01 2.04341277e-02 5.40687362e-01 1.52712919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:-19.63, Z:152.73 [[ 1.14196406e-01 -9.84138902e-01 -1.35756411e-01 2.14844993e+02] [ 5.30941253e-01 1.75956300e-01 -8.28939543e-01 -1.96287207e+01] [ 8.39678847e-01 2.25832375e-02 5.42613519e-01 1.52733186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:-19.64, Z:152.77 [[ 1.16396981e-01 -9.77483677e-01 -1.76003990e-01 2.14862691e+02] [ 5.22131748e-01 2.10967462e-01 -8.26360193e-01 -1.96383499e+01] [ 8.44884714e-01 4.28856091e-03 5.34931236e-01 1.52773650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:-19.62, Z:152.79 [[ 1.16843052e-01 -9.79594077e-01 -1.63533315e-01 2.14861552e+02] [ 5.21701933e-01 2.00652875e-01 -8.29195705e-01 -1.96177644e+01] [ 8.45088631e-01 1.15701104e-02 5.34501018e-01 1.52794316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:-19.60, Z:152.82 [[ 1.17370556e-01 -9.79595092e-01 -1.63149039e-01 2.14864240e+02] [ 5.21127057e-01 2.00601698e-01 -8.29569497e-01 -1.96026169e+01] [ 8.45370181e-01 1.23456541e-02 5.34038240e-01 1.52817672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.87, Y:-19.59, Z:152.84 [[ 1.17842973e-01 -9.79606541e-01 -1.62739232e-01 2.14866788e+02] [ 5.20767704e-01 2.00501889e-01 -8.29819252e-01 -1.95877235e+01] [ 8.45525891e-01 1.30390313e-02 5.33775188e-01 1.52840586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.87, Y:-19.57, Z:152.86 [[ 1.18841711e-01 -9.79561094e-01 -1.62285895e-01 2.14869139e+02] [ 5.20219384e-01 2.00642916e-01 -8.30129034e-01 -1.95739079e+01] [ 8.45723619e-01 1.42296869e-02 5.33431416e-01 1.52862208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.87, Y:-19.56, Z:152.89 [[ 1.21381262e-01 -9.79312451e-01 -1.61906496e-01 2.14871320e+02] [ 5.19670357e-01 2.01668984e-01 -8.30224272e-01 -1.95582112e+01] [ 8.45700484e-01 1.66356634e-02 5.33398487e-01 1.52885700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.87, Y:-19.54, Z:152.91 [[ 1.22785058e-01 -9.79202200e-01 -1.61514338e-01 2.14873519e+02] [ 5.18909558e-01 2.02071151e-01 -8.30602264e-01 -1.95439232e+01] [ 8.45964952e-01 1.81742136e-02 5.32928699e-01 1.52908341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:-19.53, Z:152.93 [[ 1.23984002e-01 -9.79130968e-01 -1.61029547e-01 2.14875593e+02] [ 5.18771006e-01 2.02297627e-01 -8.30633682e-01 -1.95296885e+01] [ 8.45875056e-01 1.94478274e-02 5.33026427e-01 1.52929954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:-19.52, Z:152.95 [[ 1.26744566e-01 -9.78860632e-01 -1.60523140e-01 2.14878132e+02] [ 5.18069652e-01 2.03326570e-01 -8.30820162e-01 -1.95153752e+01] [ 8.45895769e-01 2.21397735e-02 5.32888524e-01 1.52952763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:-19.50, Z:152.98 [[ 1.27587370e-01 -9.78835729e-01 -1.60006497e-01 2.14880798e+02] [ 5.18110180e-01 2.03339914e-01 -8.30791623e-01 -1.95010906e+01] [ 8.45744231e-01 2.30975234e-02 5.33088360e-01 1.52975537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:-19.49, Z:153.00 [[ 1.28187303e-01 -9.78854801e-01 -1.59409206e-01 2.14883612e+02] [ 5.18927375e-01 2.03176981e-01 -8.30321320e-01 -1.94864246e+01] [ 8.45152291e-01 2.37148501e-02 5.33999261e-01 1.52998448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.89, Y:-19.47, Z:153.02 [[ 1.28365922e-01 -9.78919683e-01 -1.58866122e-01 2.14886426e+02] [ 5.19381094e-01 2.02824976e-01 -8.30123670e-01 -1.94719133e+01] [ 8.44846418e-01 2.40475300e-02 5.34468191e-01 1.53021447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:-19.46, Z:153.04 [[ 1.28275202e-01 -9.79031239e-01 -1.58250768e-01 2.14889084e+02] [ 5.20535323e-01 2.02287511e-01 -8.29531639e-01 -1.94582502e+01] [ 8.44149542e-01 2.40332238e-02 5.35568814e-01 1.53043223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:-19.44, Z:153.07 [[ 1.27714469e-01 -9.79175904e-01 -1.57808629e-01 2.14891671e+02] [ 5.21234879e-01 2.01631162e-01 -8.29252118e-01 -1.94430894e+01] [ 8.43802830e-01 2.36521319e-02 5.36131851e-01 1.53066110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:-19.41, Z:153.07 [[ 1.23909717e-01 -9.83546882e-01 -1.31460694e-01 2.14881358e+02] [ 5.30092677e-01 1.77603939e-01 -8.29131229e-01 -1.94103495e+01] [ 8.38837372e-01 3.30510649e-02 5.43377853e-01 1.53072937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.90, Y:-19.41, Z:153.11 [[ 1.25886325e-01 -9.79910058e-01 -1.54689726e-01 2.14897086e+02] [ 5.20537244e-01 1.97986316e-01 -8.30567515e-01 -1.94131700e+01] [ 8.44507910e-01 2.40353281e-02 5.35003451e-01 1.53111612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.90, Y:-19.40, Z:153.14 [[ 1.24631722e-01 -9.78629636e-01 -1.63557236e-01 2.14903526e+02] [ 5.20993175e-01 2.04836215e-01 -8.28618269e-01 -1.94020687e+01] [ 8.44412840e-01 1.80599182e-02 5.35388452e-01 1.53136515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.90, Y:-19.38, Z:153.16 [[ 1.23725680e-01 -9.79899418e-01 -1.56489891e-01 2.14904188e+02] [ 5.20820325e-01 1.98359695e-01 -8.30300922e-01 -1.93847845e+01] [ 8.44652677e-01 2.12264297e-02 5.34893722e-01 1.53156804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:-19.37, Z:153.18 [[ 1.23515551e-01 -9.80007444e-01 -1.55978581e-01 2.14906694e+02] [ 5.20874166e-01 1.97815046e-01 -8.30397080e-01 -1.93697274e+01] [ 8.44650230e-01 2.13217399e-02 5.34893795e-01 1.53179973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:-19.35, Z:153.20 [[ 1.22420394e-01 -9.80189284e-01 -1.55699118e-01 2.14909541e+02] [ 5.20569764e-01 1.96983320e-01 -8.30785587e-01 -1.93546780e+01] [ 8.44997259e-01 2.06528456e-02 5.34371680e-01 1.53202633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:-19.34, Z:153.23 [[ 1.20661210e-01 -9.80463599e-01 -1.55344789e-01 2.14912511e+02] [ 5.19724310e-01 1.95720972e-01 -8.31612856e-01 -1.93392499e+01] [ 8.45770367e-01 1.96069499e-02 5.33186697e-01 1.53225143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:-19.33, Z:153.25 [[ 1.19910206e-01 -9.80632325e-01 -1.54860535e-01 2.14914990e+02] [ 5.19805216e-01 1.94910570e-01 -8.31752612e-01 -1.93250341e+01] [ 8.45827453e-01 1.92383133e-02 5.33109565e-01 1.53246779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:-19.31, Z:153.27 [[ 1.19200928e-01 -9.80799830e-01 -1.54346471e-01 2.14918033e+02] [ 5.19936445e-01 1.94098363e-01 -8.31860517e-01 -1.93109187e+01] [ 8.45847050e-01 1.89081900e-02 5.33090281e-01 1.53269399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:-19.30, Z:153.29 [[ 1.18166757e-01 -9.81008525e-01 -1.53814470e-01 2.14921208e+02] [ 5.20491215e-01 1.93106463e-01 -8.31744425e-01 -1.92963507e+01] [ 8.45650940e-01 1.82254607e-02 5.33425084e-01 1.53292611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.93, Y:-19.28, Z:153.32 [[ 1.16631332e-01 -9.81290719e-01 -1.53185044e-01 2.14925190e+02] [ 5.22019018e-01 1.91782902e-01 -8.31092933e-01 -1.92829256e+01] [ 8.44922054e-01 1.69659699e-02 5.34620313e-01 1.53315772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.93, Y:-19.27, Z:153.34 [[ 1.15523901e-01 -9.81514413e-01 -1.52589923e-01 2.14928126e+02] [ 5.23137528e-01 1.90707066e-01 -8.30637070e-01 -1.92674728e+01] [ 8.44382233e-01 1.61329192e-02 5.35498248e-01 1.53339525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.93, Y:-19.25, Z:153.36 [[ 1.14478406e-01 -9.81713986e-01 -1.52093210e-01 2.14931021e+02] [ 5.23841384e-01 1.89738608e-01 -8.30415236e-01 -1.92528108e+01] [ 8.44088205e-01 1.53918954e-02 5.35983387e-01 1.53362810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.93, Y:-19.24, Z:153.38 [[ 1.13378411e-01 -9.81928047e-01 -1.51534308e-01 2.14933697e+02] [ 5.24658060e-01 1.88689374e-01 -8.30138687e-01 -1.92385982e+01] [ 8.43729374e-01 1.46161090e-02 5.36569766e-01 1.53384824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-19.22, Z:153.41 [[ 1.11825060e-01 -9.82196989e-01 -1.50944462e-01 2.14937177e+02] [ 5.25632776e-01 1.87371506e-01 -8.29820525e-01 -1.92236495e+01] [ 8.43329912e-01 1.34533737e-02 5.37227760e-01 1.53407899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-19.21, Z:153.43 [[ 1.10973166e-01 -9.82372917e-01 -1.50427420e-01 2.14940151e+02] [ 5.26088141e-01 1.86483272e-01 -8.29732039e-01 -1.92090222e+01] [ 8.43158481e-01 1.29399097e-02 5.37509381e-01 1.53430746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-19.19, Z:153.45 [[ 1.10190281e-01 -9.82531460e-01 -1.49966772e-01 2.14943338e+02] [ 5.25954764e-01 1.85670737e-01 -8.29998774e-01 -1.91945780e+01] [ 8.43344348e-01 1.25820603e-02 5.37226212e-01 1.53453695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:-19.18, Z:153.48 [[ 1.09358630e-01 -9.82692406e-01 -1.49520315e-01 2.14946563e+02] [ 5.25693890e-01 1.84842363e-01 -8.30348863e-01 -1.91806305e+01] [ 8.43615211e-01 1.22038977e-02 5.36809501e-01 1.53475345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:-19.17, Z:153.50 [[ 1.07351212e-01 -9.82962540e-01 -1.49199066e-01 2.14950150e+02] [ 5.24301778e-01 1.83474111e-01 -8.31531657e-01 -1.91656775e+01] [ 8.44738636e-01 1.10405955e-02 5.35065175e-01 1.53497385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:-19.15, Z:153.52 [[ 1.06349367e-01 -9.83136735e-01 -1.48768185e-01 2.14952884e+02] [ 5.23929330e-01 1.82568273e-01 -8.31965674e-01 -1.91508590e+01] [ 8.45096367e-01 1.05350071e-02 5.34510191e-01 1.53518986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.96, Y:-19.14, Z:153.54 [[ 1.05438403e-01 -9.83301424e-01 -1.48327518e-01 2.14955795e+02] [ 5.23418599e-01 1.81701783e-01 -8.32476686e-01 -1.91362565e+01] [ 8.45526885e-01 1.01376310e-02 5.33836599e-01 1.53541473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.96, Y:-19.12, Z:153.57 [[ 1.03346166e-01 -9.83598861e-01 -1.47827100e-01 2.14959780e+02] [ 5.23993089e-01 1.80166134e-01 -8.32449042e-01 -1.91215379e+01] [ 8.45429366e-01 8.57003838e-03 5.34018484e-01 1.53565675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.96, Y:-19.11, Z:153.59 [[ 1.02197259e-01 -9.83790980e-01 -1.47346624e-01 2.14963078e+02] [ 5.24534072e-01 1.79150449e-01 -8.32327534e-01 -1.91077584e+01] [ 8.45233535e-01 7.77326805e-03 5.34340574e-01 1.53587786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:-19.09, Z:153.61 [[ 9.98204055e-02 -9.84112515e-01 -1.46827942e-01 2.14966195e+02] [ 5.24918476e-01 1.77443745e-01 -8.32450786e-01 -1.90937671e+01] [ 8.45278936e-01 6.02287558e-03 5.34291348e-01 1.53611325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:-19.08, Z:153.63 [[ 9.77629024e-02 -9.84394845e-01 -1.46318841e-01 2.14969680e+02] [ 5.25123203e-01 1.75914569e-01 -8.32646195e-01 -1.90797519e+01] [ 8.45392239e-01 4.56649043e-03 5.34126493e-01 1.53634326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:-19.07, Z:153.66 [[ 9.32241964e-02 -9.84901242e-01 -1.45872519e-01 2.14973904e+02] [ 5.25511213e-01 1.73114265e-01 -8.32988245e-01 -1.90658087e+01] [ 8.45663772e-01 9.97015321e-04 5.33715084e-01 1.53656968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:-19.05, Z:153.68 [[ 9.10668949e-02 -9.85175401e-01 -1.45383116e-01 2.14977005e+02] [ 5.25877345e-01 1.71549073e-01 -8.33080988e-01 -1.90511894e+01] [ 8.45671235e-01 -5.87588176e-04 5.33703866e-01 1.53679254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:-19.04, Z:153.70 [[ 8.90363164e-02 -9.85429558e-01 -1.44917632e-01 2.14980046e+02] [ 5.26030454e-01 1.70071841e-01 -8.33287184e-01 -1.90369962e+01] [ 8.45792230e-01 -2.03826648e-03 5.33508528e-01 1.53701215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:-19.02, Z:153.72 [[ 8.54176640e-02 -9.85815798e-01 -1.44468110e-01 2.14983397e+02] [ 5.26083707e-01 1.67762598e-01 -8.33721563e-01 -1.90226097e+01] [ 8.46132233e-01 -4.78777051e-03 5.32951519e-01 1.53724223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.99, Y:-19.01, Z:153.75 [[ 8.32334352e-02 -9.86064957e-01 -1.44041995e-01 2.14986040e+02] [ 5.25959842e-01 1.66240097e-01 -8.34104595e-01 -1.90077262e+01] [ 8.46426866e-01 -6.33491394e-03 5.32467303e-01 1.53747495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.99, Y:-18.99, Z:153.77 [[ 8.09773564e-02 -9.86320905e-01 -1.43574861e-01 2.14988939e+02] [ 5.26255797e-01 1.64642114e-01 -8.34234865e-01 -1.89928995e+01] [ 8.46461755e-01 -8.00296919e-03 5.32389377e-01 1.53770307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.99, Y:-18.98, Z:153.79 [[ 7.82380473e-02 -9.86603444e-01 -1.43151848e-01 2.14991729e+02] [ 5.26195731e-01 1.62828497e-01 -8.34628620e-01 -1.89785089e+01] [ 8.46756671e-01 -1.00261777e-02 5.31885905e-01 1.53793495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:-18.96, Z:153.82 [[ 7.30419154e-02 -9.87078901e-01 -1.42618796e-01 2.14995827e+02] [ 5.27616660e-01 1.59595134e-01 -8.34356071e-01 -1.89636591e+01] [ 8.46336540e-01 -1.43050873e-02 5.32456408e-01 1.53817483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:-18.95, Z:153.84 [[ 7.06551376e-02 -9.87322789e-01 -1.42132202e-01 2.14998912e+02] [ 5.28413895e-01 1.57899884e-01 -8.34174072e-01 -1.89496003e+01] [ 8.46041729e-01 -1.61659464e-02 5.32871518e-01 1.53840294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:-18.94, Z:153.86 [[ 6.84790836e-02 -9.87530118e-01 -1.41756417e-01 2.15001634e+02] [ 5.29245422e-01 1.56407279e-01 -8.33928082e-01 -1.89354974e+01] [ 8.45700833e-01 -1.79173037e-02 5.33356421e-01 1.53863207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:-18.92, Z:153.89 [[ 6.66064921e-02 -9.87733809e-01 -1.41228528e-01 2.15003895e+02] [ 5.29941728e-01 1.54948628e-01 -8.33758171e-01 -1.89213196e+01] [ 8.45414301e-01 -1.93091829e-02 5.33761946e-01 1.53885268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-18.91, Z:153.91 [[ 6.52794857e-02 -9.87903055e-01 -1.40663221e-01 2.15006042e+02] [ 5.30694970e-01 1.53746375e-01 -8.33501590e-01 -1.89063913e+01] [ 8.45045228e-01 -2.02387089e-02 5.34311666e-01 1.53907359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-18.89, Z:153.93 [[ 6.52202639e-02 -9.87982621e-01 -1.40130858e-01 2.15008073e+02] [ 5.30980673e-01 1.53258846e-01 -8.33409414e-01 -1.88912211e+01] [ 8.44870311e-01 -2.00515957e-02 5.34595260e-01 1.53930366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-18.88, Z:153.95 [[ 6.57826929e-02 -9.88006396e-01 -1.39699673e-01 2.15010122e+02] [ 5.30444029e-01 1.53207616e-01 -8.33760493e-01 -1.88764954e+01] [ 8.45163753e-01 -1.92558470e-02 5.34160503e-01 1.53953112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:215.03, Y:-18.89, Z:154.00 [[ 6.92670837e-02 -9.80466134e-01 -1.84087563e-01 2.15029681e+02] [ 5.23254028e-01 1.92817472e-01 -8.30076288e-01 -1.88910905e+01] [ 8.49356988e-01 -3.88275951e-02 5.26388758e-01 1.53997735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-18.84, Z:153.99 [[ 7.00380807e-02 -9.90182512e-01 -1.20968013e-01 2.15006836e+02] [ 5.27805866e-01 1.39684885e-01 -8.37800156e-01 -1.88411740e+01] [ 8.46472466e-01 -5.16971210e-03 5.32407399e-01 1.53992667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-18.83, Z:154.02 [[ 7.13972896e-02 -9.87814644e-01 -1.38291922e-01 2.15013935e+02] [ 5.27405550e-01 1.55066049e-01 -8.35342987e-01 -1.88339924e+01] [ 8.46608418e-01 -1.32947021e-02 5.32050221e-01 1.54019292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-18.82, Z:154.04 [[ 7.29388264e-02 -9.87767113e-01 -1.37826187e-01 2.15014967e+02] [ 5.26974399e-01 1.55497660e-01 -8.35534835e-01 -1.88198717e+01] [ 8.46745482e-01 -1.16879419e-02 5.31869798e-01 1.54041057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.81, Z:154.06 [[ 7.55368610e-02 -9.87644481e-01 -1.37304631e-01 2.15015221e+02] [ 5.26704350e-01 1.56440514e-01 -8.35529110e-01 -1.88055654e+01] [ 8.46685721e-01 -9.20570050e-03 5.32013670e-01 1.54062735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.79, Z:154.08 [[ 7.66347029e-02 -9.87632255e-01 -1.36783230e-01 2.15016468e+02] [ 5.26709399e-01 1.56583080e-01 -8.35499221e-01 -1.87909900e+01] [ 8.46583919e-01 -8.01677843e-03 5.32194889e-01 1.54084964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.78, Z:154.11 [[ 7.75162441e-02 -9.87629486e-01 -1.36305650e-01 2.15017753e+02] [ 5.26365884e-01 1.56650796e-01 -8.35702988e-01 -1.87758412e+01] [ 8.46717301e-01 -6.96608689e-03 5.31997449e-01 1.54107709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.76, Z:154.13 [[ 7.84768976e-02 -9.87620535e-01 -1.35819937e-01 2.15019174e+02] [ 5.26360219e-01 1.56750674e-01 -8.35687828e-01 -1.87615338e+01] [ 8.46632326e-01 -5.90802366e-03 5.32145468e-01 1.54129785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.75, Z:154.15 [[ 8.07462407e-02 -9.87510849e-01 -1.35286241e-01 2.15020147e+02] [ 5.26410195e-01 1.57506346e-01 -8.35514247e-01 -1.87479594e+01] [ 8.46387825e-01 -3.75142191e-03 5.32553824e-01 1.54151987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.73, Z:154.17 [[ 8.19866301e-02 -9.87478140e-01 -1.34778022e-01 2.15021449e+02] [ 5.26403876e-01 1.57736872e-01 -8.35474738e-01 -1.87337648e+01] [ 8.46272504e-01 -2.44991494e-03 5.32744635e-01 1.54173885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.72, Z:154.20 [[ 8.32616168e-02 -9.87438734e-01 -1.34284214e-01 2.15022567e+02] [ 5.26292784e-01 1.57998478e-01 -8.35495294e-01 -1.87183825e+01] [ 8.46217117e-01 -1.10812367e-03 5.32837089e-01 1.54196939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.70, Z:154.22 [[ 8.44464123e-02 -9.87395545e-01 -1.33861280e-01 2.15023648e+02] [ 5.25746265e-01 1.58271911e-01 -8.35787573e-01 -1.87041138e+01] [ 8.46439406e-01 2.02194196e-04 5.32485014e-01 1.54218721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:215.03, Y:-18.70, Z:154.25 [[ 8.89292440e-02 -9.84235465e-01 -1.52879493e-01 2.15032876e+02] [ 5.19598230e-01 1.76789589e-01 -8.35920523e-01 -1.87019994e+01] [ 8.49770127e-01 -5.09813379e-03 5.27128770e-01 1.54253094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:215.03, Y:-18.69, Z:154.28 [[ 9.09100303e-02 -9.84704030e-01 -1.48638285e-01 2.15033674e+02] [ 5.17564576e-01 1.74233682e-01 -8.37716858e-01 -1.86860278e+01] [ 8.50800962e-01 -7.73046116e-04 5.25487513e-01 1.54277006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-18.65, Z:154.29 [[ 9.12024823e-02 -9.88261160e-01 -1.22564218e-01 2.15024305e+02] [ 5.22876967e-01 1.52269461e-01 -8.38697614e-01 -1.86540473e+01] [ 8.47515065e-01 1.24052979e-02 5.30626351e-01 1.54286226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.03, Y:-18.64, Z:154.31 [[ 9.26571876e-02 -9.86869344e-01 -1.32300960e-01 2.15029327e+02] [ 5.22113244e-01 1.61295560e-01 -8.37485225e-01 -1.86430496e+01] [ 8.47828052e-01 8.52294245e-03 5.30202748e-01 1.54311231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.01, Y:-18.60, Z:154.31 [[ 9.08654946e-02 -9.92051758e-01 -8.70446493e-02 2.15012971e+02] [ 5.31086867e-01 1.22212079e-01 -8.38457481e-01 -1.86022446e+01] [ 8.42431125e-01 2.99585836e-02 5.37970522e-01 1.54313032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:-18.63, Z:154.37 [[ 9.59105354e-02 -9.83139871e-01 -1.55682893e-01 2.15043051e+02] [ 5.16941840e-01 1.82854914e-01 -8.36262647e-01 -1.86263576e+01] [ 8.50630533e-01 -2.72602850e-04 5.25763846e-01 1.54368250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:-18.60, Z:154.39 [[ 9.68356832e-02 -9.85545953e-01 -1.39003684e-01 2.15040545e+02] [ 5.17215880e-01 1.69150216e-01 -8.38973145e-01 -1.86042976e+01] [ 8.50359091e-01 9.34762506e-03 5.26119794e-01 1.54389435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.04, Y:-18.59, Z:154.41 [[ 9.65253701e-02 -9.85673869e-01 -1.38310798e-01 2.15042845e+02] [ 5.17613495e-01 1.68401339e-01 -8.38878572e-01 -1.85886952e+01] [ 8.50152412e-01 9.38152909e-03 5.26453098e-01 1.54412845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.05, Y:-18.58, Z:154.44 [[ 9.69273850e-02 -9.85137351e-01 -1.41807903e-01 2.15047402e+02] [ 5.16791756e-01 1.71581498e-01 -8.38740764e-01 -1.85775216e+01] [ 8.50606467e-01 8.01179372e-03 5.25741808e-01 1.54438264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.05, Y:-18.56, Z:154.46 [[ 9.68695642e-02 -9.86377316e-01 -1.32951412e-01 2.15047293e+02] [ 5.19260020e-01 1.64044793e-01 -8.38724232e-01 -1.85589616e+01] [ 8.49108544e-01 1.22104979e-02 5.28077252e-01 1.54457653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.05, Y:-18.54, Z:154.48 [[ 9.68201811e-02 -9.87045971e-01 -1.27930074e-01 2.15047534e+02] [ 5.20561904e-01 1.59770932e-01 -8.38742245e-01 -1.85401239e+01] [ 8.48316660e-01 1.46116533e-02 5.29287581e-01 1.54478125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.05, Y:-18.53, Z:154.50 [[ 9.67971397e-02 -9.86764349e-01 -1.30101629e-01 2.15051248e+02] [ 5.20637841e-01 1.61605074e-01 -8.38343628e-01 -1.85263873e+01] [ 8.48272688e-01 1.34134339e-02 5.29389769e-01 1.54501733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.05, Y:-18.51, Z:154.52 [[ 9.72441508e-02 -9.86778326e-01 -1.29661520e-01 2.15054688e+02] [ 5.19957987e-01 1.61456907e-01 -8.38793991e-01 -1.85134286e+01] [ 8.48638478e-01 1.41492666e-02 5.28784012e-01 1.54523926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:-18.50, Z:154.55 [[ 9.77053372e-02 -9.86795881e-01 -1.29180324e-01 2.15057383e+02] [ 5.19470560e-01 1.61283645e-01 -8.39129265e-01 -1.84991921e+01] [ 8.48883976e-01 1.48820327e-02 5.28369682e-01 1.54546549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:-18.48, Z:154.57 [[ 9.79890389e-02 -9.86825060e-01 -1.28741790e-01 2.15059948e+02] [ 5.18795048e-01 1.61048635e-01 -8.39592184e-01 -1.84849336e+01] [ 8.49264297e-01 1.54802281e-02 5.27740956e-01 1.54569313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:-18.47, Z:154.59 [[ 9.90995113e-02 -9.86776909e-01 -1.28259963e-01 2.15063324e+02] [ 5.18418847e-01 1.61218543e-01 -8.39791927e-01 -1.84707247e+01] [ 8.49365167e-01 1.67305875e-02 5.27540426e-01 1.54592930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:-18.46, Z:154.62 [[ 9.93959666e-02 -9.86802569e-01 -1.27832439e-01 2.15065738e+02] [ 5.18160861e-01 1.61006176e-01 -8.39991865e-01 -1.84563462e+01] [ 8.49487942e-01 1.72540367e-02 5.27325833e-01 1.54615183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:-18.44, Z:154.64 [[ 9.91866164e-02 -9.86891567e-01 -1.27306914e-01 2.15067719e+02] [ 5.18204353e-01 1.60449099e-01 -8.40071625e-01 -1.84412076e+01] [ 8.49485882e-01 1.73528652e-02 5.27325909e-01 1.54638357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:-18.43, Z:154.66 [[ 9.94454213e-02 -9.86901803e-01 -1.27025347e-01 2.15070284e+02] [ 5.17444028e-01 1.60330263e-01 -8.40562838e-01 -1.84269242e+01] [ 8.49918988e-01 1.78616184e-02 5.26610555e-01 1.54661022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:-18.41, Z:154.68 [[ 9.95849241e-02 -9.86943907e-01 -1.26588182e-01 2.15072851e+02] [ 5.16771717e-01 1.60017086e-01 -8.41035983e-01 -1.84119899e+01] [ 8.50311611e-01 1.83373125e-02 5.25959986e-01 1.54683866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:-18.40, Z:154.71 [[ 9.94218154e-02 -9.87014978e-01 -1.26161546e-01 2.15076652e+02] [ 5.16038879e-01 1.59551607e-01 -8.41574215e-01 -1.83969973e+01] [ 8.50775633e-01 1.85665737e-02 5.25201013e-01 1.54706239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:-18.38, Z:154.73 [[ 9.88139236e-02 -9.87134084e-01 -1.25706438e-01 2.15079668e+02] [ 5.15734914e-01 1.58837078e-01 -8.41895647e-01 -1.83827734e+01] [ 8.51030732e-01 1.83598132e-02 5.24794827e-01 1.54728925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:-18.37, Z:154.75 [[ 9.79721684e-02 -9.87283038e-01 -1.25194480e-01 2.15082543e+02] [ 5.16004350e-01 1.57963477e-01 -8.41894917e-01 -1.83688178e+01] [ 8.50964726e-01 1.78813744e-02 5.24918366e-01 1.54751283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:-18.36, Z:154.78 [[ 9.68191404e-02 -9.87463040e-01 -1.24670762e-01 2.15087013e+02] [ 5.16247772e-01 1.56915418e-01 -8.41941678e-01 -1.83551444e+01] [ 8.50949054e-01 1.71550665e-02 5.24968010e-01 1.54775462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:-18.34, Z:154.80 [[ 9.60681738e-02 -9.87598574e-01 -1.24177142e-01 2.15090205e+02] [ 5.16851815e-01 1.56111462e-01 -8.41720507e-01 -1.83405077e+01] [ 8.50667448e-01 1.66813708e-02 5.25439459e-01 1.54798513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.09, Y:-18.33, Z:154.82 [[ 9.54011491e-02 -9.87724774e-01 -1.23686669e-01 2.15093373e+02] [ 5.17135983e-01 1.55347790e-01 -8.41687258e-01 -1.83267189e+01] [ 8.50569807e-01 1.63351042e-02 5.25608379e-01 1.54820622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:-18.31, Z:154.84 [[ 9.48266046e-02 -9.87849948e-01 -1.23127557e-01 2.15097481e+02] [ 5.17628307e-01 1.54578146e-01 -8.41526311e-01 -1.83125480e+01] [ 8.50334552e-01 1.60647741e-02 5.25997217e-01 1.54843307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:-18.30, Z:154.87 [[ 9.43639376e-02 -9.87955375e-01 -1.22636147e-01 2.15100213e+02] [ 5.17705099e-01 1.53917175e-01 -8.41600222e-01 -1.82990408e+01] [ 8.50339272e-01 1.59273522e-02 5.25993766e-01 1.54865213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:-18.28, Z:154.89 [[ 9.40813116e-02 -9.88041875e-01 -1.22155477e-01 2.15102920e+02] [ 5.17372722e-01 1.53352542e-01 -8.41907634e-01 -1.82847406e+01] [ 8.50572850e-01 1.60078626e-02 5.25613522e-01 1.54887856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:-18.27, Z:154.91 [[ 9.23341515e-02 -9.88260968e-01 -1.21715502e-01 2.15106532e+02] [ 5.17081676e-01 1.52052904e-01 -8.42322061e-01 -1.82703452e+01] [ 8.50941211e-01 1.48382372e-02 5.25051313e-01 1.54910250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:-18.25, Z:154.93 [[ 9.07235923e-02 -9.88482844e-01 -1.21123474e-01 2.15109800e+02] [ 5.18505762e-01 1.50724454e-01 -8.41685163e-01 -1.82549935e+01] [ 8.50247614e-01 1.35574821e-02 5.26208315e-01 1.54933330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:-18.24, Z:154.96 [[ 8.89136018e-02 -9.88701988e-01 -1.20676220e-01 2.15112577e+02] [ 5.18461581e-01 1.49389475e-01 -8.41950339e-01 -1.82399963e+01] [ 8.50465731e-01 1.22948531e-02 5.25886753e-01 1.54956321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.12, Y:-18.23, Z:154.98 [[ 8.67845122e-02 -9.88856911e-01 -1.20956431e-01 2.15116040e+02] [ 5.18633660e-01 1.48509542e-01 -8.42000026e-01 -1.82260911e+01] [ 8.50580729e-01 1.03404850e-02 5.25742807e-01 1.54980935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.12, Y:-18.21, Z:155.00 [[ 8.24418593e-02 -9.89752721e-01 -1.16588555e-01 2.15118657e+02] [ 5.20937866e-01 1.42529833e-01 -8.41610947e-01 -1.82081898e+01] [ 8.49604072e-01 8.64857831e-03 5.27350095e-01 1.55002413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.12, Y:-18.19, Z:155.03 [[ 7.96751425e-02 -9.89683027e-01 -1.19077190e-01 2.15122561e+02] [ 5.22142208e-01 1.43193409e-01 -8.40751546e-01 -1.81944103e+01] [ 8.49128604e-01 4.81177229e-03 5.28164236e-01 1.55025908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:-18.18, Z:155.05 [[ 7.68058401e-02 -9.89976781e-01 -1.18519346e-01 2.15125432e+02] [ 5.23323004e-01 1.41207724e-01 -8.40353148e-01 -1.81798759e+01] [ 8.48665951e-01 2.52012941e-03 5.28923201e-01 1.55048437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:-18.17, Z:155.07 [[ 7.36039976e-02 -9.90284055e-01 -1.17982804e-01 2.15128261e+02] [ 5.24317604e-01 1.39059304e-01 -8.40091400e-01 -1.81650543e+01] [ 8.48335725e-01 -2.63758660e-05 5.29458683e-01 1.55071045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:-18.15, Z:155.09 [[ 6.78771408e-02 -9.90758603e-01 -1.17431190e-01 2.15132325e+02] [ 5.25872586e-01 1.35553505e-01 -8.39692367e-01 -1.81503207e+01] [ 8.47850646e-01 -4.75792641e-03 5.30213773e-01 1.55093741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:-18.14, Z:155.12 [[ 6.50364042e-02 -9.91012470e-01 -1.16895467e-01 2.15135073e+02] [ 5.26780732e-01 1.33587068e-01 -8.39438238e-01 -1.81357160e+01] [ 8.47509485e-01 -6.98423534e-03 5.30734297e-01 1.55116488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:-18.12, Z:155.14 [[ 6.23032693e-02 -9.91251184e-01 -1.16358901e-01 2.15137534e+02] [ 5.27690198e-01 1.31673630e-01 -8.39169298e-01 -1.81208235e+01] [ 8.47148958e-01 -9.11846058e-03 5.31277231e-01 1.55138715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:-18.11, Z:155.16 [[ 5.99456413e-02 -9.91451951e-01 -1.15885930e-01 2.15139841e+02] [ 5.27819140e-01 1.30020267e-01 -8.39345987e-01 -1.81058454e+01] [ 8.47238736e-01 -1.08516784e-02 5.31101464e-01 1.55161792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:-18.09, Z:155.18 [[ 5.67204072e-02 -9.91699572e-01 -1.15389573e-01 2.15141963e+02] [ 5.28264423e-01 1.27882203e-01 -8.39394330e-01 -1.80910427e+01] [ 8.47183271e-01 -1.33454181e-02 5.31133133e-01 1.55183129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:-18.08, Z:155.21 [[ 5.53053265e-02 -9.91838068e-01 -1.14885022e-01 2.15143837e+02] [ 5.28305855e-01 1.26703646e-01 -8.39546967e-01 -1.80753795e+01] [ 8.47250993e-01 -1.42630105e-02 5.31001245e-01 1.55205861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-18.06, Z:155.23 [[ 5.39813557e-02 -9.91967740e-01 -1.14394122e-01 2.15145793e+02] [ 5.28564249e-01 1.25581241e-01 -8.39552969e-01 -1.80598709e+01] [ 8.47175217e-01 -1.51444359e-02 5.31097729e-01 1.55228838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-18.04, Z:155.25 [[ 5.26960907e-02 -9.92091131e-01 -1.13922390e-01 2.15147874e+02] [ 5.28992318e-01 1.24492063e-01 -8.39445563e-01 -1.80444027e+01] [ 8.46988931e-01 -1.60285694e-02 5.31368832e-01 1.55251846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-18.03, Z:155.27 [[ 5.08792719e-02 -9.92236964e-01 -1.13477337e-01 2.15149961e+02] [ 5.29177116e-01 1.23147480e-01 -8.39527414e-01 -1.80295430e+01] [ 8.46984581e-01 -1.73350666e-02 5.31334749e-01 1.55274579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-18.04, Z:155.32 [[ 5.02639182e-02 -9.87292977e-01 -1.50751834e-01 2.15163383e+02] [ 5.21418993e-01 1.54679611e-01 -8.39164138e-01 -1.80432476e+01] [ 8.51819096e-01 -3.64251916e-02 5.22568114e-01 1.55315510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:-17.98, Z:155.31 [[ 5.08474990e-02 -9.95812982e-01 -7.59673467e-02 2.15141330e+02] [ 5.28648234e-01 9.13725333e-02 -8.43908825e-01 -1.79840641e+01] [ 8.47316692e-01 2.75064943e-03 5.31080839e-01 1.55311714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:215.15, Y:-17.98, Z:155.34 [[ 5.05858588e-02 -9.92349895e-01 -1.12617745e-01 2.15154848e+02] [ 5.29274664e-01 1.22262460e-01 -8.39595272e-01 -1.79849377e+01] [ 8.46941203e-01 -1.71340710e-02 5.31410409e-01 1.55343840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.97, Z:155.37 [[ 5.30327389e-02 -9.92279712e-01 -1.12109330e-01 2.15155085e+02] [ 5.29101344e-01 1.23134748e-01 -8.39577038e-01 -1.79703083e+01] [ 8.46899815e-01 -1.47921272e-02 5.31546702e-01 1.55366434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.96, Z:155.39 [[ 5.47970473e-02 -9.92238542e-01 -1.11624184e-01 2.15155681e+02] [ 5.28775816e-01 1.23666455e-01 -8.39703963e-01 -1.79556368e+01] [ 8.46990803e-01 -1.30108714e-02 5.31448301e-01 1.55389070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.94, Z:155.41 [[ 5.71358227e-02 -9.92159720e-01 -1.11151197e-01 2.15156305e+02] [ 5.28248322e-01 1.24515196e-01 -8.39910517e-01 -1.79404940e+01] [ 8.47165396e-01 -1.07264549e-02 5.31220986e-01 1.55411851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.93, Z:155.43 [[ 6.27752801e-02 -9.91865975e-01 -1.10730087e-01 2.15155768e+02] [ 5.26643299e-01 1.27165526e-01 -8.40521127e-01 -1.79254221e+01] [ 8.47765357e-01 -5.55130910e-03 5.30342420e-01 1.55434146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.91, Z:155.46 [[ 6.56336899e-02 -9.91729472e-01 -1.10294483e-01 2.15156259e+02] [ 5.25579057e-01 1.28315949e-01 -8.41012290e-01 -1.79108276e+01] [ 8.48209216e-01 -2.76973046e-03 5.29654089e-01 1.55456482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.90, Z:155.48 [[ 6.85076007e-02 -9.91577580e-01 -1.09911832e-01 2.15156789e+02] [ 5.25209919e-01 1.29514055e-01 -8.41059243e-01 -1.78958484e+01] [ 8.48210616e-01 -1.07833423e-04 5.29659078e-01 1.55478547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.88, Z:155.50 [[ 7.12885127e-02 -9.91435823e-01 -1.09421009e-01 2.15157324e+02] [ 5.24587167e-01 1.30569477e-01 -8.41284682e-01 -1.78807444e+01] [ 8.48366815e-01 2.57307681e-03 5.29402614e-01 1.55501302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.87, Z:155.52 [[ 7.70269574e-02 -9.91062423e-01 -1.08913366e-01 2.15157184e+02] [ 5.24204500e-01 1.33176766e-01 -8.41114494e-01 -1.78655282e+01] [ 8.48101698e-01 7.69561352e-03 5.29777583e-01 1.55524409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.85, Z:155.55 [[ 7.89996884e-02 -9.91040293e-01 -1.07694876e-01 2.15158150e+02] [ 5.23867046e-01 1.33184853e-01 -8.41323430e-01 -1.78497001e+01] [ 8.48128745e-01 1.00464924e-02 5.29694913e-01 1.55548324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.84, Z:155.57 [[ 8.17064988e-02 -9.90348235e-01 -1.11957229e-01 2.15160814e+02] [ 5.23985604e-01 1.38239917e-01 -8.40433705e-01 -1.78374348e+01] [ 8.47798995e-01 1.00049193e-02 5.30223317e-01 1.55571143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.82, Z:155.59 [[ 8.34602939e-02 -9.90710876e-01 -1.07360791e-01 2.15160897e+02] [ 5.23922453e-01 1.35268990e-01 -8.40956339e-01 -1.78209356e+01] [ 8.47667177e-01 1.39377345e-02 5.30345262e-01 1.55593398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.81, Z:155.62 [[ 8.65505479e-02 -9.90501570e-01 -1.06844008e-01 2.15162771e+02] [ 5.23714614e-01 1.36468296e-01 -8.40892031e-01 -1.78059521e+01] [ 8.47485696e-01 1.68238976e-02 5.30551554e-01 1.55616488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-17.79, Z:155.64 [[ 8.71747423e-02 -9.90501704e-01 -1.06334093e-01 2.15164754e+02] [ 5.23769398e-01 1.36368317e-01 -8.40874128e-01 -1.77917277e+01] [ 8.47387858e-01 1.76084416e-02 5.30682354e-01 1.55638580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-17.78, Z:155.66 [[ 8.75995914e-02 -9.90506281e-01 -1.05941586e-01 2.15167173e+02] [ 5.23787663e-01 1.36261382e-01 -8.40880087e-01 -1.77766357e+01] [ 8.47332754e-01 1.81698564e-02 5.30751411e-01 1.55662500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-17.76, Z:155.69 [[ 8.79932259e-02 -9.90527585e-01 -1.05414877e-01 2.15170479e+02] [ 5.24743237e-01 1.36044668e-01 -8.40319215e-01 -1.77626266e+01] [ 8.46700494e-01 1.86266549e-02 5.31743661e-01 1.55685245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-17.75, Z:155.71 [[ 8.76342921e-02 -9.90610910e-01 -1.04929768e-01 2.15173122e+02] [ 5.24952935e-01 1.35446494e-01 -8.40284870e-01 -1.77474093e+01] [ 8.46607729e-01 1.85545802e-02 5.31893862e-01 1.55709158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-17.73, Z:155.73 [[ 8.72758043e-02 -9.90689110e-01 -1.04489339e-01 2.15175590e+02] [ 5.24887912e-01 1.34880439e-01 -8.40416532e-01 -1.77331526e+01] [ 8.46685074e-01 1.85028379e-02 5.31772537e-01 1.55731408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-17.72, Z:155.75 [[ 8.71772241e-02 -9.90748444e-01 -1.04007945e-01 2.15178077e+02] [ 5.24275548e-01 1.34405996e-01 -8.40874650e-01 -1.77185769e+01] [ 8.47074543e-01 1.87762951e-02 5.31142325e-01 1.55754242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-17.70, Z:155.78 [[ 8.75149037e-02 -9.90761084e-01 -1.03603165e-01 2.15180965e+02] [ 5.22968414e-01 1.34212273e-01 -8.41719136e-01 -1.77036360e+01] [ 8.47847380e-01 1.94817864e-02 5.29882327e-01 1.55775556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-17.69, Z:155.80 [[ 8.76849077e-02 -9.90795423e-01 -1.03129953e-01 2.15183280e+02] [ 5.22269745e-01 1.33884089e-01 -8.42205061e-01 -1.76886854e+01] [ 8.48260379e-01 1.99870189e-02 5.29202087e-01 1.55797802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-17.67, Z:155.82 [[ 8.75205709e-02 -9.90858575e-01 -1.02661744e-01 2.15185737e+02] [ 5.21910591e-01 1.33390425e-01 -8.42505982e-01 -1.76741440e+01] [ 8.48498371e-01 2.01563532e-02 5.28813990e-01 1.55819964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-17.66, Z:155.84 [[ 8.70051761e-02 -9.90943504e-01 -1.02279380e-01 2.15189324e+02] [ 5.21911566e-01 1.32792232e-01 -8.42599870e-01 -1.76594844e+01] [ 8.48550774e-01 1.99297588e-02 5.28738488e-01 1.55842584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-17.64, Z:155.87 [[ 8.62925962e-02 -9.91056247e-01 -1.01789507e-01 2.15191960e+02] [ 5.21877006e-01 1.31997389e-01 -8.42746154e-01 -1.76448858e+01] [ 8.48644790e-01 1.96011504e-02 5.28599864e-01 1.55865690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-17.63, Z:155.89 [[ 8.55150851e-02 -9.91176416e-01 -1.01274298e-01 2.15194631e+02] [ 5.22212944e-01 1.31155110e-01 -8.42669555e-01 -1.76303783e+01] [ 8.48516830e-01 1.91742096e-02 5.28820894e-01 1.55888356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-17.62, Z:155.91 [[ 8.43683774e-02 -9.91329568e-01 -1.00735616e-01 2.15197220e+02] [ 5.22970449e-01 1.30106134e-01 -8.42362335e-01 -1.76164072e+01] [ 8.48165011e-01 1.83869929e-02 5.29412912e-01 1.55910564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-17.60, Z:155.93 [[ 8.28606994e-02 -9.91515183e-01 -1.00158607e-01 2.15200423e+02] [ 5.23983686e-01 1.28837110e-01 -8.41927607e-01 -1.76016578e+01] [ 8.47688151e-01 1.72812345e-02 5.30213314e-01 1.55933398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-17.59, Z:155.96 [[ 8.21197362e-02 -9.91627775e-01 -9.96529189e-02 2.15202194e+02] [ 5.24205039e-01 1.28018634e-01 -8.41914667e-01 -1.75869039e+01] [ 8.47623399e-01 1.68992481e-02 5.30329133e-01 1.55956185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-17.57, Z:155.98 [[ 8.20553482e-02 -9.91684100e-01 -9.91441614e-02 2.15204072e+02] [ 5.24359985e-01 1.27555606e-01 -8.41888457e-01 -1.75722697e+01] [ 8.47533790e-01 1.70942195e-02 5.30466080e-01 1.55979135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-17.56, Z:156.00 [[ 8.12955704e-02 -9.91796592e-01 -9.86435488e-02 2.15205887e+02] [ 5.24535023e-01 1.26730397e-01 -8.41904042e-01 -1.75570486e+01] [ 8.47498696e-01 1.67010731e-02 5.30534669e-01 1.56002079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-17.54, Z:156.02 [[ 8.04339029e-02 -9.91915352e-01 -9.81545830e-02 2.15207589e+02] [ 5.24624542e-01 1.25859219e-01 -8.41978947e-01 -1.75427545e+01] [ 8.47525503e-01 1.62293497e-02 5.30506485e-01 1.56023652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-17.53, Z:156.05 [[ 7.92064087e-02 -9.92063522e-01 -9.76540484e-02 2.15209338e+02] [ 5.24595359e-01 1.24781730e-01 -8.42157485e-01 -1.75282855e+01] [ 8.47659161e-01 1.54754094e-02 5.30315432e-01 1.56046451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-17.51, Z:156.07 [[ 7.89194028e-02 -9.92134374e-01 -9.71653864e-02 2.15210800e+02] [ 5.24639117e-01 1.24215282e-01 -8.42213964e-01 -1.75130615e+01] [ 8.47658849e-01 1.54902606e-02 5.30315497e-01 1.56069651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-17.50, Z:156.09 [[ 7.76356139e-02 -9.92280646e-01 -9.67048703e-02 2.15212783e+02] [ 5.24787840e-01 1.23145255e-01 -8.42278439e-01 -1.74985394e+01] [ 8.47685339e-01 1.46412637e-02 5.30297274e-01 1.56092617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.48, Z:156.12 [[ 7.45262531e-02 -9.92569143e-01 -9.61890571e-02 2.15215120e+02] [ 5.25589281e-01 1.21068700e-01 -8.42079733e-01 -1.74834562e+01] [ 8.47467843e-01 1.22011100e-02 5.30706499e-01 1.56116557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.47, Z:156.14 [[ 7.30016509e-02 -9.92726948e-01 -9.57286008e-02 2.15216614e+02] [ 5.26009975e-01 1.19873777e-01 -8.41987995e-01 -1.74694740e+01] [ 8.47339522e-01 1.11123148e-02 5.30935261e-01 1.56138626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.45, Z:156.16 [[ 7.22711538e-02 -9.92823935e-01 -9.52759917e-02 2.15217805e+02] [ 5.27035720e-01 1.19114631e-01 -8.41454131e-01 -1.74543044e+01] [ 8.46764566e-01 1.05990100e-02 5.31862230e-01 1.56161715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.44, Z:156.18 [[ 7.12408618e-02 -9.92948130e-01 -9.47562662e-02 2.15218757e+02] [ 5.27534997e-01 1.18131632e-01 -8.41279825e-01 -1.74396572e+01] [ 8.46540942e-01 9.94625314e-03 5.32230689e-01 1.56184340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.42, Z:156.21 [[ 6.87965476e-02 -9.93168873e-01 -9.42476739e-02 2.15220512e+02] [ 5.28042230e-01 1.16404024e-01 -8.41202417e-01 -1.74244704e+01] [ 8.46426866e-01 8.10507030e-03 5.32443301e-01 1.56206085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65999999999997 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.43, Z:156.25 [[ 6.89945215e-02 -9.89776148e-01 -1.24831618e-01 2.15235684e+02] [ 5.23177873e-01 1.42440647e-01 -8.40235428e-01 -1.74273845e+01] [ 8.49426082e-01 -7.33749905e-03 5.27656605e-01 1.56245104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.39, Z:156.25 [[ 6.37979110e-02 -9.93789837e-01 -9.11678988e-02 2.15224498e+02] [ 5.29898234e-01 1.11145715e-01 -8.40746390e-01 -1.73935470e+01] [ 8.45658139e-01 5.32815476e-03 5.33698344e-01 1.56250818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71999999999997 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.38, Z:156.27 [[ 6.09977001e-02 -9.93990273e-01 -9.08989425e-02 2.15226484e+02] [ 5.31212236e-01 1.09428401e-01 -8.40142241e-01 -1.73783528e+01] [ 8.45040141e-01 2.96011394e-03 5.34694677e-01 1.56273957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.36, Z:156.29 [[ 5.90235948e-02 -9.94663062e-01 -8.46262897e-02 2.15226370e+02] [ 5.30036468e-01 1.03063662e-01 -8.41688318e-01 -1.73619479e+01] [ 8.45918175e-01 4.82445062e-03 5.33290884e-01 1.56294566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.35, Z:156.32 [[ 5.71817101e-02 -9.94165870e-01 -9.14575036e-02 2.15230655e+02] [ 5.30480959e-01 1.07861167e-01 -8.40806708e-01 -1.73501177e+01] [ 8.45766046e-01 -4.37698813e-04 5.33553751e-01 1.56319639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.34, Z:156.35 [[ 5.51558125e-02 -9.93529134e-01 -9.92859317e-02 2.15234267e+02] [ 5.28759555e-01 1.13413435e-01 -8.41160345e-01 -1.73415887e+01] [ 8.46977668e-01 -6.10350275e-03 5.31593432e-01 1.56345451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.31, Z:156.36 [[ 5.52849832e-02 -9.95626433e-01 -7.53098733e-02 2.15228505e+02] [ 5.30839087e-01 9.31910172e-02 -8.42333247e-01 -1.73132100e+01] [ 8.45667449e-01 6.59095501e-03 5.33669490e-01 1.56361899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.31, Z:156.40 [[ 5.52979151e-02 -9.92680944e-01 -1.07362394e-01 2.15242728e+02] [ 5.29636460e-01 1.20315052e-01 -8.39648443e-01 -1.73142788e+01] [ 8.46420321e-01 -1.04322301e-02 5.32413193e-01 1.56397711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.29, Z:156.41 [[ 5.34539501e-02 -9.93993460e-01 -9.54969975e-02 2.15236358e+02] [ 5.31361903e-01 1.09283631e-01 -8.40066436e-01 -1.72926962e+01] [ 8.45456802e-01 -5.83859691e-03 5.34011898e-01 1.56410938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.26, Z:156.42 [[ 4.99356367e-02 -9.97000941e-01 -5.91232333e-02 2.15221561e+02] [ 5.35784191e-01 7.66993576e-02 -8.40864144e-01 -1.72595539e+01] [ 8.42877057e-01 1.03117927e-02 5.38007374e-01 1.56417328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.26, Z:156.46 [[ 5.03698342e-02 -9.94583987e-01 -9.09152001e-02 2.15236153e+02] [ 5.30618365e-01 1.03770205e-01 -8.41234744e-01 -1.72613006e+01] [ 8.46112895e-01 -5.86842029e-03 5.32971417e-01 1.56456768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.23, Z:156.47 [[ 4.53798970e-02 -9.97152999e-01 -6.02209383e-02 2.15223164e+02] [ 5.35967991e-01 7.51750593e-02 -8.40884667e-01 -1.72289008e+01] [ 8.43017780e-01 5.88276422e-03 5.37853527e-01 1.56465075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.23, Z:156.50 [[ 4.56918983e-02 -9.94695559e-01 -9.21574468e-02 2.15238538e+02] [ 5.31058976e-01 1.02324609e-01 -8.41133782e-01 -1.72320129e+01] [ 8.46102012e-01 -1.05080401e-02 5.32917410e-01 1.56504801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.23, Z:156.53 [[ 4.16031059e-02 -9.93594437e-01 -1.05067961e-01 2.15243101e+02] [ 5.28276541e-01 1.11132664e-01 -8.41768037e-01 -1.72272450e+01] [ 8.48052521e-01 -2.04847744e-02 5.29516096e-01 1.56534405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.19, Z:156.55 [[ 3.93020806e-02 -9.96803716e-01 -6.95535687e-02 2.15232507e+02] [ 5.32288210e-01 7.97944260e-02 -8.42794228e-01 -1.71918799e+01] [ 8.45650405e-01 -3.89897787e-03 5.33722952e-01 1.56545834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.18, Z:156.56 [[ 2.85888790e-02 -9.96910781e-01 -7.31544325e-02 2.15229851e+02] [ 5.37113480e-01 7.70420472e-02 -8.39984305e-01 -1.71759426e+01] [ 8.43025377e-01 -1.52780222e-02 5.37656765e-01 1.56564494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.17, Z:156.60 [[ 2.62026067e-02 -9.95149548e-01 -9.48198361e-02 2.15238957e+02] [ 5.35462108e-01 9.40694537e-02 -8.39304038e-01 -1.71748638e+01] [ 8.44152684e-01 -2.87804757e-02 5.35329739e-01 1.56597565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.15, Z:156.61 [[ 2.20035335e-02 -9.97351897e-01 -6.93183779e-02 2.15231163e+02] [ 5.34454656e-01 7.03306386e-02 -8.42265885e-01 -1.71488875e+01] [ 8.44910685e-01 -1.85147042e-02 5.34586888e-01 1.56614879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.14, Z:156.65 [[ 1.48272196e-02 -9.95998098e-01 -8.81359342e-02 2.15237253e+02] [ 5.34620838e-01 8.23848413e-02 -8.41066761e-01 -1.71425722e+01] [ 8.44961959e-01 -3.46486255e-02 5.33702876e-01 1.56646209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-17.13, Z:156.67 [[ 1.22263517e-02 -9.95832187e-01 -9.03812608e-02 2.15238352e+02] [ 5.33789685e-01 8.29314632e-02 -8.41540816e-01 -1.71299654e+01] [ 8.45528881e-01 -3.79556107e-02 5.32578899e-01 1.56672576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.11, Z:156.69 [[ 8.88733569e-03 -9.96978956e-01 -7.71620164e-02 2.15232517e+02] [ 5.36512669e-01 6.98720999e-02 -8.40994676e-01 -1.71060975e+01] [ 8.43845466e-01 -3.39241974e-02 5.35512818e-01 1.56690459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.09, Z:156.71 [[ 6.32950378e-03 -9.97327654e-01 -7.27838446e-02 2.15229190e+02] [ 5.38869588e-01 6.47148490e-02 -8.39899730e-01 -1.70873410e+01] [ 8.42365422e-01 -3.39048518e-02 5.37839155e-01 1.56709802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.07, Z:156.73 [[ 6.51430508e-03 -9.97384748e-01 -7.19807444e-02 2.15226906e+02] [ 5.39977531e-01 6.40939964e-02 -8.39235501e-01 -1.70696119e+01] [ 8.41654222e-01 -3.34009486e-02 5.38982882e-01 1.56733986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.06, Z:156.76 [[ 6.07390108e-03 -9.96380257e-01 -8.47908670e-02 2.15229614e+02] [ 5.41235641e-01 7.45745815e-02 -8.37557528e-01 -1.70590760e+01] [ 8.40849029e-01 -4.08045977e-02 5.39729466e-01 1.56760929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.04, Z:156.78 [[ 6.53181153e-03 -9.96418585e-01 -8.43050390e-02 2.15227930e+02] [ 5.41856299e-01 7.43836142e-02 -8.37173118e-01 -1.70430159e+01] [ 8.40445767e-01 -4.02129594e-02 5.40401546e-01 1.56784764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.03, Z:156.81 [[ 7.34576568e-03 -9.96454766e-01 -8.38089392e-02 2.15226175e+02] [ 5.42632378e-01 7.43702595e-02 -8.36671481e-01 -1.70273553e+01] [ 8.39938178e-01 -3.93314513e-02 5.41254926e-01 1.56808071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.01, Z:156.83 [[ 1.10617102e-02 -9.96457794e-01 -8.33636862e-02 2.15220675e+02] [ 5.42432717e-01 7.60159797e-02 -8.36653046e-01 -1.70113576e+01] [ 8.40026420e-01 -3.59643772e-02 5.41352175e-01 1.56830835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46999999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.22, Y:-17.00, Z:156.85 [[ 1.34965175e-02 -9.96465585e-01 -8.29106878e-02 2.15218001e+02] [ 5.42079454e-01 7.69674690e-02 -8.36795002e-01 -1.69960976e+01] [ 8.40218846e-01 -3.36503619e-02 5.41202313e-01 1.56853403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-16.98, Z:156.88 [[ 1.99078787e-02 -9.96400909e-01 -8.23948152e-02 2.15211365e+02] [ 5.42014383e-01 8.00058634e-02 -8.36552133e-01 -1.69787593e+01] [ 8.40133373e-01 -2.80051965e-02 5.41656371e-01 1.56876651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-16.96, Z:156.90 [[ 2.31402432e-02 -9.96369072e-01 -8.19341251e-02 2.15208938e+02] [ 5.42091678e-01 8.13668768e-02 -8.36370758e-01 -1.69625191e+01] [ 8.40000680e-01 -2.50619846e-02 5.42006231e-01 1.56899909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-16.95, Z:156.92 [[ 2.61130178e-02 -9.96332307e-01 -8.14864698e-02 2.15206281e+02] [ 5.41887796e-01 8.26070631e-02 -8.36381307e-01 -1.69470563e+01] [ 8.40045075e-01 -2.23160835e-02 5.42057437e-01 1.56922750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-16.93, Z:156.94 [[ 2.88345448e-02 -9.96297261e-01 -8.09959038e-02 2.15203778e+02] [ 5.42006954e-01 8.36669918e-02 -8.36198718e-01 -1.69313244e+01] [ 8.39879176e-01 -1.97889338e-02 5.42412544e-01 1.56944930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-16.92, Z:156.97 [[ 3.13496598e-02 -9.96259992e-01 -8.05184885e-02 2.15201334e+02] [ 5.41715968e-01 8.46359380e-02 -8.36289764e-01 -1.69160097e+01] [ 8.39976791e-01 -1.74007513e-02 5.42343253e-01 1.56967074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.86, Z:156.96 [[ 2.54889610e-02 -9.99597896e-01 -1.24241496e-02 2.15161816e+02] [ 5.56385105e-01 2.45105726e-02 -8.30562970e-01 -1.68603694e+01] [ 8.30533520e-01 1.42575754e-02 5.56786129e-01 1.56955378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-16.89, Z:157.02 [[ 3.63116030e-02 -9.94639026e-01 -9.68229124e-02 2.15200539e+02] [ 5.39797192e-01 1.01058259e-01 -8.35707018e-01 -1.68913003e+01] [ 8.41011569e-01 -2.19188748e-02 5.40572941e-01 1.57016341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-16.87, Z:157.04 [[ 3.69990162e-02 -9.96110137e-01 -7.99729147e-02 2.15193419e+02] [ 5.39861150e-01 8.72685653e-02 -8.37218094e-01 -1.68694914e+01] [ 8.40940552e-01 -1.21980239e-02 5.40990015e-01 1.57035633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-16.85, Z:157.06 [[ 3.67787632e-02 -9.96163868e-01 -7.94032158e-02 2.15189674e+02] [ 5.41143146e-01 8.66521320e-02 -8.36454125e-01 -1.68535161e+01] [ 8.40125835e-01 -1.22047577e-02 5.42254207e-01 1.57058996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-16.84, Z:157.08 [[ 3.58106057e-02 -9.96236988e-01 -7.89269565e-02 2.15188454e+02] [ 5.41793450e-01 8.57176555e-02 -8.36129381e-01 -1.68388856e+01] [ 8.39748449e-01 -1.28198085e-02 5.42824276e-01 1.57081501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-16.82, Z:157.10 [[ 3.50158158e-02 -9.96309831e-01 -7.83620701e-02 2.15187448e+02] [ 5.42609575e-01 8.47995265e-02 -8.35693658e-01 -1.68244218e+01] [ 8.39254873e-01 -1.32575143e-02 5.43576578e-01 1.57103171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.81, Z:157.13 [[ 3.27829374e-02 -9.96418514e-01 -7.79450057e-02 2.15184889e+02] [ 5.43415732e-01 8.32224928e-02 -8.35328294e-01 -1.68085858e+01] [ 8.38823355e-01 -1.49720271e-02 5.44197774e-01 1.57126497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.79, Z:157.15 [[ 3.08455745e-02 -9.96518040e-01 -7.74618995e-02 2.15184006e+02] [ 5.44205868e-01 8.17485266e-02 -8.34959371e-01 -1.67929270e+01] [ 8.38384472e-01 -1.64004188e-02 5.44832545e-01 1.57148873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.78, Z:157.17 [[ 2.90261157e-02 -9.96607844e-01 -7.70083820e-02 2.15183404e+02] [ 5.44081029e-01 8.03805833e-02 -8.35173512e-01 -1.67769289e+01] [ 8.38530452e-01 -1.76569568e-02 5.44568557e-01 1.57172631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.76, Z:157.20 [[ 2.68573299e-02 -9.96701068e-01 -7.65876306e-02 2.15182723e+02] [ 5.43659962e-01 7.88574739e-02 -8.35592810e-01 -1.67614060e+01] [ 8.38875753e-01 -1.91958366e-02 5.43984366e-01 1.57195329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.74, Z:157.22 [[ 2.29154230e-02 -9.96829006e-01 -7.62024706e-02 2.15180526e+02] [ 5.42330166e-01 7.64273153e-02 -8.36682052e-01 -1.67447309e+01] [ 8.39852889e-01 -2.21539754e-02 5.42361804e-01 1.57217716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.73, Z:157.24 [[ 2.06263124e-02 -9.96912293e-01 -7.57656545e-02 2.15179764e+02] [ 5.42134157e-01 7.48256213e-02 -8.36953811e-01 -1.67291436e+01] [ 8.40038756e-01 -2.38118784e-02 5.42003583e-01 1.57240038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.71, Z:157.26 [[ 1.84565935e-02 -9.96989867e-01 -7.53031129e-02 2.15179241e+02] [ 5.41943305e-01 7.32678832e-02 -8.37215188e-01 -1.67134254e+01] [ 8.40212359e-01 -2.53578775e-02 5.41664260e-01 1.57263620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.70, Z:157.29 [[ 1.46558264e-02 -9.97089328e-01 -7.48203123e-02 2.15177065e+02] [ 5.42682410e-01 7.07803666e-02 -8.36950382e-01 -1.66985846e+01] [ 8.39810102e-01 -2.83374679e-02 5.42140185e-01 1.57286485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.68, Z:157.31 [[ 1.28353118e-02 -9.97151476e-01 -7.43248911e-02 2.15176064e+02] [ 5.43082795e-01 6.93639782e-02 -8.36809248e-01 -1.66829827e+01] [ 8.39581046e-01 -2.96238620e-02 5.42426118e-01 1.57310314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.67, Z:157.33 [[ 1.15067159e-02 -9.97202181e-01 -7.38607167e-02 2.15175140e+02] [ 5.43512675e-01 6.82385143e-02 -8.36622661e-01 -1.66673984e+01] [ 8.39322088e-01 -3.05174565e-02 5.42777227e-01 1.57334120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-16.65, Z:157.36 [[ 9.90740005e-03 -9.97254603e-01 -7.33832421e-02 2.15171793e+02] [ 5.44189834e-01 6.69447424e-02 -8.36286928e-01 -1.66523738e+01] [ 8.38903611e-01 -3.16489852e-02 5.43359065e-01 1.57356331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-16.64, Z:157.38 [[ 9.80929327e-03 -9.97279919e-01 -7.30516344e-02 2.15170647e+02] [ 5.44325402e-01 6.66082716e-02 -8.36225565e-01 -1.66366551e+01] [ 8.38816806e-01 -3.15610784e-02 5.43498173e-01 1.57379998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-16.62, Z:157.40 [[ 9.98704965e-03 -9.97311257e-01 -7.25983107e-02 2.15169103e+02] [ 5.44386830e-01 6.63224519e-02 -8.36208294e-01 -1.66214560e+01] [ 8.38774843e-01 -3.11703105e-02 5.43585480e-01 1.57402228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-16.61, Z:157.43 [[ 1.12881581e-02 -9.97330676e-01 -7.21394457e-02 2.15165101e+02] [ 5.44044034e-01 6.66569605e-02 -8.36404770e-01 -1.66051990e+01] [ 8.38980731e-01 -2.98055658e-02 5.43344239e-01 1.57425948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.59, Z:157.45 [[ 1.25708302e-02 -9.97348689e-01 -7.16768214e-02 2.15163758e+02] [ 5.44232319e-01 6.69593056e-02 -8.36258115e-01 -1.65895351e+01] [ 8.38840365e-01 -2.84963839e-02 5.43631124e-01 1.57448688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.57, Z:157.47 [[ 1.39362765e-02 -9.97363725e-01 -7.12136202e-02 2.15162351e+02] [ 5.43980855e-01 6.73210945e-02 -8.36392670e-01 -1.65740639e+01] [ 8.38981888e-01 -2.70826465e-02 5.43484978e-01 1.57471921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.56, Z:157.49 [[ 1.86500370e-02 -9.97319372e-01 -7.07548349e-02 2.15158486e+02] [ 5.43869451e-01 6.95008276e-02 -8.36286826e-01 -1.65582459e+01] [ 8.38962572e-01 -2.28846129e-02 5.43707732e-01 1.57494908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.54, Z:157.52 [[ 2.12378614e-02 -9.97298938e-01 -7.03120294e-02 2.15157109e+02] [ 5.43615156e-01 7.05422802e-02 -8.36364961e-01 -1.65426048e+01] [ 8.39065859e-01 -2.04600817e-02 5.43644985e-01 1.57517783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.53, Z:157.54 [[ 2.09640524e-02 -9.97336326e-01 -6.98624435e-02 2.15158182e+02] [ 5.43625257e-01 7.00162181e-02 -8.36402600e-01 -1.65270041e+01] [ 8.39066200e-01 -2.04446009e-02 5.43645041e-01 1.57541697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.51, Z:157.56 [[ 2.38375023e-02 -9.97300698e-01 -6.94484794e-02 2.15156970e+02] [ 5.43278131e-01 7.12380733e-02 -8.36524961e-01 -1.65116916e+01] [ 8.39214303e-01 -1.77891744e-02 5.43509797e-01 1.57564650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.49, Z:157.58 [[ 2.77450213e-02 -9.97807595e-01 -6.00850887e-02 2.15146961e+02] [ 5.45402399e-01 6.54836143e-02 -8.35612422e-01 -1.64910592e+01] [ 8.37715009e-01 -9.58646707e-03 5.46023500e-01 1.57581353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.48, Z:157.61 [[ 3.31596043e-02 -9.97498921e-01 -6.24206925e-02 2.15150379e+02] [ 5.42490941e-01 7.04175847e-02 -8.37105097e-01 -1.64784461e+01] [ 8.39406945e-01 -6.10458638e-03 5.43469148e-01 1.57609950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.47, Z:157.63 [[ 3.55277383e-02 -9.97025156e-01 -6.84004264e-02 2.15151963e+02] [ 5.42681328e-01 7.67204686e-02 -8.36427490e-01 -1.64651483e+01] [ 8.39186962e-01 -7.40325724e-03 5.43792640e-01 1.57633721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.45, Z:157.66 [[ 3.75667116e-02 -9.96985196e-01 -6.78915405e-02 2.15151727e+02] [ 5.42933755e-01 7.74005565e-02 -8.36200988e-01 -1.64496733e+01] [ 8.38934849e-01 -5.44728769e-03 5.44204600e-01 1.57657389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.44, Z:157.68 [[ 4.14058308e-02 -9.96865250e-01 -6.74183299e-02 2.15150718e+02] [ 5.43191385e-01 7.90925415e-02 -8.35875283e-01 -1.64355367e+01] [ 8.38587310e-01 -2.01094547e-03 5.44763508e-01 1.57679228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.42, Z:157.70 [[ 4.27277867e-02 -9.96844953e-01 -6.68915268e-02 2.15150838e+02] [ 5.43141373e-01 7.93710301e-02 -8.35881384e-01 -1.64203657e+01] [ 8.38553389e-01 -6.16194172e-04 5.44819084e-01 1.57702358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.41, Z:157.73 [[ 4.39950006e-02 -9.96819955e-01 -6.64410887e-02 2.15151212e+02] [ 5.42990177e-01 7.96836701e-02 -8.35949867e-01 -1.64050371e+01] [ 8.38585778e-01 7.00756418e-04 5.44769127e-01 1.57725004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.39, Z:157.75 [[ 4.47226646e-02 -9.96819615e-01 -6.59586173e-02 2.15151649e+02] [ 5.43025605e-01 7.96755813e-02 -8.35927625e-01 -1.63889964e+01] [ 8.38524344e-01 1.56769269e-03 5.44861879e-01 1.57748432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.37, Z:157.77 [[ 4.62962366e-02 -9.96776447e-01 -6.55238306e-02 2.15152811e+02] [ 5.42479344e-01 8.01665137e-02 -8.36235308e-01 -1.63743703e+01] [ 8.38792477e-01 3.16922309e-03 5.44442042e-01 1.57771020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.36, Z:157.79 [[ 4.62191634e-02 -9.96810629e-01 -6.50565860e-02 2.15154460e+02] [ 5.42207811e-01 7.97314597e-02 -8.36452978e-01 -1.63594036e+01] [ 8.38972275e-01 3.38596775e-03 5.44163630e-01 1.57794358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.35, Z:157.82 [[ 4.57959693e-02 -9.96857591e-01 -6.46349124e-02 2.15155977e+02] [ 5.41591725e-01 7.91448792e-02 -8.36907696e-01 -1.63452718e+01] [ 8.39393312e-01 3.32126546e-03 5.43514339e-01 1.57817109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.33, Z:157.84 [[ 4.43979998e-02 -9.96949592e-01 -6.41897802e-02 2.15158111e+02] [ 5.41019880e-01 7.80096574e-02 -8.37384012e-01 -1.63306340e+01] [ 8.39837072e-01 2.45022800e-03 5.42833022e-01 1.57840188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.32, Z:157.86 [[ 4.36807034e-02 -9.97012560e-01 -6.37020502e-02 2.15159882e+02] [ 5.40905112e-01 7.72102968e-02 -8.37532227e-01 -1.63158359e+01] [ 8.39948603e-01 2.12723222e-03 5.42661790e-01 1.57863548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.30, Z:157.89 [[ 4.29462393e-02 -9.97072973e-01 -6.32543124e-02 2.15161702e+02] [ 5.40954282e-01 7.64356919e-02 -8.37571519e-01 -1.63005897e+01] [ 8.39954811e-01 1.75285570e-03 5.42653520e-01 1.57886937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-16.29, Z:157.91 [[ 4.19987260e-02 -9.97141187e-01 -6.28137009e-02 2.15163326e+02] [ 5.40872188e-01 7.55512667e-02 -8.37704770e-01 -1.62865367e+01] [ 8.40055583e-01 1.20834928e-03 5.42498992e-01 1.57908720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-16.27, Z:157.93 [[ 4.12447314e-02 -9.97205628e-01 -6.22880973e-02 2.15166327e+02] [ 5.40881736e-01 7.47006669e-02 -8.37774885e-01 -1.62720527e+01] [ 8.40086793e-01 8.63305906e-04 5.42451320e-01 1.57931821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-16.29, Z:157.98 [[ 4.26289816e-02 -9.92320210e-01 -1.16117915e-01 2.15188995e+02] [ 5.28657717e-01 1.21023582e-01 -8.40163264e-01 -1.62870114e+01] [ 8.47763993e-01 -2.55713274e-02 5.29756849e-01 1.57976560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.15, Y:-16.23, Z:157.97 [[ 4.08885114e-02 -9.98984849e-01 -1.89050633e-02 2.15153994e+02] [ 5.40116727e-01 3.80172349e-02 -8.40730998e-01 -1.62302215e+01] [ 8.40596248e-01 2.41652981e-02 5.41122895e-01 1.57971128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-16.23, Z:158.00 [[ 4.11418954e-02 -9.97278541e-01 -6.11788887e-02 2.15171186e+02] [ 5.39621184e-01 7.37108414e-02 -8.38674961e-01 -1.62267145e+01] [ 8.40902089e-01 1.49125319e-03 5.41185230e-01 1.58001973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-16.21, Z:158.03 [[ 4.26037130e-02 -9.97241779e-01 -6.07762996e-02 2.15173512e+02] [ 5.38414257e-01 7.41592764e-02 -8.39410799e-01 -1.62116520e+01] [ 8.41602645e-01 3.03919057e-03 5.40088652e-01 1.58025278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.20, Z:158.05 [[ 4.36845634e-02 -9.97222513e-01 -6.03234497e-02 2.15175232e+02] [ 5.38215179e-01 7.43610114e-02 -8.39520614e-01 -1.61971420e+01] [ 8.41674569e-01 4.20709526e-03 5.39968721e-01 1.58048319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.18, Z:158.07 [[ 4.59838574e-02 -9.97147485e-01 -5.98529752e-02 2.15177018e+02] [ 5.37766587e-01 7.52036200e-02 -8.39733001e-01 -1.61826828e+01] [ 8.41838810e-01 6.42723235e-03 5.39690753e-01 1.58070892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.17, Z:158.09 [[ 4.68880657e-02 -9.97135003e-01 -5.93573570e-02 2.15178360e+02] [ 5.37578003e-01 7.52727796e-02 -8.39847545e-01 -1.61671610e+01] [ 8.41909377e-01 7.46961743e-03 5.39567239e-01 1.58094505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.15, Z:158.12 [[ 4.73567385e-02 -9.97139350e-01 -5.89105687e-02 2.15179659e+02] [ 5.37480337e-01 7.51485237e-02 -8.39921179e-01 -1.61520522e+01] [ 8.41945501e-01 8.11265526e-03 5.39501583e-01 1.58117605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.14, Z:158.14 [[ 4.75215917e-02 -9.97157469e-01 -5.84694883e-02 2.15181272e+02] [ 5.37311459e-01 7.48642626e-02 -8.40054604e-01 -1.61368187e+01] [ 8.42043998e-01 8.50440583e-03 5.39341803e-01 1.58141199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.12, Z:158.16 [[ 4.53297289e-02 -9.97242977e-01 -5.87508352e-02 2.15183116e+02] [ 5.37956232e-01 7.39237750e-02 -8.39725174e-01 -1.61221605e+01] [ 8.41753116e-01 6.45913657e-03 5.39824019e-01 1.58163886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-16.10, Z:158.19 [[ 4.51360911e-02 -9.97698152e-01 -5.06076078e-02 2.15183594e+02] [ 5.37131832e-01 6.69508945e-02 -8.40837067e-01 -1.61046195e+01] [ 8.42289812e-01 1.07691413e-02 5.38917338e-01 1.58185613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-16.09, Z:158.21 [[ 4.30346685e-02 -9.97424619e-01 -5.73772360e-02 2.15188218e+02] [ 5.37139458e-01 7.15228388e-02 -8.40455642e-01 -1.60907691e+01] [ 8.42394931e-01 5.34915253e-03 5.38834081e-01 1.58210286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-16.08, Z:158.23 [[ 3.87738576e-02 -9.97625309e-01 -5.69239039e-02 2.15191641e+02] [ 5.37392465e-01 6.88458013e-02 -8.40517456e-01 -1.60761505e+01] [ 8.42440459e-01 1.99962716e-03 5.38785741e-01 1.58233205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-16.06, Z:158.26 [[ 3.60644568e-02 -9.97755165e-01 -5.64268220e-02 2.15193638e+02] [ 5.37974013e-01 6.69673700e-02 -8.40297169e-01 -1.60614910e+01] [ 8.42189596e-01 -5.13029167e-05 5.39181492e-01 1.58255602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-16.05, Z:158.28 [[ 3.32033576e-02 -9.97883020e-01 -5.59197200e-02 2.15195662e+02] [ 5.38340537e-01 6.49970183e-02 -8.40217147e-01 -1.60467000e+01] [ 8.42073039e-01 -2.20582174e-03 5.39359000e-01 1.58277815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-16.03, Z:158.30 [[ 3.02686305e-02 -9.98004595e-01 -5.54133374e-02 2.15197594e+02] [ 5.38125490e-01 6.29893511e-02 -8.40507763e-01 -1.60322844e+01] [ 8.42321060e-01 -4.37831043e-03 5.38958313e-01 1.58300140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-16.02, Z:158.32 [[ 2.41964531e-02 -9.98194879e-01 -5.49683120e-02 2.15200600e+02] [ 5.36727992e-01 5.93589552e-02 -8.41664765e-01 -1.60173699e+01] [ 8.43408320e-01 -9.13772966e-03 5.37195409e-01 1.58322981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-16.00, Z:158.35 [[ 2.08603870e-02 -9.98295048e-01 -5.45146027e-02 2.15202127e+02] [ 5.36103051e-01 5.71937257e-02 -8.42212798e-01 -1.60019560e+01] [ 8.43894758e-01 -1.16565600e-02 5.36382104e-01 1.58345884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-15.99, Z:158.37 [[ 1.37427931e-02 -9.98439178e-01 -5.41326498e-02 2.15203881e+02] [ 5.34857282e-01 5.30819071e-02 -8.43273383e-01 -1.59871607e+01] [ 8.44830648e-01 -1.73643102e-02 5.34751958e-01 1.58368619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.97, Z:158.39 [[ 9.71182351e-03 -9.98511181e-01 -5.36758988e-02 2.15205134e+02] [ 5.34669772e-01 5.05460728e-02 -8.43548060e-01 -1.59728998e+01] [ 8.45005276e-01 -2.05064907e-02 5.34364640e-01 1.58391501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.96, Z:158.41 [[ 5.47573388e-03 -9.98569710e-01 -5.31841211e-02 2.15206308e+02] [ 5.34836395e-01 4.78631475e-02 -8.43598927e-01 -1.59581436e+01] [ 8.44937895e-01 -2.38254804e-02 5.34333510e-01 1.58414528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.94, Z:158.44 [[-3.15793695e-03 -9.98606846e-01 -5.26725155e-02 2.15207610e+02] [ 5.35581243e-01 4.27922214e-02 -8.43398813e-01 -1.59441546e+01] [ 8.44477803e-01 -3.08738116e-02 5.34699961e-01 1.58437274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.93, Z:158.46 [[-7.75892258e-03 -9.98609018e-01 -5.21519736e-02 2.15208381e+02] [ 5.35776937e-01 3.98842902e-02 -8.43417048e-01 -1.59294417e+01] [ 8.44323915e-01 -3.44858323e-02 5.34722222e-01 1.58460357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.91, Z:158.48 [[-1.21126549e-02 -9.98591049e-01 -5.16643153e-02 2.15209054e+02] [ 5.35887141e-01 3.71387346e-02 -8.43472399e-01 -1.59147092e+01] [ 8.44202734e-01 -3.79029322e-02 5.34682253e-01 1.58483412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.90, Z:158.51 [[-1.61083944e-02 -9.98560243e-01 -5.11660177e-02 2.15209610e+02] [ 5.36321361e-01 3.45590921e-02 -8.43306034e-01 -1.59006038e+01] [ 8.43860129e-01 -4.10257345e-02 5.34992497e-01 1.58505733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.89, Z:158.53 [[-2.28315017e-02 -9.98455990e-01 -5.06394875e-02 2.15208792e+02] [ 5.36988599e-01 3.04778525e-02 -8.43038756e-01 -1.58863591e+01] [ 8.43280479e-01 -4.64406682e-02 5.35463629e-01 1.58528274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.87, Z:158.55 [[-2.51721341e-02 -9.98424309e-01 -5.01524042e-02 2.15208154e+02] [ 5.36682415e-01 2.88290896e-02 -8.43291687e-01 -1.58720059e+01] [ 8.43408768e-01 -4.81433648e-02 5.35111079e-01 1.58551262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.86, Z:158.57 [[-2.67140740e-02 -9.98407505e-01 -4.96871374e-02 2.15207318e+02] [ 5.36543943e-01 2.76178484e-02 -8.43420329e-01 -1.58576534e+01] [ 8.43449438e-01 -4.91905257e-02 5.34951715e-01 1.58572760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.84, Z:158.60 [[-2.74028273e-02 -9.98412105e-01 -4.92174154e-02 2.15206180e+02] [ 5.35904121e-01 2.68895520e-02 -8.43850535e-01 -1.58425235e+01] [ 8.43834023e-01 -4.94997062e-02 5.34316312e-01 1.58595641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-15.83, Z:158.62 [[-2.65359292e-02 -9.98456062e-01 -4.87989470e-02 2.15202747e+02] [ 5.34583423e-01 2.70757214e-02 -8.44681875e-01 -1.58268158e+01] [ 8.44699005e-01 -4.85015265e-02 5.33039579e-01 1.58618646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-15.81, Z:158.64 [[-2.56320517e-02 -9.98499757e-01 -4.83863004e-02 2.15200901e+02] [ 5.33553257e-01 2.72670799e-02 -8.45326817e-01 -1.58114481e+01] [ 8.45377975e-01 -4.74841288e-02 5.32053886e-01 1.58641324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-15.80, Z:158.66 [[-2.44793020e-02 -9.98549672e-01 -4.79511935e-02 2.15199040e+02] [ 5.32442341e-01 2.75737012e-02 -8.46017047e-01 -1.57965163e+01] [ 8.46112237e-01 -4.62411525e-02 5.30995140e-01 1.58663114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-15.78, Z:158.69 [[-2.06636876e-02 -9.98657665e-01 -4.74960970e-02 2.15194444e+02] [ 5.30821634e-01 2.92986963e-02 -8.46976965e-01 -1.57811114e+01] [ 8.47231612e-01 -4.27136233e-02 5.29503675e-01 1.58685290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-15.77, Z:158.71 [[-1.83901620e-02 -9.98725359e-01 -4.70048788e-02 2.15192403e+02] [ 5.30667627e-01 3.00945702e-02 -8.47045563e-01 -1.57657068e+01] [ 8.47380476e-01 -4.05212726e-02 5.29437772e-01 1.58708674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-15.75, Z:158.73 [[-1.63856076e-02 -9.98781131e-01 -4.65592538e-02 2.15190198e+02] [ 5.30435254e-01 3.07894472e-02 -8.47166130e-01 -1.57503603e+01] [ 8.47567079e-01 -3.85780014e-02 5.29284219e-01 1.58731912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-15.74, Z:158.75 [[-1.16679237e-02 -9.98868495e-01 -4.61041114e-02 2.15185133e+02] [ 5.30395591e-01 3.29039374e-02 -8.47111473e-01 -1.57360509e+01] [ 8.47669969e-01 -3.43374494e-02 5.29411525e-01 1.58754621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:215.18, Y:-15.72, Z:158.78 [[-9.57791099e-03 -9.98913159e-01 -4.56154069e-02 2.15182727e+02] [ 5.30709031e-01 3.35845773e-02 -8.46888423e-01 -1.57210236e+01] [ 8.47499964e-01 -3.23199303e-02 5.29810564e-01 1.58777330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-15.71, Z:158.80 [[-7.36652377e-03 -9.98955074e-01 -4.51053630e-02 2.15180550e+02] [ 5.31038027e-01 3.43125397e-02 -8.46652977e-01 -1.57057209e+01] [ 8.47315967e-01 -3.01895523e-02 5.30230368e-01 1.58800975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-15.69, Z:158.82 [[-4.97992493e-03 -9.98991181e-01 -4.46298092e-02 2.15178649e+02] [ 5.31672977e-01 3.51544028e-02 -8.46219838e-01 -1.56906126e+01] [ 8.46935089e-01 -2.79425748e-02 5.30961549e-01 1.58824602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-15.68, Z:158.85 [[ 4.73055907e-04 -9.99024339e-01 -4.41604533e-02 2.15174095e+02] [ 5.32038933e-01 3.76429754e-02 -8.45882723e-01 -1.56763457e+01] [ 8.46719759e-01 -2.30949306e-02 5.31537651e-01 1.58847626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-15.66, Z:158.87 [[ 3.72881659e-03 -9.99038630e-01 -4.36796601e-02 2.15172019e+02] [ 5.32086051e-01 3.89654708e-02 -8.45793194e-01 -1.56623476e+01] [ 8.46682072e-01 -2.00875302e-02 5.31719814e-01 1.58869491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-15.65, Z:158.89 [[ 7.23971543e-03 -9.99041939e-01 -4.31600704e-02 2.15169822e+02] [ 5.32262589e-01 4.03889415e-02 -8.45615320e-01 -1.56474675e+01] [ 8.46548358e-01 -1.68504765e-02 5.32045053e-01 1.58892231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-15.63, Z:158.92 [[ 1.13762638e-02 -9.99024363e-01 -4.26720482e-02 2.15167764e+02] [ 5.31844418e-01 4.21831841e-02 -8.45790810e-01 -1.56322673e+01] [ 8.46765668e-01 -1.30729513e-02 5.31805418e-01 1.58915385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.62, Z:158.94 [[ 2.07615386e-02 -9.98894030e-01 -4.21862051e-02 2.15163650e+02] [ 5.31094464e-01 4.67684744e-02 -8.46020910e-01 -1.56178692e+01] [ 8.47058221e-01 -4.84016418e-03 5.31478074e-01 1.58936890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.60, Z:158.96 [[ 2.50700323e-02 -9.98816347e-01 -4.16821086e-02 2.15162076e+02] [ 5.30394369e-01 4.86324268e-02 -8.46354950e-01 -1.56023269e+01] [ 8.47380261e-01 -8.89809741e-04 5.30985782e-01 1.58959811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.59, Z:158.98 [[ 2.47824737e-02 -9.98843691e-01 -4.11959902e-02 2.15162520e+02] [ 5.30407922e-01 4.80678107e-02 -8.46378711e-01 -1.55871650e+01] [ 8.47380237e-01 -8.75321416e-04 5.30985846e-01 1.58983028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.57, Z:159.01 [[ 2.85375650e-02 -9.98761850e-01 -4.07476857e-02 2.15161322e+02] [ 5.29849222e-01 4.96805553e-02 -8.46635485e-01 -1.55721234e+01] [ 8.47611591e-01 2.57078558e-03 5.30610952e-01 1.59006369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.56, Z:159.03 [[ 3.50238265e-02 -9.98574965e-01 -4.02662581e-02 2.15159969e+02] [ 5.30293676e-01 5.27202729e-02 -8.46173262e-01 -1.55572740e+01] [ 8.47090284e-01 8.28328350e-03 5.31384455e-01 1.59029629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.54, Z:159.05 [[ 3.74964266e-02 -9.98505289e-01 -3.97643835e-02 2.15159968e+02] [ 5.30798734e-01 5.36159209e-02 -8.45800235e-01 -1.55427840e+01] [ 8.46668012e-01 1.06076020e-02 5.32015749e-01 1.59052832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.53, Z:159.08 [[ 3.98073085e-02 -9.98436692e-01 -3.92371018e-02 2.15160177e+02] [ 5.31425469e-01 5.44089919e-02 -8.45355921e-01 -1.55276778e+01] [ 8.46169220e-01 1.27997487e-02 5.32760563e-01 1.59075494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.51, Z:159.10 [[ 4.31402285e-02 -9.98318298e-01 -3.87233401e-02 2.15160877e+02] [ 5.31636757e-01 5.57551574e-02 -8.45135327e-01 -1.55132810e+01] [ 8.45873087e-01 1.58725801e-02 5.33147993e-01 1.59097503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.50, Z:159.12 [[ 4.39112247e-02 -9.98305101e-01 -3.81933255e-02 2.15161845e+02] [ 5.31728640e-01 5.57197052e-02 -8.45079859e-01 -1.54983572e+01] [ 8.45775654e-01 1.68000065e-02 5.33274134e-01 1.59119807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-15.48, Z:159.14 [[ 4.43671399e-02 -9.98304334e-01 -3.76830633e-02 2.15163444e+02] [ 5.31783860e-01 5.55322465e-02 -8.45057451e-01 -1.54825959e+01] [ 8.45717141e-01 1.74535374e-02 5.33345939e-01 1.59143273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-15.47, Z:159.17 [[ 4.41928585e-02 -9.98329290e-01 -3.72239212e-02 2.15167167e+02] [ 5.31977343e-01 5.50545619e-02 -8.44966923e-01 -1.54669662e+01] [ 8.45604575e-01 1.75392210e-02 5.33521582e-01 1.59166431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-15.45, Z:159.19 [[ 4.34782672e-02 -9.98377957e-01 -3.67572540e-02 2.15169698e+02] [ 5.32207843e-01 5.42826877e-02 -8.44871707e-01 -1.54523030e+01] [ 8.45496571e-01 1.71710590e-02 5.33704696e-01 1.59188837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-15.44, Z:159.21 [[ 4.25243289e-02 -9.98437373e-01 -3.62559574e-02 2.15172393e+02] [ 5.32835488e-01 5.33612707e-02 -8.44534734e-01 -1.54370342e+01] [ 8.45149705e-01 1.65948121e-02 5.34272017e-01 1.59212017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-15.42, Z:159.23 [[ 4.03744349e-02 -9.98543053e-01 -3.58005138e-02 2.15177283e+02] [ 5.32932605e-01 5.18283652e-02 -8.44568919e-01 -1.54224285e+01] [ 8.45193909e-01 1.50197318e-02 5.34248691e-01 1.59234357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-15.41, Z:159.26 [[ 3.91822512e-02 -9.98608140e-01 -3.53062745e-02 2.15180117e+02] [ 5.33521230e-01 5.07829469e-02 -8.44260735e-01 -1.54079268e+01] [ 8.44878600e-01 1.42433892e-02 5.34768434e-01 1.59255677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.18, Y:-15.39, Z:159.28 [[ 3.84889697e-02 -9.98653841e-01 -3.47722004e-02 2.15183279e+02] [ 5.33675752e-01 4.99629967e-02 -8.44211994e-01 -1.53929638e+01] [ 8.44812873e-01 1.39357697e-02 5.34880363e-01 1.59278741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-15.38, Z:159.30 [[ 3.79232303e-02 -9.98692953e-01 -3.42668165e-02 2.15186326e+02] [ 5.33974680e-01 4.92378407e-02 -8.44065564e-01 -1.53781342e+01] [ 8.44649554e-01 1.37120804e-02 5.35144008e-01 1.59301872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-15.36, Z:159.32 [[ 3.80294508e-02 -9.98706461e-01 -3.37515412e-02 2.15192031e+02] [ 5.34783596e-01 4.88726853e-02 -8.43574517e-01 -1.53630896e+01] [ 8.44132849e-01 1.40309050e-02 5.35950434e-01 1.59323813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-15.35, Z:159.35 [[ 3.81433781e-02 -9.98719689e-01 -3.32274942e-02 2.15195041e+02] [ 5.35070585e-01 4.84960319e-02 -8.43414254e-01 -1.53489356e+01] [ 8.43945823e-01 1.43916141e-02 5.36235330e-01 1.59345473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-15.33, Z:159.37 [[ 3.79162181e-02 -9.98741356e-01 -3.28338861e-02 2.15201743e+02] [ 5.35704059e-01 4.80525480e-02 -8.43037433e-01 -1.53344931e+01] [ 8.43554101e-01 1.43755451e-02 5.36851769e-01 1.59367573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.32, Z:159.39 [[ 3.72519617e-02 -9.98783392e-01 -3.23114038e-02 2.15205820e+02] [ 5.36339927e-01 4.72653128e-02 -8.42677562e-01 -1.53200371e+01] [ 8.43179562e-01 1.40614963e-02 5.37448137e-01 1.59390190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.31, Z:159.41 [[ 3.65165498e-02 -9.98825998e-01 -3.18303017e-02 2.15209580e+02] [ 5.36500219e-01 4.64665360e-02 -8.42619947e-01 -1.53052276e+01] [ 8.43109753e-01 1.36926095e-02 5.37567164e-01 1.59413406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.21, Y:-15.29, Z:159.44 [[ 3.58493905e-02 -9.98865346e-01 -3.13503186e-02 2.15213481e+02] [ 5.36748240e-01 4.57067131e-02 -8.42503545e-01 -1.52906132e+01] [ 8.42980515e-01 1.33760103e-02 5.37777774e-01 1.59436752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-15.28, Z:159.46 [[ 3.46858413e-02 -9.98921260e-01 -3.08740843e-02 2.15220132e+02] [ 5.37840856e-01 4.46953573e-02 -8.41860760e-01 -1.52768192e+01] [ 8.42332539e-01 1.25953048e-02 5.38810962e-01 1.59458392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:-15.26, Z:159.48 [[ 3.41589078e-02 -9.98956050e-01 -3.03311463e-02 2.15223609e+02] [ 5.38347915e-01 4.39612128e-02 -8.41575270e-01 -1.52624041e+01] [ 8.42030101e-01 1.24185827e-02 5.39287574e-01 1.59481001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-15.25, Z:159.50 [[ 3.36406306e-02 -9.98988881e-01 -2.98248808e-02 2.15227067e+02] [ 5.38644156e-01 4.32593824e-02 -8.41422069e-01 -1.52477523e+01] [ 8.41861497e-01 1.22409712e-02 5.39554796e-01 1.59503797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-15.23, Z:159.53 [[ 3.33178774e-02 -9.99014612e-01 -2.93210403e-02 2.15230543e+02] [ 5.38947547e-01 4.26651932e-02 -8.41258119e-01 -1.52328523e+01] [ 8.41680142e-01 1.22264321e-02 5.39837988e-01 1.59526665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-15.22, Z:159.55 [[ 3.33179591e-02 -9.99028612e-01 -2.88400038e-02 2.15237025e+02] [ 5.38237854e-01 4.22496197e-02 -8.41733320e-01 -1.52174467e+01] [ 8.42134150e-01 1.25220546e-02 5.39122688e-01 1.59549984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-15.20, Z:159.57 [[ 3.30636059e-02 -9.99049608e-01 -2.84021031e-02 2.15240146e+02] [ 5.37410563e-01 4.17311313e-02 -8.42287599e-01 -1.52019539e+01] [ 8.42672347e-01 1.25854750e-02 5.38279594e-01 1.59573570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:-15.19, Z:159.60 [[ 3.27773716e-02 -9.99071327e-01 -2.79665581e-02 2.15245971e+02] [ 5.36466398e-01 4.11956641e-02 -8.42915607e-01 -1.51871255e+01] [ 8.43284915e-01 1.26254394e-02 5.37318482e-01 1.59595573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:-15.17, Z:159.62 [[ 3.24939013e-02 -9.99093614e-01 -2.74972258e-02 2.15249160e+02] [ 5.35938212e-01 4.06393784e-02 -8.43278527e-01 -1.51721979e+01] [ 8.43631661e-01 1.26645951e-02 5.36772977e-01 1.59618401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:-15.16, Z:159.64 [[ 3.19685104e-02 -9.99124153e-01 -2.69989135e-02 2.15252430e+02] [ 5.35822771e-01 3.99349258e-02 -8.43385534e-01 -1.51577328e+01] [ 8.43725057e-01 1.24951466e-02 5.36630133e-01 1.59641173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.26, Y:-15.14, Z:159.66 [[ 3.13978061e-02 -9.99155750e-01 -2.64946312e-02 2.15258673e+02] [ 5.36126235e-01 3.92072716e-02 -8.43226808e-01 -1.51429262e+01] [ 8.43553696e-01 1.22710049e-02 5.36904632e-01 1.59663956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.26, Y:-15.13, Z:159.69 [[ 3.11413027e-02 -9.99176760e-01 -2.60004048e-02 2.15262013e+02] [ 5.36119225e-01 3.86522916e-02 -8.43256887e-01 -1.51278456e+01] [ 8.43567659e-01 1.23208011e-02 5.36881553e-01 1.59686885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:-15.11, Z:159.71 [[ 3.08615658e-02 -9.99198496e-01 -2.54937208e-02 2.15265193e+02] [ 5.36522618e-01 3.80803271e-02 -8.43026316e-01 -1.51127102e+01] [ 8.43321436e-01 1.23391543e-02 5.37267812e-01 1.59709965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:-15.10, Z:159.73 [[ 3.13322815e-02 -9.99196834e-01 -2.49794822e-02 2.15271261e+02] [ 5.37242238e-01 3.79105746e-02 -8.42575555e-01 -1.50981150e+01] [ 8.42845814e-01 1.29797815e-02 5.37998569e-01 1.59731980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:-15.08, Z:159.76 [[ 3.15933280e-02 -9.99201865e-01 -2.44437220e-02 2.15274245e+02] [ 5.37892952e-01 3.76097079e-02 -8.42173784e-01 -1.50827681e+01] [ 8.42420936e-01 1.34589668e-02 5.38651856e-01 1.59755334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:-15.07, Z:159.78 [[ 3.26503201e-02 -9.99178943e-01 -2.39874164e-02 2.15277281e+02] [ 5.38149766e-01 3.77992313e-02 -8.42001216e-01 -1.50679820e+01] [ 8.42216591e-01 1.45827867e-02 5.38942071e-01 1.59777749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:-15.05, Z:159.80 [[ 3.39847464e-02 -9.99146631e-01 -2.34743757e-02 2.15280245e+02] [ 5.38452570e-01 3.80922788e-02 -8.41794398e-01 -1.50535641e+01] [ 8.41970229e-01 1.59683312e-02 5.39287628e-01 1.59799417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:-15.04, Z:159.82 [[ 3.81496114e-02 -9.99008468e-01 -2.29496843e-02 2.15285856e+02] [ 5.38044352e-01 3.98887298e-02 -8.41972187e-01 -1.50378858e+01] [ 8.42052779e-01 1.97729638e-02 5.39032604e-01 1.59822099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:-15.02, Z:159.84 [[ 4.04633126e-02 -9.98928676e-01 -2.24548401e-02 2.15288504e+02] [ 5.37578511e-01 4.07079699e-02 -8.42230494e-01 -1.50223038e+01] [ 8.42242284e-01 2.20081963e-02 5.38649770e-01 1.59844808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:-15.01, Z:159.87 [[ 4.27893672e-02 -9.98842570e-01 -2.19679437e-02 2.15291356e+02] [ 5.36720229e-01 4.15271988e-02 -8.42737734e-01 -1.50074778e+01] [ 8.42674591e-01 2.42695745e-02 5.37875935e-01 1.59867135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:-14.99, Z:159.89 [[ 4.67592815e-02 -9.98675348e-01 -2.14736990e-02 2.15296823e+02] [ 5.35929298e-01 4.32225963e-02 -8.43155736e-01 -1.49924695e+01] [ 8.42966997e-01 2.79169720e-02 5.37240435e-01 1.59889300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:-14.98, Z:159.91 [[ 4.77409566e-02 -9.98639671e-01 -2.09668264e-02 2.15299931e+02] [ 5.35898987e-01 4.33218593e-02 -8.43169907e-01 -1.49782833e+01] [ 8.42931241e-01 2.90176369e-02 5.37238215e-01 1.59910963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:-14.96, Z:159.93 [[ 4.81384743e-02 -9.98631651e-01 -2.04331277e-02 2.15303348e+02] [ 5.36046874e-01 4.30903612e-02 -8.43087759e-01 -1.49634127e+01] [ 8.42814592e-01 2.96318442e-02 5.37387680e-01 1.59933312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:-14.95, Z:159.96 [[ 4.77992913e-02 -9.98658152e-01 -1.99279317e-02 2.15306964e+02] [ 5.36513824e-01 4.24976808e-02 -8.42820778e-01 -1.49485281e+01] [ 8.42536732e-01 2.95946251e-02 5.37825263e-01 1.59956133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:-14.93, Z:159.98 [[ 4.53708780e-02 -9.98781682e-01 -1.94071129e-02 2.15314440e+02] [ 5.37739492e-01 4.07905991e-02 -8.42123724e-01 -1.49340479e+01] [ 8.41889376e-01 2.77719217e-02 5.38935059e-01 1.59978800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:-14.90, Z:159.98 [[ 3.61927536e-02 -9.99174539e-01 1.84478995e-02 2.15295595e+02] [ 5.47994671e-01 4.40595448e-03 -8.36470219e-01 -1.48968482e+01] [ 8.35698465e-01 4.03835112e-02 5.47701787e-01 1.59980588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.32, Y:-14.91, Z:160.03 [[ 4.11671157e-02 -9.98894375e-01 -2.27001355e-02 2.15324213e+02] [ 5.38544558e-01 4.13200650e-02 -8.41583276e-01 -1.49060139e+01] [ 8.41590772e-01 2.24205216e-02 5.39650158e-01 1.60026847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:-14.86, Z:160.02 [[ 2.98331029e-02 -9.99221231e-01 2.58247528e-02 2.15304529e+02] [ 5.50329092e-01 -5.14789622e-03 -8.34931967e-01 -1.48635104e+01] [ 8.34414691e-01 3.91207240e-02 5.49746935e-01 1.60024794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:-14.88, Z:160.07 [[ 3.55240021e-02 -9.99028322e-01 -2.60855739e-02 2.15337072e+02] [ 5.39181702e-01 4.11366362e-02 -8.41184207e-01 -1.48780873e+01] [ 8.41439919e-01 1.58173654e-02 5.40119129e-01 1.60074406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:-14.86, Z:160.10 [[ 3.41718328e-02 -9.99253838e-01 -1.80014702e-02 2.15337830e+02] [ 5.38992758e-01 3.35941982e-02 -8.41640206e-01 -1.48596375e+01] [ 8.41616952e-01 1.90577263e-02 5.39738557e-01 1.60096194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:-14.84, Z:160.12 [[ 3.29702478e-02 -9.99302063e-01 -1.75598978e-02 2.15341367e+02] [ 5.38559283e-01 3.25638593e-02 -8.41958131e-01 -1.48449052e+01] [ 8.41942315e-01 1.83025222e-02 5.39257041e-01 1.60118245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-14.83, Z:160.14 [[ 3.12830932e-02 -9.99365101e-01 -1.70517561e-02 2.15348050e+02] [ 5.37108949e-01 3.11957715e-02 -8.42935823e-01 -1.48293595e+01] [ 8.42932586e-01 1.72109891e-02 5.37743839e-01 1.60141731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-14.81, Z:160.17 [[ 3.04454529e-02 -9.99398457e-01 -1.66071589e-02 2.15351266e+02] [ 5.36504567e-01 3.03580535e-02 -8.43351195e-01 -1.48142761e+01] [ 8.43348045e-01 1.67663925e-02 5.37106101e-01 1.60165617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.33, Y:-14.77, Z:160.16 [[ 2.25262551e-02 -9.99379236e-01 2.70871037e-02 2.15329273e+02] [ 5.46823576e-01 -1.03654287e-02 -8.37183692e-01 -1.47717661e+01] [ 8.36944768e-01 3.36704803e-02 5.46250633e-01 1.60164711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.79, Z:160.21 [[ 2.78684275e-02 -9.99287189e-01 -2.54649537e-02 2.15364066e+02] [ 5.36187504e-01 3.64435764e-02 -8.43311820e-01 -1.47880485e+01] [ 8.43638733e-01 9.84778434e-03 5.36820929e-01 1.60214891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.77, Z:160.24 [[ 2.63037078e-02 -9.99533421e-01 -1.55259325e-02 2.15363402e+02] [ 5.36943638e-01 2.72274467e-02 -8.43178626e-01 -1.47693998e+01] [ 8.43207948e-01 1.38421735e-02 5.37409295e-01 1.60235232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-14.76, Z:160.26 [[ 2.24443137e-02 -9.99635286e-01 -1.50182605e-02 2.15369328e+02] [ 5.37794728e-01 2.47355364e-02 -8.42712872e-01 -1.47551915e+01] [ 8.42777007e-01 1.08373707e-02 5.38153758e-01 1.60258047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-14.74, Z:160.28 [[ 1.89123004e-02 -9.99715710e-01 -1.45197693e-02 2.15371710e+02] [ 5.38105839e-01 2.24172467e-02 -8.42579120e-01 -1.47404010e+01] [ 8.42665076e-01 8.12193678e-03 5.38376823e-01 1.60280646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-14.73, Z:160.30 [[ 1.60740342e-02 -9.99772578e-01 -1.40148876e-02 2.15373100e+02] [ 5.38730016e-01 2.04679755e-02 -8.42229797e-01 -1.47254865e+01] [ 8.42325112e-01 5.98778997e-03 5.38936501e-01 1.60303927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-14.71, Z:160.33 [[ 1.37726558e-02 -9.99813817e-01 -1.35146289e-02 2.15373175e+02] [ 5.39158262e-01 1.88083852e-02 -8.41994426e-01 -1.47107979e+01] [ 8.42091849e-01 4.30997559e-03 5.39316921e-01 1.60327371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-14.70, Z:160.35 [[ 1.09219405e-02 -9.99855653e-01 -1.30148060e-02 2.15371789e+02] [ 5.39878790e-01 1.68518797e-02 -8.41574064e-01 -1.46962022e+01] [ 8.41671909e-01 2.16520412e-03 5.39984915e-01 1.60349606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-14.68, Z:160.37 [[ 1.04741048e-02 -9.99867039e-01 -1.24979356e-02 2.15370288e+02] [ 5.40001168e-01 1.61753026e-02 -8.41508822e-01 -1.46816130e+01] [ 8.41599092e-01 2.06515181e-03 5.40098791e-01 1.60372292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-14.67, Z:160.39 [[ 1.28215160e-02 -9.99826629e-01 -1.35026447e-02 2.15369449e+02] [ 5.40608324e-01 1.82913337e-02 -8.41075542e-01 -1.46688594e+01] [ 8.41176705e-01 3.48422137e-03 5.40749121e-01 1.60392256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.65, Z:160.41 [[ 1.39920246e-02 -9.99895038e-01 3.75994297e-03 2.15360557e+02] [ 5.40096628e-01 4.39317020e-03 -8.41591547e-01 -1.46468064e+01] [ 8.41486694e-01 1.38063021e-02 5.40101407e-01 1.60412020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.64, Z:160.44 [[ 1.36826759e-02 -9.99898216e-01 -4.04259699e-03 2.15363550e+02] [ 5.40026118e-01 1.07922658e-02 -8.41579063e-01 -1.46352929e+01] [ 8.41537032e-01 9.33194563e-03 5.40118819e-01 1.60436658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.62, Z:160.46 [[ 1.48099327e-02 -9.99877292e-01 -5.10555225e-03 2.15363258e+02] [ 5.39936129e-01 1.22948418e-02 -8.41616191e-01 -1.46219105e+01] [ 8.41575690e-01 9.70760703e-03 5.40051960e-01 1.60457846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.60, Z:160.48 [[ 1.49342646e-02 -9.99887364e-01 -1.49221510e-03 2.15360617e+02] [ 5.38470185e-01 9.30003411e-03 -8.42593241e-01 -1.46047987e+01] [ 8.42512212e-01 1.17799971e-02 5.38548423e-01 1.60480710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.59, Z:160.51 [[ 1.53791042e-02 -9.99836383e-01 -9.52319344e-03 2.15363152e+02] [ 5.37828638e-01 1.63010569e-02 -8.42896572e-01 -1.45930268e+01] [ 8.42913898e-01 7.84114802e-03 5.37991336e-01 1.60505397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.58, Z:160.53 [[ 1.59918330e-02 -9.99831238e-01 -9.04191614e-03 2.15362489e+02] [ 5.37265680e-01 1.62192601e-02 -8.43257093e-01 -1.45781622e+01] [ 8.43261437e-01 8.62731539e-03 5.37434386e-01 1.60527946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.56, Z:160.55 [[ 1.65268869e-02 -9.99826933e-01 -8.54202902e-03 2.15361595e+02] [ 5.37323558e-01 1.60859030e-02 -8.43222769e-01 -1.45633815e+01] [ 8.43214241e-01 9.34601387e-03 5.37496415e-01 1.60549293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.55, Z:160.57 [[ 1.66493924e-02 -9.99829241e-01 -8.01793600e-03 2.15360501e+02] [ 5.37511707e-01 1.57119275e-02 -8.43109898e-01 -1.45485276e+01] [ 8.43091906e-01 9.72753305e-03 5.37681516e-01 1.60571737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.53, Z:160.60 [[ 1.66124658e-02 -9.99833636e-01 -7.53165224e-03 2.15359826e+02] [ 5.39012457e-01 1.52997187e-02 -8.42158827e-01 -1.45341353e+01] [ 8.42133954e-01 9.93068029e-03 5.39176951e-01 1.60595276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.52, Z:160.62 [[ 1.60174422e-02 -9.99846979e-01 -7.03284158e-03 2.15359712e+02] [ 5.39574794e-01 1.45651650e-02 -8.41811676e-01 -1.45198823e+01] [ 8.41785295e-01 9.68892583e-03 5.39725525e-01 1.60618040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.51, Z:160.64 [[ 1.50359102e-02 -9.99865615e-01 -6.53241197e-03 2.15359650e+02] [ 5.40196600e-01 1.36207363e-02 -8.41428612e-01 -1.45059581e+01] [ 8.41404513e-01 9.12285827e-03 5.40328806e-01 1.60639889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.49, Z:160.66 [[ 1.32177090e-02 -9.99894572e-01 -6.01141196e-03 2.15359730e+02] [ 5.40987135e-01 1.22071479e-02 -8.40942272e-01 -1.44915087e+01] [ 8.40926996e-01 7.86323367e-03 5.41091450e-01 1.60661501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.48, Z:160.68 [[ 1.15882512e-02 -9.99916986e-01 -5.63319285e-03 2.15359556e+02] [ 5.41409612e-01 1.10106558e-02 -8.40686861e-01 -1.44764899e+01] [ 8.40679097e-01 6.69222577e-03 5.41492262e-01 1.60683791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.46, Z:160.71 [[ 1.01845061e-02 -9.99934972e-01 -5.13098823e-03 2.15359217e+02] [ 5.41519236e-01 9.82901238e-03 -8.40630898e-01 -1.44617791e+01] [ 8.40626667e-01 5.78288171e-03 5.41584126e-01 1.60705320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.45, Z:160.73 [[ 8.11965847e-03 -9.99956417e-01 -4.60812511e-03 2.15358095e+02] [ 5.41410971e-01 8.27056363e-03 -8.40717407e-01 -1.44456649e+01] [ 8.40718878e-01 4.33144872e-03 5.41454529e-01 1.60727909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.43, Z:160.75 [[ 7.59993298e-03 -9.99962641e-01 -4.11787046e-03 2.15357641e+02] [ 5.41264717e-01 7.57623870e-03 -8.40818118e-01 -1.44308092e+01] [ 8.40817904e-01 4.16130335e-03 5.41302075e-01 1.60749733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.42, Z:160.77 [[ 6.91220574e-03 -9.99969113e-01 -3.74091677e-03 2.15357129e+02] [ 5.40629153e-01 6.88413469e-03 -8.41232862e-01 -1.44159793e+01] [ 8.41232631e-01 3.79232595e-03 5.40660039e-01 1.60772605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.40, Z:160.80 [[ 6.30088136e-03 -9.99974787e-01 -3.27468236e-03 2.15356623e+02] [ 5.39606595e-01 6.15709034e-03 -8.41894776e-01 -1.44002925e+01] [ 8.41893712e-01 3.53763890e-03 5.39631785e-01 1.60795074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.39, Z:160.82 [[ 5.82648430e-03 -9.99979167e-01 -2.77824537e-03 2.15356293e+02] [ 5.39046553e-01 5.48086024e-03 -8.42258140e-01 -1.43850168e+01] [ 8.42255820e-01 3.40980024e-03 5.39067257e-01 1.60818128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.33, Y:-14.34, Z:160.82 [[-1.14039151e-03 -9.98786025e-01 4.92460842e-02 2.15327867e+02] [ 5.50228963e-01 -4.17478918e-02 -8.33969545e-01 -1.43362889e+01] [ 8.35013047e-01 2.61455700e-02 5.49608607e-01 1.60815423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.36, Z:160.87 [[ 5.30943386e-03 -9.99632137e-01 -2.65970106e-02 2.15364671e+02] [ 5.38385542e-01 2.52710032e-02 -8.42319645e-01 -1.43630303e+01] [ 8.42681920e-01 -9.84720551e-03 5.38321664e-01 1.60870553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.34, Z:160.89 [[ 5.26493549e-03 -9.99984605e-01 -1.75237094e-03 2.15355388e+02] [ 5.38608835e-01 4.31225837e-03 -8.42544911e-01 -1.43385694e+01] [ 8.42539497e-01 3.49210213e-03 5.38623247e-01 1.60887294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.91 [[ 5.27692255e-03 -9.99985298e-01 -1.24828817e-03 2.15355143e+02] [ 5.38752240e-01 3.89463803e-03 -8.42455254e-01 -1.43236711e+01] [ 8.42447730e-01 3.77305308e-03 5.38764871e-01 1.60910689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.31, Z:160.93 [[ 5.91825690e-03 -9.99982208e-01 -7.46615563e-04 2.15355593e+02] [ 5.38837020e-01 3.81799382e-03 -8.42401382e-01 -1.43097877e+01] [ 8.42389245e-01 4.58324369e-03 5.38850029e-01 1.60933234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.29, Z:160.96 [[ 6.06916858e-03 -9.99981558e-01 -2.22903857e-04 2.15355509e+02] [ 5.38633986e-01 3.45692803e-03 -8.42532776e-01 -1.42946485e+01] [ 8.42518008e-01 4.99340986e-03 5.38645033e-01 1.60956096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-14.19, Z:161.12 [[ 7.06111449e-03 -9.99944905e-01 7.76706065e-03 2.15353071e+02] [ 5.38290908e-01 -2.74494382e-03 -8.42754629e-01 -1.41853498e+01] [ 8.42729517e-01 1.01317250e-02 5.38241868e-01 1.61120065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:-14.28, Z:160.94 [[-3.00664824e-03 -9.99710421e-01 2.38753766e-02 2.15342259e+02] [ 5.58900578e-01 -2.14782850e-02 -8.28956469e-01 -1.42779652e+01] [ 8.29229223e-01 1.08515813e-02 5.58803310e-01 1.60937810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.30, Z:160.97 [[ 6.91995466e-03 -9.99901148e-01 -1.22396681e-02 2.15361731e+02] [ 5.40329125e-01 1.40381222e-02 -8.41336655e-01 -1.42954163e+01] [ 8.41425309e-01 -7.91437641e-04 5.40372855e-01 1.60967454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.30, Z:160.95 [[ 7.66773608e-03 -9.99966355e-01 2.91450203e-03 2.15356472e+02] [ 5.40370010e-01 1.69113429e-03 -8.41425809e-01 -1.42968226e+01] [ 8.41392571e-01 8.02674053e-03 5.40364796e-01 1.60952941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.29, Z:160.96 [[ 7.86463109e-03 -9.99962889e-01 3.51698801e-03 2.15356270e+02] [ 5.40382747e-01 1.29070064e-03 -8.41418339e-01 -1.42908757e+01] [ 8.41382573e-01 8.51796447e-03 5.40372843e-01 1.60961439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.29, Z:160.96 [[ 8.42360722e-03 -9.99956030e-01 4.12070119e-03 2.15356540e+02] [ 5.40167267e-01 1.08239964e-03 -8.41556981e-01 -1.42941522e+01] [ 8.41515517e-01 9.31481336e-03 5.40152634e-01 1.60955784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.29, Z:160.96 [[ 9.22298444e-03 -9.99946296e-01 4.72665715e-03 2.15357209e+02] [ 5.39901338e-01 1.00099709e-03 -8.41727713e-01 -1.42901690e+01] [ 8.41677778e-01 1.03151701e-02 5.39881576e-01 1.60961620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.30, Z:160.95 [[ 8.80154087e-03 -9.99947050e-01 5.33200640e-03 2.15357345e+02] [ 5.40073518e-01 2.65981718e-04 -8.41617802e-01 -1.43006754e+01] [ 8.41571820e-01 1.02872089e-02 5.40047262e-01 1.60945059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.30, Z:160.95 [[ 8.25238906e-03 -9.99948339e-01 5.93434743e-03 2.15357432e+02] [ 5.40488192e-01 -5.32580372e-04 -8.41351431e-01 -1.42985490e+01] [ 8.41311127e-01 1.01506041e-02 5.40455875e-01 1.60948155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.30, Z:160.94 [[ 6.65680710e-03 -9.99956507e-01 6.53224466e-03 2.15358167e+02] [ 5.41160191e-01 -1.89076143e-03 -8.40917400e-01 -1.43044411e+01] [ 8.40893177e-01 9.13281568e-03 5.41124068e-01 1.60939098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.30, Z:160.95 [[ 5.27238799e-03 -9.99960668e-01 7.13196808e-03 2.15358436e+02] [ 5.41348275e-01 -3.14243133e-03 -8.40792585e-01 -1.42970284e+01] [ 8.40781926e-01 8.29386334e-03 5.41310415e-01 1.60950385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.31, Z:160.94 [[ 3.54052217e-03 -9.99963800e-01 7.73711792e-03 2.15358630e+02] [ 5.40893439e-01 -4.59264527e-03 -8.41078590e-01 -1.43061081e+01] [ 8.41083677e-01 7.16281372e-03 5.40857599e-01 1.60936094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-14.30, Z:160.91 [[-5.55807799e-03 -9.99678452e-01 2.47406707e-02 2.15349678e+02] [ 5.49208466e-01 -2.37272546e-02 -8.35348477e-01 -1.43007419e+01] [ 8.35666901e-01 8.94485381e-03 5.49163747e-01 1.60914885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.31, Z:160.93 [[-7.22634767e-04 -9.99989434e-01 4.53985643e-03 2.15361035e+02] [ 5.39169047e-01 -4.21307501e-03 -8.42187027e-01 -1.43111483e+01] [ 8.42197255e-01 1.83915644e-03 5.39166395e-01 1.60930272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.30, Z:160.94 [[-3.03482570e-03 -9.99954197e-01 9.07707574e-03 2.15360230e+02] [ 5.38619352e-01 -9.28245998e-03 -8.42498089e-01 -1.43044251e+01] [ 8.42543757e-01 2.33225381e-03 5.38622853e-01 1.60936796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.31, Z:160.93 [[-4.42459353e-03 -9.99943354e-01 9.68048241e-03 2.15360439e+02] [ 5.38325503e-01 -1.05399312e-02 -8.42671088e-01 -1.43104447e+01] [ 8.42725386e-01 1.48277353e-03 5.38341644e-01 1.60927428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.31, Z:160.93 [[-5.75317598e-03 -9.99930527e-01 1.02879741e-02 2.15360381e+02] [ 5.37613419e-01 -1.17676890e-02 -8.43109325e-01 -1.43099728e+01] [ 8.43171817e-01 6.80396591e-04 5.37643770e-01 1.60927748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.90 [[-1.10005287e-02 -9.99787223e-01 1.74498594e-02 2.15355666e+02] [ 5.41875898e-01 -2.06267756e-02 -8.40205360e-01 -1.43153758e+01] [ 8.40386518e-01 2.12955061e-04 5.41987505e-01 1.60904731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.31, Z:160.93 [[-7.95986852e-03 -9.99891666e-01 1.23813078e-02 2.15359867e+02] [ 5.36645496e-01 -1.47190767e-02 -8.43679418e-01 -1.43096491e+01] [ 8.43770260e-01 -7.12041628e-05 5.36704521e-01 1.60926735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.31, Z:160.92 [[-8.41289693e-03 -9.99896846e-01 1.16413142e-02 2.15360448e+02] [ 5.36659787e-01 -1.43378502e-02 -8.43676893e-01 -1.43146930e+01] [ 8.43756775e-01 -8.50341553e-04 5.36725051e-01 1.60919827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.91 [[-1.23549771e-02 -9.99767342e-01 1.76809698e-02 2.15356428e+02] [ 5.40527440e-01 -2.15538029e-02 -8.41050248e-01 -1.43164619e+01] [ 8.41235663e-01 -8.34107250e-04 5.40667979e-01 1.60905589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.91 [[-8.66084087e-03 -9.99854776e-01 1.46771170e-02 2.15359205e+02] [ 5.36754589e-01 -1.70323435e-02 -8.43566482e-01 -1.43185411e+01] [ 8.43693962e-01 5.72014836e-04 5.36824154e-01 1.60912256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.31, Z:160.92 [[-8.83203667e-03 -9.99876257e-01 1.30178734e-02 2.15359737e+02] [ 5.36775942e-01 -1.57243660e-02 -8.43578291e-01 -1.43149936e+01] [ 8.43678602e-01 -4.62833155e-04 5.36848398e-01 1.60919600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.91 [[-8.88787414e-03 -9.99867738e-01 1.36202837e-02 2.15359616e+02] [ 5.36629920e-01 -1.62625521e-02 -8.43660985e-01 -1.43211643e+01] [ 8.43770902e-01 -1.89300894e-04 5.36703484e-01 1.60910042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-14.31, Z:160.89 [[-1.51238287e-02 -9.99196551e-01 3.71149818e-02 2.15347197e+02] [ 5.48296396e-01 -3.93282662e-02 -8.35358815e-01 -1.43090780e+01] [ 8.36147315e-01 7.71618719e-03 5.48450662e-01 1.60894410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.92 [[-7.93043884e-03 -9.99933093e-01 8.42124237e-03 2.15361747e+02] [ 5.36801607e-01 -1.13622620e-02 -8.43631990e-01 -1.43213115e+01] [ 8.43671229e-01 -2.16983546e-03 5.36855799e-01 1.60915438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-14.31, Z:160.90 [[-1.17440011e-02 -9.99462700e-01 3.06004725e-02 2.15350646e+02] [ 5.46055515e-01 -3.20468468e-02 -8.37135816e-01 -1.43098488e+01] [ 8.37666672e-01 6.87823285e-03 5.46138478e-01 1.60902192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.91 [[-7.02306624e-03 -9.99942958e-01 8.04720260e-03 2.15361610e+02] [ 5.36848334e-01 -1.05596459e-02 -8.43612684e-01 -1.43233541e+01] [ 8.43649538e-01 -1.60462045e-03 5.36891872e-01 1.60912148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.91 [[-6.66259394e-03 -9.99848757e-01 1.60646512e-02 2.15358436e+02] [ 5.36612995e-01 -1.71308417e-02 -8.43654567e-01 -1.43230414e+01] [ 8.43802171e-01 2.99957277e-03 5.36645971e-01 1.60905557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:-14.30, Z:160.88 [[-1.45296299e-02 -9.98413303e-01 5.44037332e-02 2.15338141e+02] [ 5.56612915e-01 -5.32759781e-02 -8.29061960e-01 -1.43027292e+01] [ 8.30644902e-01 1.82358571e-02 5.56503819e-01 1.60879571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-14.33, Z:160.91 [[-4.68961886e-03 -9.99983533e-01 -3.30784627e-03 2.15365850e+02] [ 5.37098150e-01 2.71452394e-04 -8.43519712e-01 -1.43322213e+01] [ 8.43506719e-01 -5.73242406e-03 5.37088032e-01 1.60908712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.33, Z:160.90 [[-3.18692699e-03 -9.99842994e-01 1.74307720e-02 2.15358069e+02] [ 5.38297869e-01 -1.64051724e-02 -8.42594965e-01 -1.43269476e+01] [ 8.42748627e-01 6.69765878e-03 5.38265635e-01 1.60899942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.33, Z:160.90 [[-2.68545507e-03 -9.99833850e-01 1.80294542e-02 2.15357788e+02] [ 5.38430335e-01 -1.66386137e-02 -8.42505745e-01 -1.43291596e+01] [ 8.42665748e-01 7.44509375e-03 5.38385557e-01 1.60897168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.33, Z:160.90 [[-1.92484753e-03 -9.99824616e-01 1.86288208e-02 2.15357329e+02] [ 5.38471092e-01 -1.67337777e-02 -8.42477812e-01 -1.43287944e+01] [ 8.42641785e-01 8.40944013e-03 5.38408863e-01 1.60896907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.33, Z:160.89 [[-1.36190163e-03 -9.99814071e-01 1.92345476e-02 2.15356503e+02] [ 5.38097460e-01 -1.69451758e-02 -8.42712279e-01 -1.43296772e+01] [ 8.42881527e-01 9.20236996e-03 5.38020490e-01 1.60893865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.32, Z:160.91 [[-3.89249426e-04 -9.99802867e-01 1.98513203e-02 2.15355272e+02] [ 5.37066211e-01 -1.69543969e-02 -8.43369690e-01 -1.43150837e+01] [ 8.43540001e-01 1.03331922e-02 5.36966937e-01 1.60914191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-14.33, Z:160.89 [[-4.52721312e-04 -9.99790424e-01 2.04671314e-02 2.15355287e+02] [ 5.36500748e-01 -1.75150446e-02 -8.43718064e-01 -1.43296751e+01] [ 8.43899723e-01 1.05986622e-02 5.36396240e-01 1.60890767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-14.32, Z:160.90 [[-6.35186099e-04 -9.99777642e-01 2.10775377e-02 2.15354975e+02] [ 5.36325491e-01 -1.81302717e-02 -8.43816485e-01 -1.43222930e+01] [ 8.44010998e-01 1.07684403e-02 5.36217751e-01 1.60900858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-14.17, Z:161.14 [[-7.30791048e-04 -9.99773190e-01 2.12845901e-02 2.15350843e+02] [ 5.36272180e-01 -1.83569713e-02 -8.43845466e-01 -1.41671983e+01] [ 8.44044795e-01 1.07976588e-02 5.36163963e-01 1.61140100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.46, Y:-14.85, Z:161.52 [[-1.05833904e-01 9.94242469e-01 -1.67659927e-02 2.14464434e+02] [ 5.45944688e-01 7.21897563e-02 8.34705359e-01 -1.48508162e+01] [ 8.31109850e-01 7.91868219e-02 -5.50441518e-01 1.61523334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:-15.07, Z:161.28 [[-1.83635798e-01 9.71998515e-01 -1.46617804e-01 2.14592471e+02] [ 5.29021946e-01 2.23434764e-01 8.18665186e-01 -1.50659826e+01] [ 8.28500860e-01 7.27721987e-02 -5.55239167e-01 1.61281273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.68, Y:-15.10, Z:161.28 [[-2.57977190e-01 9.32104349e-01 -2.54222840e-01 2.14684124e+02] [ 5.01419173e-01 3.54087050e-01 7.89430918e-01 -1.51037806e+01] [ 8.25849007e-01 7.61829639e-02 -5.58721373e-01 1.61283345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:-15.14, Z:161.28 [[-3.27921007e-01 8.72640258e-01 -3.61893345e-01 2.14786702e+02] [ 4.63338360e-01 4.82399576e-01 7.43376226e-01 -1.51361794e+01] [ 8.23277218e-01 7.60896117e-02 -5.62516661e-01 1.61275540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:-15.15, Z:161.28 [[-3.91847305e-01 7.96191148e-01 -4.61015559e-01 2.14889332e+02] [ 4.16035335e-01 6.00270462e-01 6.83073915e-01 -1.51497254e+01] [ 8.20591427e-01 7.58619103e-02 -5.66458013e-01 1.61275437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.99, Y:-15.15, Z:161.28 [[-4.48361716e-01 7.04599163e-01 -5.50010719e-01 2.14990624e+02] [ 3.59895496e-01 7.05549127e-01 6.10471671e-01 -1.51471263e+01] [ 8.18197411e-01 7.57657452e-02 -5.69923283e-01 1.61279242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:-15.14, Z:161.27 [[-4.88389726e-01 6.26643242e-01 -6.07283890e-01 2.15079937e+02] [ 2.95429916e-01 7.73567675e-01 5.60637332e-01 -1.51378893e+01] [ 8.21094782e-01 9.43996846e-02 -5.62931665e-01 1.61273952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:-15.12, Z:161.22 [[ -0.54800598 0.63978124 -0.53885935 215.06148566] [ 0.24144214 0.73776682 0.63040131 -15.11903195] [ 0.80087149 0.21536033 -0.55877079 161.21580197] [ 0. 0. 0. 1. ]] SLAMing on 326.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:-15.06, Z:161.31 [[-5.76800251e-01 3.67384877e-01 -7.29609363e-01 2.15268448e+02] [ 1.64173257e-01 9.27071258e-01 3.37025259e-01 -1.50614894e+01] [ 8.00217853e-01 7.46139084e-02 -5.95049706e-01 1.61307025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:-15.01, Z:161.32 [[-5.96679005e-01 2.41142321e-01 -7.65391760e-01 2.15344276e+02] [ 8.73186564e-02 9.67629632e-01 2.36787559e-01 -1.50085522e+01] [ 7.97715248e-01 7.44531847e-02 -5.98420509e-01 1.61318072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.43, Y:-14.95, Z:161.30 [[-6.06674503e-01 1.11871637e-01 -7.87039252e-01 2.15431354e+02] [ 9.35471911e-03 9.90984446e-01 1.33649983e-01 -1.49482507e+01] [ 7.94895299e-01 7.37195061e-02 -6.02251524e-01 1.61302670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.50, Y:-14.88, Z:161.30 [[-6.06171741e-01 -1.82977323e-02 -7.95123269e-01 2.15502502e+02] [-6.87675406e-02 9.97197114e-01 2.94778117e-02 -1.48777778e+01] [ 7.92355252e-01 7.25472881e-02 -6.05731001e-01 1.61296939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.56, Y:-14.80, Z:161.30 [[-5.95175090e-01 -1.48012936e-01 -7.89847316e-01 2.15556367e+02] [-1.47003052e-01 9.86359079e-01 -7.40666551e-02 -1.47994300e+01] [ 7.90035894e-01 7.20273379e-02 -6.08814708e-01 1.61301165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.60, Y:-14.71, Z:161.30 [[-5.74462892e-01 -2.74651390e-01 -7.71076520e-01 2.15600540e+02] [-2.23437120e-01 9.58865996e-01 -1.75076715e-01 -1.47145651e+01] [ 7.87444118e-01 7.17120404e-02 -6.12200249e-01 1.61302524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.62, Y:-14.63, Z:161.32 [[-5.44111867e-01 -3.96161967e-01 -7.39593113e-01 2.15623075e+02] [-2.96809219e-01 9.15389585e-01 -2.71967270e-01 -1.46299970e+01] [ 7.84758921e-01 7.15374347e-02 -6.15658860e-01 1.61318966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.65, Y:-14.53, Z:161.31 [[-5.04280181e-01 -5.10504580e-01 -6.96481566e-01 2.15652633e+02] [-3.65813064e-01 8.56887192e-01 -3.63215009e-01 -1.45325541e+01] [ 7.82229059e-01 7.16199253e-02 -6.18860473e-01 1.61308141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:-14.44, Z:161.30 [[-4.55946510e-01 -6.15871849e-01 -6.42506534e-01 2.15664903e+02] [-4.28952376e-01 7.84596024e-01 -4.47670569e-01 -1.44355607e+01] [ 7.79815773e-01 7.14908709e-02 -6.21913512e-01 1.61304485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:-14.35, Z:161.31 [[-4.00253810e-01 -7.10523239e-01 -5.78751773e-01 2.15657064e+02] [-4.85181483e-01 7.00072829e-01 -5.23924576e-01 -1.43466625e+01] [ 7.77428978e-01 7.10968361e-02 -6.24939536e-01 1.61314543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.64, Y:-14.26, Z:161.32 [[-3.38069764e-01 -7.93173687e-01 -5.06541545e-01 2.15642085e+02] [-5.33688952e-01 6.04896623e-01 -5.90995921e-01 -1.42550109e+01] [ 7.75167684e-01 7.05377753e-02 -6.27805292e-01 1.61316146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.62, Y:-14.15, Z:161.30 [[-2.70563280e-01 -8.62699199e-01 -4.27253559e-01 2.15623467e+02] [-5.73244574e-01 5.00922033e-01 -6.48434866e-01 -1.41539366e+01] [ 7.73424961e-01 6.94781203e-02 -6.30068743e-01 1.61299796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.58, Y:-14.08, Z:161.31 [[-1.98993854e-01 -9.18454832e-01 -3.41821836e-01 2.15583471e+02] [-6.04726468e-01 3.89553383e-01 -6.94661112e-01 -1.40753417e+01] [ 7.71172708e-01 6.84754196e-02 -6.32932676e-01 1.61310130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:-13.99, Z:161.31 [[-1.25202726e-01 -9.59588156e-01 -2.52021524e-01 2.15537159e+02] [-6.26806484e-01 2.73409490e-01 -7.29630648e-01 -1.39946447e+01] [ 7.69050005e-01 6.66169789e-02 -6.35707691e-01 1.61309413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.49, Y:-13.91, Z:161.29 [[-5.22823773e-02 -9.80933648e-01 -1.87178339e-01 2.15489131e+02] [-6.33845944e-01 1.77435848e-01 -7.52831880e-01 -1.39138059e+01] [ 7.71690270e-01 7.92823903e-02 -6.31037582e-01 1.61291523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.47, Y:-13.92, Z:161.26 [[ 2.59203527e-02 -9.71544098e-01 -2.35436192e-01 2.15470707e+02] [-6.54566183e-01 1.61510948e-01 -7.38550828e-01 -1.39226057e+01] [ 7.55560221e-01 1.73252068e-01 -6.31753491e-01 1.61259263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.38, Y:-13.82, Z:161.34 [[ 1.05472135e-01 -9.94098073e-01 2.53899623e-02 2.15378307e+02] [-6.48870784e-01 -8.81471393e-02 -7.55775619e-01 -1.38164790e+01] [ 7.53553139e-01 6.32384633e-02 -6.54338263e-01 1.61341527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.50, Y:-14.52, Z:160.89 [[ 9.64679941e-02 9.88330613e-01 -1.17883523e-01 2.14497678e+02] [-6.37859632e-01 1.52305627e-01 7.54942439e-01 -1.45233507e+01] [ 7.64087047e-01 2.36535802e-03 6.45108820e-01 1.60894984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.50, Y:-14.54, Z:160.92 [[ 9.76429406e-02 9.88193957e-01 -1.18061673e-01 2.14500863e+02] [-6.37683209e-01 1.53199948e-01 7.54910525e-01 -1.45419411e+01] [ 7.64085062e-01 1.57426287e-03 6.45113587e-01 1.60916384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:-14.56, Z:160.93 [[ 1.02437631e-01 9.86626675e-01 -1.26784606e-01 2.14511723e+02] [-6.39553051e-01 1.62944098e-01 7.51279652e-01 -1.45637606e+01] [ 7.61891348e-01 4.12617384e-03 6.47691708e-01 1.60928501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:-14.58, Z:160.96 [[ 9.98098194e-02 9.87365543e-01 -1.23074302e-01 2.14508861e+02] [-6.36670377e-01 1.58430068e-01 7.54685858e-01 -1.45793650e+01] [ 7.64649483e-01 3.03270271e-03 6.44439269e-01 1.60957341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:-14.60, Z:160.98 [[ 1.02200443e-01 9.87633391e-01 -1.18892197e-01 2.14510438e+02] [-6.35536209e-01 1.56771773e-01 7.55986996e-01 -1.45964588e+01] [ 7.65276941e-01 -1.70191004e-03 6.43698926e-01 1.60979970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:-14.61, Z:161.00 [[ 1.03577198e-01 9.87445180e-01 -1.19263495e-01 2.14513935e+02] [-6.34965775e-01 1.57940689e-01 7.56222985e-01 -1.46139576e+01] [ 7.65565300e-01 -2.59922086e-03 6.43352948e-01 1.60999955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-13.89, Z:161.49 [[ 1.75529375e-01 -9.77553740e-01 1.16525210e-01 2.15347588e+02] [-6.37768156e-01 -2.03080622e-01 -7.42973781e-01 -1.38896384e+01] [ 7.49960811e-01 5.60976546e-02 -6.59099261e-01 1.61491449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:214.57, Y:-14.70, Z:161.04 [[ 1.83246969e-01 9.59077651e-01 -2.15848576e-01 2.14566190e+02] [-6.17781693e-01 2.83141105e-01 7.33605408e-01 -1.46996463e+01] [ 7.64700156e-01 -1.08366885e-03 6.44385364e-01 1.61041856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:-13.85, Z:161.56 [[ 2.47754954e-01 -9.27359463e-01 2.80395986e-01 2.15296126e+02] [-6.12441832e-01 -3.74170800e-01 -6.96355667e-01 -1.38540946e+01] [ 7.50688008e-01 7.99334881e-04 -6.60656398e-01 1.61560469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:-13.85, Z:161.55 [[ 3.19022330e-01 -9.05411657e-01 2.80097276e-01 2.15294694e+02] [-5.82222957e-01 -4.20425547e-01 -6.95887051e-01 -1.38487601e+01] [ 7.47824299e-01 5.89244443e-02 -6.61276590e-01 1.61554462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.26, Y:-13.83, Z:161.57 [[ 3.85471893e-01 -8.56595592e-01 3.43009346e-01 2.15257693e+02] [-5.42932532e-01 -5.11133962e-01 -6.66307991e-01 -1.38316972e+01] [ 7.46080214e-01 7.06120698e-02 -6.62101390e-01 1.61567800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:-13.82, Z:161.64 [[ 4.48134109e-01 -7.18745886e-01 5.31582705e-01 2.15128297e+02] [-4.89448775e-01 -6.94856283e-01 -5.26891491e-01 -1.38177233e+01] [ 7.48074674e-01 -2.40644552e-02 -6.63178094e-01 1.61636869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:-13.82, Z:161.62 [[ 5.04589281e-01 -6.95672351e-01 5.11301905e-01 2.15133210e+02] [-4.34445644e-01 -7.16375550e-01 -5.45951513e-01 -1.38188938e+01] [ 7.46087556e-01 5.33483962e-02 -6.63707246e-01 1.61622589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:-13.82, Z:161.64 [[ 5.55121142e-01 -6.05033188e-01 5.70767343e-01 2.15078184e+02] [-3.72358423e-01 -7.94375066e-01 -4.79914012e-01 -1.38239408e+01] [ 7.43767251e-01 5.38803866e-02 -6.66263597e-01 1.61643964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-13.84, Z:161.67 [[ 5.97807206e-01 -5.05938526e-01 6.21814082e-01 2.15023978e+02] [-3.04256511e-01 -8.60835943e-01 -4.07908635e-01 -1.38370375e+01] [ 7.41656605e-01 5.46597386e-02 -6.68549020e-01 1.61666247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:-13.86, Z:161.69 [[ 6.32729035e-01 -3.98976755e-01 6.63680282e-01 2.14971671e+02] [-2.30045579e-01 -9.15208036e-01 -3.30867469e-01 -1.38572884e+01] [ 7.39413957e-01 5.66727401e-02 -6.70861537e-01 1.61688265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:-13.89, Z:161.71 [[ 6.58463366e-01 -2.87587661e-01 6.95499341e-01 2.14922458e+02] [-1.53657103e-01 -9.56018281e-01 -2.49837028e-01 -1.38856171e+01] [ 7.36760131e-01 5.76401163e-02 -6.73692902e-01 1.61710559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:-13.88, Z:161.70 [[ 6.71208845e-01 -2.71066291e-01 6.89928803e-01 2.14913769e+02] [-7.87591043e-02 -9.51551119e-01 -2.97233025e-01 -1.38848323e+01] [ 7.37072378e-01 1.45167261e-01 -6.60038466e-01 1.61702845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-13.85, Z:161.48 [[ 7.14359880e-01 -5.50054438e-01 4.32585342e-01 2.15167814e+02] [-2.74391395e-02 -6.39716953e-01 -7.68120637e-01 -1.38456215e+01] [ 6.99240342e-01 5.36844797e-01 -4.72081146e-01 1.61477970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.39, Y:-14.88, Z:161.26 [[ 7.10281775e-01 -1.51839800e-02 -7.03753684e-01 2.15394957e+02] [-3.44257642e-02 9.97821690e-01 -5.62738048e-02 -1.48812014e+01] [ 7.03075151e-01 6.41975163e-02 7.08211841e-01 1.61257310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.39, Y:-14.91, Z:161.30 [[ 7.10249365e-01 4.48934600e-02 -7.02517200e-01 2.15387426e+02] [-3.50556476e-02 9.98981833e-01 2.83971688e-02 -1.49141184e+01] [ 7.03076767e-01 4.45812428e-03 7.11099982e-01 1.61303218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:215.45, Y:-14.86, Z:161.26 [[ 7.27696880e-01 -3.04935815e-02 -6.85220689e-01 2.15453620e+02] [-2.42476745e-02 9.97243122e-01 -7.01299191e-02 -1.48619860e+01] [ 6.85470132e-01 6.76483315e-02 7.24951310e-01 1.61263423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.41, Y:-14.93, Z:161.36 [[ 7.09892761e-01 8.81417603e-02 -6.98772708e-01 2.15407925e+02] [-3.74291351e-02 9.95457569e-01 8.75402111e-02 -1.49349985e+01] [ 7.03314530e-01 -3.59897040e-02 7.09967192e-01 1.61363136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.45, Y:-14.91, Z:161.36 [[ 7.10344828e-01 4.69666228e-02 -7.02285100e-01 2.15449169e+02] [-3.84727114e-02 9.98870443e-01 2.78870786e-02 -1.49138579e+01] [ 7.02801591e-01 7.20936988e-03 7.11349386e-01 1.61362673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:-14.87, Z:161.33 [[ 7.25945319e-01 -1.81173008e-02 -6.87513751e-01 2.15509577e+02] [-2.82776700e-02 9.98021361e-01 -5.61581427e-02 -1.48694799e+01] [ 6.87170843e-01 6.02090278e-02 7.23996620e-01 1.61329899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:215.48, Y:-14.92, Z:161.40 [[ 7.18691505e-01 6.85277483e-02 -6.91943978e-01 2.15484765e+02] [-3.34586020e-02 9.97387194e-01 6.40258273e-02 -1.49212952e+01] [ 6.94523608e-01 -2.28633401e-02 7.19106547e-01 1.61399228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:-14.88, Z:161.38 [[ 7.23745977e-01 4.28319084e-03 -6.90053198e-01 2.15539903e+02] [-3.09254536e-02 9.99177372e-01 -2.62334923e-02 -1.48843136e+01] [ 6.89373177e-01 4.03265927e-02 7.23283062e-01 1.61381230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.52, Y:-14.93, Z:161.45 [[ 7.11391822e-01 7.05194706e-02 -6.99248653e-01 2.15521196e+02] [-3.83630774e-02 9.97366133e-01 6.15554309e-02 -1.49265157e+01] [ 7.01747782e-01 -1.69647000e-02 7.12223455e-01 1.61449189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.57, Y:-14.90, Z:161.43 [[ 7.18444791e-01 1.81724902e-02 -6.95346563e-01 2.15572609e+02] [-3.49839658e-02 9.99337552e-01 -1.00289503e-02 -1.48951369e+01] [ 6.94703681e-01 3.15312275e-02 7.18604604e-01 1.61433469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.57, Y:-14.92, Z:161.48 [[ 7.10377534e-01 6.17386079e-02 -7.01107769e-01 2.15567402e+02] [-3.98861058e-02 9.98075725e-01 4.74757432e-02 -1.49223664e+01] [ 7.02689731e-01 -5.76124272e-03 7.11473085e-01 1.61484681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.59, Y:-14.91, Z:161.50 [[ 7.09937196e-01 4.69220915e-02 -7.02700146e-01 2.15594762e+02] [-4.10252955e-02 9.98839041e-01 2.52486551e-02 -1.49142990e+01] [ 7.03069060e-01 1.09035218e-02 7.11037981e-01 1.61496549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.63, Y:-14.90, Z:161.50 [[ 7.14448812e-01 3.05675048e-02 -6.99019687e-01 2.15625253e+02] [-3.82673119e-02 9.99257021e-01 4.58464663e-03 -1.49037045e+01] [ 6.98640471e-01 2.34741090e-02 7.15087728e-01 1.61501591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.63, Y:-14.92, Z:161.54 [[ 7.09601229e-01 5.47073450e-02 -7.02476478e-01 2.15630468e+02] [-4.12016532e-02 9.98496988e-01 3.61412463e-02 -1.49193822e+01] [ 7.03397839e-01 3.29731943e-03 7.10788722e-01 1.61539061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.65, Y:-14.92, Z:161.56 [[ 7.09825242e-01 4.65827097e-02 -7.02835811e-01 2.15654412e+02] [-4.11118516e-02 9.98849663e-01 2.46812892e-02 -1.49160396e+01] [ 7.03177034e-01 1.13754795e-02 7.10923805e-01 1.61555274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:-14.92, Z:161.57 [[ 7.10275978e-01 4.59492170e-02 -7.02422027e-01 2.15673841e+02] [-4.05024951e-02 9.98881789e-01 2.43868872e-02 -1.49166845e+01] [ 7.02757129e-01 1.11284245e-02 7.11342798e-01 1.61574984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.69, Y:-14.92, Z:161.59 [[ 7.10229355e-01 4.56205182e-02 -7.02490592e-01 2.15693828e+02] [-4.03150946e-02 9.98896086e-01 2.41102068e-02 -1.49171485e+01] [ 7.02815023e-01 1.11971981e-02 7.11284519e-01 1.61594514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.72, Y:-14.91, Z:161.61 [[ 7.12227695e-01 4.00341397e-02 -7.00805949e-01 2.15717300e+02] [-3.78624827e-02 9.99109925e-01 1.85954436e-02 -1.49142371e+01] [ 7.00926632e-01 1.32900632e-02 7.13109551e-01 1.61608907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.73, Y:-14.92, Z:161.63 [[ 7.09866586e-01 4.38717170e-02 -7.02968494e-01 2.15734404e+02] [-3.83564034e-02 9.98985089e-01 2.36130952e-02 -1.49189039e+01] [ 7.03290990e-01 1.02011958e-02 7.10828896e-01 1.61633328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.76, Y:-14.92, Z:161.65 [[ 7.09882929e-01 4.30088392e-02 -7.03005311e-01 2.15755062e+02] [-3.72680689e-02 9.99029267e-01 2.34864842e-02 -1.49199205e+01] [ 7.03333006e-01 9.52699619e-03 7.10796679e-01 1.61653016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:-14.92, Z:161.67 [[ 7.09896775e-01 4.26293497e-02 -7.03014443e-01 2.15775657e+02] [-3.70070765e-02 9.99045414e-01 2.32106926e-02 -1.49204156e+01] [ 7.03332812e-01 9.53931343e-03 7.10796706e-01 1.61672862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.80, Y:-14.92, Z:161.69 [[ 7.09755006e-01 4.16433564e-02 -7.03216654e-01 2.15795452e+02] [-3.58730634e-02 9.99092614e-01 2.29580505e-02 -1.49214441e+01] [ 7.03534616e-01 8.93194441e-03 7.10604859e-01 1.61692270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.81, Y:-14.92, Z:161.71 [[ 7.09658583e-01 4.08781678e-02 -7.03358850e-01 2.15814254e+02] [-3.50765111e-02 9.99127313e-01 2.26771111e-02 -1.49228685e+01] [ 7.03672036e-01 8.57836798e-03 7.10473136e-01 1.61711233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.83, Y:-14.92, Z:161.73 [[ 7.09541462e-01 3.92587076e-02 -7.03569234e-01 2.15833915e+02] [-3.29173710e-02 9.99203472e-01 2.25581174e-02 -1.49249215e+01] [ 7.03894424e-01 7.15372990e-03 7.10268586e-01 1.61731378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:-14.93, Z:161.75 [[ 7.09471259e-01 3.80894620e-02 -7.03704289e-01 2.15854104e+02] [-3.15468436e-02 9.99253891e-01 2.22813254e-02 -1.49259831e+01] [ 7.04027933e-01 6.39168915e-03 7.10143518e-01 1.61750684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:-14.93, Z:161.77 [[ 7.09308487e-01 3.70487546e-02 -7.03923902e-01 2.15874709e+02] [-3.03587816e-02 9.99296843e-01 2.20037449e-02 -1.49269970e+01] [ 7.04244144e-01 5.76282899e-03 7.09934486e-01 1.61770196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.89, Y:-14.93, Z:161.79 [[ 7.08847452e-01 3.59281866e-02 -7.04446204e-01 2.15894156e+02] [-2.90476382e-02 9.99341601e-01 2.17393282e-02 -1.49284645e+01] [ 7.04763453e-01 5.05263104e-03 7.09424377e-01 1.61789157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.93, Y:-14.92, Z:161.79 [[ 7.13511909e-01 1.71716710e-02 -7.00432644e-01 2.15925413e+02] [-2.55165093e-02 9.99673298e-01 -1.48518528e-03 -1.49166580e+01] [ 7.00178308e-01 1.89322935e-02 7.13716964e-01 1.61791822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.93, Y:-14.93, Z:161.83 [[ 7.08658683e-01 4.32638756e-02 -7.04223763e-01 2.15930348e+02] [-2.85608844e-02 9.99059132e-01 3.26362904e-02 -1.49345835e+01] [ 7.04973154e-01 -3.01473711e-03 7.09227583e-01 1.61832103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.95, Y:-14.93, Z:161.85 [[ 7.08639753e-01 3.53694010e-02 -7.04683408e-01 2.15953412e+02] [-2.86513664e-02 9.99361485e-01 2.13476289e-02 -1.49314702e+01] [ 7.04988510e-01 5.06236400e-03 7.09200658e-01 1.61847613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.97, Y:-14.93, Z:161.87 [[ 7.08404944e-01 3.51411638e-02 -7.04930871e-01 2.15972800e+02] [-2.84439103e-02 9.99369811e-01 2.12350064e-02 -1.49319628e+01] [ 7.05232854e-01 5.00800696e-03 7.08958067e-01 1.61866372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.01, Y:-14.91, Z:161.86 [[ 7.16092018e-01 1.44330962e-03 -6.98004398e-01 2.16013111e+02] [-2.30310674e-02 9.99502220e-01 -2.15611425e-02 -1.49103479e+01] [ 6.97625826e-01 3.15155484e-02 7.15768802e-01 1.61857985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.00, Y:-14.94, Z:161.91 [[ 7.07757552e-01 5.14494334e-02 -7.04579451e-01 2.16004701e+02] [-2.74465229e-02 9.98594113e-01 4.53484946e-02 -1.49429416e+01] [ 7.05922047e-01 -1.27574835e-02 7.08174633e-01 1.61914292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.03, Y:-14.94, Z:161.93 [[ 7.08632394e-01 3.40451294e-02 -7.04756028e-01 2.16032624e+02] [-2.72468413e-02 9.99410592e-01 2.08825011e-02 -1.49358647e+01] [ 7.05051587e-01 4.40435891e-03 7.09142343e-01 1.61926075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40999999999997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:216.07, Y:-14.91, Z:161.92 [[ 7.17147135e-01 2.25600678e-03 -6.96918143e-01 2.16072613e+02] [-2.18961865e-02 9.99574020e-01 -1.92960132e-02 -1.49148449e+01] [ 6.96577737e-01 2.90979302e-02 7.16891042e-01 1.61918446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:-14.95, Z:161.97 [[ 7.09044144e-01 4.92455792e-02 -7.03442446e-01 2.16065258e+02] [-2.75797710e-02 9.98731895e-01 4.21183790e-02 -1.49452452e+01] [ 7.04624551e-01 -1.04630084e-02 7.09503184e-01 1.61973563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.11, Y:-14.92, Z:161.96 [[ 7.16580650e-01 6.04814472e-03 -6.97478023e-01 2.16111131e+02] [-2.32380618e-02 9.99614305e-01 -1.52064053e-02 -1.49184458e+01] [ 6.97117038e-01 2.71046532e-02 7.16444815e-01 1.61961456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.12, Y:-14.93, Z:161.99 [[ 7.15207249e-01 2.45855396e-02 -6.98479879e-01 2.16123233e+02] [-2.53095017e-02 9.99636680e-01 9.27022861e-03 -1.49284234e+01] [ 6.98454021e-01 1.10480430e-02 7.15569648e-01 1.61989841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.13, Y:-14.94, Z:162.03 [[ 7.08513671e-01 4.82542375e-02 -7.04045387e-01 2.16127836e+02] [-3.05241337e-02 9.98821294e-01 3.77398879e-02 -1.49444941e+01] [ 7.05036634e-01 -5.24885104e-03 7.09151461e-01 1.62031341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.15, Y:-14.94, Z:162.04 [[ 7.08654560e-01 3.68083955e-02 -7.04594817e-01 2.16153828e+02] [-3.18389732e-02 9.99289252e-01 2.01809609e-02 -1.49385304e+01] [ 7.04836857e-01 8.13224551e-03 7.09322827e-01 1.62044823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.19, Y:-14.92, Z:162.04 [[ 7.17259814e-01 4.76068772e-03 -6.96789563e-01 2.16194462e+02] [-2.90330766e-02 9.99312459e-01 -2.30583886e-02 -1.49161131e+01] [ 6.96200718e-01 3.67688003e-02 7.16904886e-01 1.62035848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.20, Y:-14.93, Z:162.07 [[ 7.15503316e-01 2.93868392e-02 -6.97990988e-01 2.16203869e+02] [-3.09058352e-02 9.99468210e-01 1.03983921e-02 -1.49308432e+01] [ 6.97925379e-01 1.41319104e-02 7.16031043e-01 1.62069411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.21, Y:-14.95, Z:162.11 [[ 7.07963987e-01 5.36454128e-02 -7.04208181e-01 2.16207652e+02] [-3.58736346e-02 9.98555364e-01 4.00033315e-02 -1.49470941e+01] [ 7.05336852e-01 -3.05841109e-03 7.08865693e-01 1.62110750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:-14.94, Z:162.12 [[ 7.07865192e-01 3.97994985e-02 -7.05225404e-01 2.16234947e+02] [-3.64137934e-02 9.99139904e-01 1.98365094e-02 -1.49399134e+01] [ 7.05408326e-01 1.16383576e-02 7.08705611e-01 1.62122908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:-14.94, Z:162.14 [[ 7.07649802e-01 3.99970985e-02 -7.05430358e-01 2.16255540e+02] [-3.69715593e-02 9.99124846e-01 1.95613614e-02 -1.49403627e+01] [ 7.05595395e-01 1.22382668e-02 7.08509254e-01 1.62141573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:-14.92, Z:162.13 [[ 7.16879787e-01 3.69638175e-03 -6.97186996e-01 2.16299589e+02] [-3.14097399e-02 9.99141856e-01 -2.69996401e-02 -1.49170660e+01] [ 6.96488908e-01 4.12539585e-02 7.16380703e-01 1.62131539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.31, Y:-14.93, Z:162.16 [[ 7.16982353e-01 2.47207145e-02 -6.96652849e-01 2.16309016e+02] [-3.07037562e-02 9.99521043e-01 3.86824378e-03 -1.49304081e+01] [ 6.96414808e-01 1.86163967e-02 7.17397968e-01 1.62160433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:-14.93, Z:162.18 [[ 7.16958542e-01 1.55389984e-02 -6.96942600e-01 2.16334806e+02] [-3.02685254e-02 9.99502597e-01 -8.85296527e-03 -1.49260637e+01] [ 6.96458373e-01 2.74426339e-02 7.17072268e-01 1.62175621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.35, Y:-14.93, Z:162.19 [[ 7.18842184e-01 1.62662456e-02 -6.94982966e-01 2.16354270e+02] [-2.76123322e-02 9.99605367e-01 -5.16427447e-03 -1.49279217e+01] [ 6.94624700e-01 2.29023989e-02 7.19007654e-01 1.62194932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.34, Y:-14.96, Z:162.26 [[ 7.07095244e-01 6.71154518e-02 -7.03926014e-01 2.16340488e+02] [-3.31333828e-02 9.97536763e-01 6.18270562e-02 -1.49615220e+01] [ 7.06341628e-01 -2.03941673e-02 7.07577263e-01 1.62256627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.40, Y:-14.92, Z:162.23 [[ 7.17801054e-01 -8.30327452e-03 -6.96198752e-01 2.16403670e+02] [-2.36120428e-02 9.99063399e-01 -3.62601151e-02 -1.49166883e+01] [ 6.95847770e-01 4.24662236e-02 7.16932704e-01 1.62226472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.41, Y:-14.94, Z:162.26 [[ 7.15755017e-01 1.84993163e-02 -6.98106390e-01 2.16409168e+02] [-1.99581184e-02 9.99782628e-01 6.03084532e-03 -1.49366696e+01] [ 6.98066207e-01 9.61628222e-03 7.15968643e-01 1.62263029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.43, Y:-14.94, Z:162.28 [[ 7.15591987e-01 1.45875808e-02 -6.98366172e-01 2.16430382e+02] [-1.79520681e-02 9.99835748e-01 2.48985241e-03 -1.49370306e+01] [ 6.98287786e-01 1.07553987e-02 7.15736327e-01 1.62282658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97999999999996 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:216.45, Y:-14.95, Z:162.31 [[ 7.15293833e-01 2.27634961e-02 -6.98452973e-01 2.16447832e+02] [-1.83843083e-02 9.99736372e-01 1.37551318e-02 -1.49455464e+01] [ 6.98581956e-01 3.00161390e-03 7.15523753e-01 1.62307855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.45, Y:-14.96, Z:162.34 [[ 7.11260598e-01 4.35110200e-02 -7.01580467e-01 2.16449839e+02] [-1.52491696e-02 9.98802599e-01 4.64847411e-02 -1.49597770e+01] [ 7.02762993e-01 -2.23642453e-02 7.11072441e-01 1.62343257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:-14.95, Z:162.35 [[ 7.10762317e-01 2.12221852e-02 -7.03112045e-01 2.16480661e+02] [-1.35745199e-02 9.99772471e-01 1.64541333e-02 -1.49492235e+01] [ 7.03301259e-01 -2.15056949e-03 7.10888679e-01 1.62352748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.50, Y:-14.95, Z:162.37 [[ 7.10505518e-01 2.00127444e-02 -7.03406994e-01 2.16500180e+02] [-1.21387689e-02 9.99795342e-01 1.61840676e-02 -1.49496162e+01] [ 7.03586924e-01 -2.96037441e-03 7.10603038e-01 1.62371031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.52, Y:-14.95, Z:162.39 [[ 7.10248512e-01 1.90048436e-02 -7.03694442e-01 2.16520039e+02] [-1.09000718e-02 9.99812567e-01 1.60005835e-02 -1.49498411e+01] [ 7.03866635e-01 -3.69407065e-03 7.10322542e-01 1.62390720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.54, Y:-14.95, Z:162.41 [[ 7.10553239e-01 1.83562652e-02 -7.03403967e-01 2.16539317e+02] [-1.02620973e-02 9.99823686e-01 1.57253338e-02 -1.49502437e+01] [ 7.03568606e-01 -3.95528689e-03 7.10616333e-01 1.62409527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:-14.96, Z:162.43 [[ 7.13470011e-01 2.61790364e-02 -7.00196544e-01 2.16555090e+02] [-9.48734594e-03 9.99571123e-01 2.77048954e-02 -1.49554770e+01] [ 7.00621533e-01 -1.31236052e-02 7.13412390e-01 1.62434890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.59, Y:-14.93, Z:162.43 [[ 7.15902114e-01 -6.97923654e-03 -6.98165778e-01 2.16593040e+02] [-5.34831883e-03 9.99865883e-01 -1.54793798e-02 -1.49340093e+01] [ 6.98180176e-01 1.48157339e-02 7.15768773e-01 1.62431097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.60, Y:-14.95, Z:162.47 [[ 7.12093392e-01 2.18791254e-02 -7.01743761e-01 2.16597095e+02] [-9.84567907e-03 9.99727223e-01 2.11788335e-02 -1.49541526e+01] [ 7.02015715e-01 -8.17216355e-03 7.12114563e-01 1.62473568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:-14.95, Z:162.49 [[ 7.13135774e-01 1.86708306e-02 -7.00777259e-01 2.16618080e+02] [-1.09691882e-02 9.99820075e-01 1.54756031e-02 -1.49519773e+01] [ 7.00940115e-01 -3.34924855e-03 7.13212267e-01 1.62490958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.64, Y:-14.95, Z:162.51 [[ 7.13147724e-01 1.89463418e-02 -7.00757704e-01 2.16637850e+02] [-1.14747524e-02 9.99816270e-01 1.53543331e-02 -1.49517284e+01] [ 7.00919862e-01 -2.90888652e-03 7.13234103e-01 1.62510818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.66, Y:-14.95, Z:162.53 [[ 7.13453849e-01 1.95028592e-02 -7.00430756e-01 2.16657579e+02] [-1.25351042e-02 9.99807856e-01 1.50705739e-02 -1.49515972e+01] [ 7.00590092e-01 -1.97218648e-03 7.13561233e-01 1.62529810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.68, Y:-14.94, Z:162.54 [[ 7.16016833e-01 1.37833511e-02 -6.97946928e-01 2.16680719e+02] [-1.13727245e-02 9.99902688e-01 8.07933590e-03 -1.49434377e+01] [ 6.97990369e-01 2.15261759e-03 7.16103911e-01 1.62540290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.70, Y:-14.94, Z:162.56 [[ 7.15926610e-01 9.61518824e-03 -6.98109331e-01 2.16703130e+02] [-1.14290221e-02 9.99932582e-01 2.05153958e-03 -1.49415879e+01] [ 6.98081991e-01 6.50995522e-03 7.15988236e-01 1.62558178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:-14.95, Z:162.59 [[ 7.13158194e-01 1.86383456e-02 -7.00755309e-01 2.16720828e+02] [-1.75031118e-02 9.99808262e-01 8.77950445e-03 -1.49473106e+01] [ 7.00784583e-01 6.00422294e-03 7.13347683e-01 1.62585301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.75, Y:-14.94, Z:162.59 [[ 7.18067169e-01 5.61601286e-03 -6.95951149e-01 2.16748729e+02] [-1.42405797e-02 9.99876653e-01 -6.62456350e-03 -1.49354405e+01] [ 6.95828102e-01 1.46676293e-02 7.18058573e-01 1.62589677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.76, Y:-14.95, Z:162.63 [[ 7.12978600e-01 2.90158157e-02 -7.00585182e-01 2.16757385e+02] [-2.11918827e-02 9.99578703e-01 1.98323242e-02 -1.49502443e+01] [ 7.00865479e-01 7.06696247e-04 7.13293124e-01 1.62628237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.78, Y:-14.95, Z:162.65 [[ 7.12936914e-01 2.62367050e-02 -7.00737177e-01 2.16779527e+02] [-2.23854952e-02 9.99642026e-01 1.46529504e-02 -1.49478255e+01] [ 7.00870777e-01 5.23971944e-03 7.13269023e-01 1.62645737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.80, Y:-14.95, Z:162.66 [[ 7.12741959e-01 2.69772212e-02 -7.00907362e-01 2.16799464e+02] [-2.36976465e-02 9.99615796e-01 1.43764355e-02 -1.49471390e+01] [ 7.01025907e-01 6.36316612e-03 7.13107417e-01 1.62664699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.82, Y:-14.95, Z:162.68 [[ 7.12477267e-01 2.78073567e-02 -7.01143990e-01 2.16819826e+02] [-2.49815172e-02 9.99586227e-01 1.42582519e-02 -1.49466926e+01] [ 7.01250360e-01 7.35696031e-03 7.12877134e-01 1.62683767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.84, Y:-14.95, Z:162.70 [[ 7.12384307e-01 2.84811341e-02 -7.01211397e-01 2.16840042e+02] [-2.62033744e-02 9.99558899e-01 1.39782359e-02 -1.49460388e+01] [ 7.01300208e-01 8.41622889e-03 7.12816375e-01 1.62702382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.86, Y:-14.94, Z:162.72 [[ 7.11984381e-01 2.99226447e-02 -7.01557465e-01 2.16861131e+02] [-2.84151094e-02 9.99501043e-01 1.37930261e-02 -1.49447879e+01] [ 7.01620141e-01 1.01144129e-02 7.12479386e-01 1.62720677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.88, Y:-14.94, Z:162.74 [[ 7.11896137e-01 3.04973789e-02 -7.01622263e-01 2.16882147e+02] [-2.94963816e-02 9.99473505e-01 1.35157657e-02 -1.49446548e+01] [ 7.01665058e-01 1.10734966e-02 7.12420890e-01 1.62740024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:-14.94, Z:162.76 [[ 7.11470742e-01 3.14640586e-02 -7.02010966e-01 2.16902341e+02] [-3.11274614e-02 9.99427631e-01 1.32473308e-02 -1.49442792e+01] [ 7.02025971e-01 1.24267309e-02 7.12042914e-01 1.62758782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:-14.94, Z:162.78 [[ 7.11480420e-01 3.11934748e-02 -7.02013233e-01 2.16922918e+02] [-3.08666661e-02 9.99437315e-01 1.31263824e-02 -1.49445366e+01] [ 7.02027678e-01 1.23296440e-02 7.12042920e-01 1.62778650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:-14.94, Z:162.80 [[ 7.11501820e-01 3.15319117e-02 -7.01976423e-01 2.16942270e+02] [-3.15932097e-02 9.99417938e-01 1.28707058e-02 -1.49443941e+01] [ 7.01973667e-01 1.30201578e-02 7.12083876e-01 1.62796896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:-14.94, Z:162.82 [[ 7.11925026e-01 3.23582652e-02 -7.01509587e-01 2.16962464e+02] [-3.28673447e-02 9.99378489e-01 1.27426184e-02 -1.49449549e+01] [ 7.01485920e-01 1.39849685e-02 7.12546086e-01 1.62816437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:-14.95, Z:162.84 [[ 7.11967158e-01 3.25764418e-02 -7.01456728e-01 2.16982595e+02] [-3.34440024e-02 9.99362841e-01 1.24664197e-02 -1.49453060e+01] [ 7.01415900e-01 1.45838391e-02 7.12603008e-01 1.62835977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.00, Y:-14.95, Z:162.86 [[ 7.12290940e-01 3.29562401e-02 -7.01110193e-01 2.17003371e+02] [-3.42459384e-02 9.99339181e-01 1.21826646e-02 -1.49453937e+01] [ 7.01048381e-01 1.53325749e-02 7.12948862e-01 1.62855122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.02, Y:-14.95, Z:162.87 [[ 7.12322372e-01 3.30803605e-02 -7.01072413e-01 2.17022945e+02] [-3.46941014e-02 9.99327095e-01 1.19027876e-02 -1.49457965e+01] [ 7.00994406e-01 1.58444555e-02 7.12990741e-01 1.62873441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.04, Y:-14.95, Z:162.89 [[ 7.12333080e-01 3.28051123e-02 -7.01074467e-01 2.17043524e+02] [-3.44278986e-02 9.99337746e-01 1.17808540e-02 -1.49460160e+01] [ 7.00996650e-01 1.57446286e-02 7.12990746e-01 1.62893310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.06, Y:-14.95, Z:162.91 [[ 7.12335352e-01 3.25427274e-02 -7.01084387e-01 2.17063900e+02] [-3.43167484e-02 9.99344613e-01 1.15198205e-02 -1.49464804e+01] [ 7.00999791e-01 1.58529611e-02 7.12985257e-01 1.62913025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.08, Y:-14.95, Z:162.93 [[ 7.12696044e-01 3.22680125e-02 -7.00730422e-01 2.17083031e+02] [-3.42023191e-02 9.99351802e-01 1.12329059e-02 -1.49470318e+01] [ 7.00638674e-01 1.59609579e-02 7.13337716e-01 1.62931502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:-14.95, Z:162.95 [[ 7.12733820e-01 3.13314943e-02 -7.00734500e-01 2.17103015e+02] [-3.30098823e-02 9.99393273e-01 1.11100925e-02 -1.49480467e+01] [ 7.00657441e-01 1.52126247e-02 7.13335634e-01 1.62950596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.12, Y:-14.95, Z:162.97 [[ 7.12745511e-01 3.00516025e-02 -7.00778666e-01 2.17123039e+02] [-3.14808007e-02 9.99445562e-01 1.08409998e-02 -1.49488057e+01] [ 7.00715917e-01 1.43341996e-02 7.13296386e-01 1.62969822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.14, Y:-14.95, Z:162.99 [[ 7.12874355e-01 2.84979426e-02 -7.00712510e-01 2.17143035e+02] [-2.95667346e-02 9.99506920e-01 1.05699896e-02 -1.49498700e+01] [ 7.00668225e-01 1.31827063e-02 7.13365442e-01 1.62989034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.16, Y:-14.95, Z:163.01 [[ 7.13161136e-01 2.65565914e-02 -7.00496925e-01 2.17163151e+02] [-2.71138895e-02 9.99579377e-01 1.02910499e-02 -1.49510840e+01] [ 7.00475575e-01 1.16540193e-02 7.13581216e-01 1.63008679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:-14.95, Z:163.03 [[ 7.13577655e-01 2.45404163e-02 -7.00146198e-01 2.17183091e+02] [-2.45545854e-02 9.99648350e-01 1.00124563e-02 -1.49523866e+01] [ 7.00145701e-01 1.00471345e-02 7.13929305e-01 1.63027581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.20, Y:-14.95, Z:163.05 [[ 7.13851393e-01 2.22927517e-02 -6.99942299e-01 2.17203287e+02] [-2.15236400e-02 9.99719430e-01 9.88912455e-03 -1.49540143e+01] [ 6.99966372e-01 8.00594077e-03 7.14130928e-01 1.63047461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.22, Y:-14.96, Z:163.07 [[ 7.13701303e-01 1.75072488e-02 -7.00231352e-01 2.17222615e+02] [-1.50927354e-02 9.99839868e-01 9.61502282e-03 -1.49571416e+01] [ 7.00287555e-01 3.70615223e-03 7.13851248e-01 1.63066444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.24, Y:-14.96, Z:163.09 [[ 7.13295023e-01 1.48518410e-02 -7.00706524e-01 2.17242357e+02] [-1.14866446e-02 9.99888896e-01 9.50016054e-03 -1.49587006e+01] [ 7.00769767e-01 1.27234954e-03 7.13386371e-01 1.63085637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:-14.93, Z:163.07 [[ 7.22172295e-01 -2.58607049e-02 -6.91229629e-01 2.17285196e+02] [ 4.90613535e-04 9.99319781e-01 -3.68745861e-02 -1.49321881e+01] [ 6.91713044e-01 2.62906778e-02 7.21693747e-01 1.63070447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.28, Y:-14.97, Z:163.13 [[ 7.12781144e-01 2.46658009e-02 -7.00952666e-01 2.17275478e+02] [-4.88188673e-03 9.99531706e-01 3.02082213e-02 -1.49703928e+01] [ 7.01369524e-01 -1.81098790e-02 7.12567768e-01 1.63133258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.30, Y:-14.96, Z:163.15 [[ 7.13444714e-01 7.05294896e-03 -7.00676028e-01 2.17301102e+02] [-6.70561388e-04 9.99955757e-01 9.38269354e-03 -1.49633644e+01] [ 7.00711204e-01 -6.22418681e-03 7.13417878e-01 1.63146427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:-14.96, Z:163.17 [[ 7.13694697e-01 6.14752149e-03 -7.00429930e-01 2.17321036e+02] [ 4.07208146e-04 9.99957676e-01 9.19133138e-03 -1.49626041e+01] [ 7.00456789e-01 -6.84502524e-03 7.13661987e-01 1.63165867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.34, Y:-14.96, Z:163.19 [[ 7.13662356e-01 5.40744812e-03 -7.00468986e-01 2.17341499e+02] [ 1.17276110e-03 9.99959579e-01 8.91429188e-03 -1.49618041e+01] [ 7.00488876e-01 -7.18327733e-03 7.13627168e-01 1.63185840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.36, Y:-14.96, Z:163.20 [[ 7.12889928e-01 4.35732772e-03 -7.01262408e-01 2.17361582e+02] [ 2.39434778e-03 9.99959744e-01 8.64734607e-03 -1.49600705e+01] [ 7.01271858e-01 -7.84367200e-03 7.12850797e-01 1.63204861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.38, Y:-14.96, Z:163.22 [[ 7.12814804e-01 3.91657223e-03 -7.01341369e-01 2.17382059e+02] [ 2.74218484e-03 9.99961201e-01 8.37123044e-03 -1.49593570e+01] [ 7.01346944e-01 -7.89034465e-03 7.12776408e-01 1.63224147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:-14.96, Z:163.24 [[ 7.12642023e-01 3.23242513e-03 -7.01520419e-01 2.17402223e+02] [ 3.43472489e-03 9.99961322e-01 8.09674136e-03 -1.49586309e+01] [ 7.01519458e-01 -8.17960779e-03 7.12603357e-01 1.63243677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.42, Y:-14.96, Z:163.26 [[ 7.12569849e-01 2.53772765e-03 -7.01596586e-01 2.17422522e+02] [ 4.13858807e-03 9.99960857e-01 7.82025098e-03 -1.49580064e+01] [ 7.01588969e-01 -8.47609433e-03 7.12531455e-01 1.63263544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:-14.96, Z:163.28 [[ 7.12359074e-01 1.89098646e-03 -7.01812635e-01 2.17441960e+02] [ 4.77800008e-03 9.99960128e-01 7.54412577e-03 -1.49573201e+01] [ 7.01798918e-01 -8.72738727e-03 7.12321635e-01 1.63283012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.46, Y:-14.95, Z:163.30 [[ 7.12057823e-01 1.06092629e-03 -7.02120026e-01 2.17462437e+02] [ 5.76463821e-03 9.99956319e-01 7.35719748e-03 -1.49548766e+01] [ 7.02097162e-01 -9.28621795e-03 7.12020604e-01 1.63302296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.48, Y:-14.95, Z:163.32 [[ 7.12076496e-01 6.37365517e-04 -7.02101601e-01 2.17482766e+02] [ 6.08553066e-03 9.99956421e-01 7.07974613e-03 -1.49536854e+01] [ 7.02075516e-01 -9.31398164e-03 7.12041586e-01 1.63321945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.50, Y:-14.95, Z:163.34 [[ 7.11888925e-01 9.26633207e-04 -7.02291464e-01 2.17502136e+02] [ 5.41423578e-03 9.99962171e-01 6.80761890e-03 -1.49526100e+01] [ 7.02271204e-01 -8.64864007e-03 7.11856978e-01 1.63340955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.52, Y:-14.95, Z:163.36 [[ 7.11937282e-01 1.35919092e-03 -7.02241738e-01 2.17522510e+02] [ 4.68649462e-03 9.99966662e-01 6.68663738e-03 -1.49512719e+01] [ 7.02227415e-01 -8.05151858e-03 7.11907178e-01 1.63360404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.54, Y:-14.95, Z:163.38 [[ 7.11967941e-01 2.19468541e-03 -7.02208541e-01 2.17543124e+02] [ 3.24454870e-03 9.99974160e-01 6.41496521e-03 -1.49497474e+01] [ 7.02204475e-01 -6.84559938e-03 7.11942423e-01 1.63380242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.56, Y:-14.95, Z:163.40 [[ 7.11717085e-01 4.95655389e-03 -7.02448734e-01 2.17563774e+02] [-8.97478837e-04 9.99980706e-01 6.14665104e-03 -1.49455029e+01] [ 7.02465647e-01 -3.74424369e-03 7.11707802e-01 1.63399456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.58, Y:-14.95, Z:163.42 [[ 7.13993583e-01 1.63532491e-02 -6.99961239e-01 2.17578237e+02] [-5.07763041e-03 9.99821846e-01 1.81794926e-02 -1.49479700e+01] [ 7.00133831e-01 -9.42589657e-03 7.13949417e-01 1.63420458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.61, Y:-14.93, Z:163.43 [[ 7.11441417e-01 -5.17500014e-03 -7.02726355e-01 2.17610425e+02] [-6.01296423e-03 9.99891453e-01 -1.34509118e-02 -1.49336749e+01] [ 7.02719684e-01 1.37950042e-02 7.11333075e-01 1.63431602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.63, Y:-14.94, Z:163.46 [[ 7.11511030e-01 9.78094547e-03 -7.02606851e-01 2.17625416e+02] [-8.26471892e-03 9.99950440e-01 5.55078855e-03 -1.49390546e+01] [ 7.02626322e-01 1.85740086e-03 7.11556605e-01 1.63457094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.65, Y:-14.94, Z:163.48 [[ 7.11425999e-01 1.35282297e-02 -7.02630795e-01 2.17645445e+02] [-1.37975655e-02 9.99890862e-01 5.28130339e-03 -1.49355497e+01] [ 7.02625558e-01 5.93733786e-03 7.11535012e-01 1.63476784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.67, Y:-14.93, Z:163.50 [[ 7.10989864e-01 1.51693707e-02 -7.03038622e-01 2.17665279e+02] [-1.63740689e-02 9.99853362e-01 5.01444603e-03 -1.49341968e+01] [ 7.03011595e-01 7.94638256e-03 7.11133990e-01 1.63496443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.68, Y:-14.93, Z:163.52 [[ 7.10988105e-01 1.84858672e-02 -7.02961014e-01 2.17684735e+02] [-2.13128758e-02 9.99761644e-01 4.73462937e-03 -1.49311456e+01] [ 7.02880983e-01 1.16158556e-02 7.11212624e-01 1.63515936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.70, Y:-14.93, Z:163.54 [[ 7.10995695e-01 2.00871183e-02 -7.02909403e-01 2.17704439e+02] [-2.36851697e-02 9.99708833e-01 4.61114322e-03 -1.49296986e+01] [ 7.02797364e-01 1.33700255e-02 7.11264443e-01 1.63535592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.73, Y:-14.92, Z:163.55 [[ 7.14118622e-01 1.03420212e-02 -6.99948310e-01 2.17730241e+02] [-2.30527110e-02 9.99695972e-01 -8.74849359e-03 -1.49203124e+01] [ 6.99645029e-01 2.23831683e-02 7.14139921e-01 1.63545366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:-14.93, Z:163.58 [[ 7.10604084e-01 2.53376469e-02 -7.03135719e-01 2.17743603e+02] [-2.72619866e-02 9.99592447e-01 8.46897882e-03 -1.49288215e+01] [ 7.03063738e-01 1.31507856e-02 7.11005230e-01 1.63576241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.78, Y:-14.91, Z:163.58 [[ 7.15678248e-01 2.07529862e-03 -6.98427046e-01 2.17778120e+02] [-2.64998486e-02 9.99356217e-01 -2.41849206e-02 -1.49097191e+01] [ 6.97927219e-01 3.58168326e-02 7.15272502e-01 1.63576589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.78, Y:-14.93, Z:163.62 [[ 7.09492555e-01 3.60417576e-02 -7.03790669e-01 2.17780586e+02] [-3.10478242e-02 9.99320243e-01 1.98767310e-02 -1.49305511e+01] [ 7.04028655e-01 7.74877633e-03 7.10129291e-01 1.63618857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.81, Y:-14.92, Z:163.63 [[ 7.09401193e-01 2.50117823e-02 -7.04360958e-01 2.17805761e+02] [-3.16449665e-02 9.99492615e-01 3.62046569e-03 -1.49237595e+01] [ 7.04094130e-01 1.97211162e-02 7.09832750e-01 1.63633093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.83, Y:-14.92, Z:163.65 [[ 7.09417466e-01 2.49588011e-02 -7.04346447e-01 2.17826072e+02] [-3.18478628e-02 9.99487147e-01 3.34007615e-03 -1.49230284e+01] [ 7.04068586e-01 2.00624207e-02 7.09848523e-01 1.63652250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:-14.92, Z:163.67 [[ 7.09715983e-01 2.44521372e-02 -7.04063432e-01 2.17846940e+02] [-3.14007785e-02 9.99502190e-01 3.05985255e-03 -1.49218463e+01] [ 7.03787762e-01 1.99365136e-02 7.10130496e-01 1.63671067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.87, Y:-14.92, Z:163.69 [[ 7.09872304e-01 2.38650690e-02 -7.03925969e-01 2.17866059e+02] [-3.08517426e-02 9.99520122e-01 2.77418245e-03 -1.49218946e+01] [ 7.03654377e-01 1.97480276e-02 7.10267931e-01 1.63689562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.89, Y:-14.92, Z:163.71 [[ 7.10234327e-01 2.30726960e-02 -7.03587131e-01 2.17885465e+02] [-2.98480813e-02 9.99550939e-01 2.64814823e-03 -1.49221537e+01] [ 7.03332277e-01 1.91199201e-02 7.10604064e-01 1.63708611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.91, Y:-14.92, Z:163.73 [[ 7.10592882e-01 2.17258911e-02 -7.03267902e-01 2.17905989e+02] [-2.81308145e-02 9.99601232e-01 2.45663280e-03 -1.49223873e+01] [ 7.03040834e-01 1.80378331e-02 7.10920687e-01 1.63728408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.93, Y:-14.92, Z:163.75 [[ 7.11416670e-01 1.90059820e-02 -7.02513412e-01 2.17926163e+02] [-2.45611361e-02 9.99695967e-01 2.17362661e-03 -1.49230811e+01] [ 7.02341136e-01 1.57081733e-02 7.11667185e-01 1.63747650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:-14.92, Z:163.77 [[ 7.11814331e-01 1.70892707e-02 -7.02159750e-01 2.17946359e+02] [-2.21384513e-02 9.99753129e-01 1.88929231e-03 -1.49233123e+01] [ 7.02018694e-01 1.41999041e-02 7.12016935e-01 1.63767247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:-14.92, Z:163.79 [[ 7.12092248e-01 1.51507712e-02 -7.01922420e-01 2.17966374e+02] [-1.96881930e-02 9.99804877e-01 1.60702288e-03 -1.49236252e+01] [ 7.01809807e-01 1.26752355e-02 7.12251594e-01 1.63786376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.99, Y:-14.92, Z:163.80 [[ 7.12165456e-01 1.30505712e-02 -7.01890337e-01 2.17985965e+02] [-1.70133502e-02 9.99854380e-01 1.32834211e-03 -1.49237730e+01] [ 7.01805464e-01 1.09955067e-02 7.12283785e-01 1.63804681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:-14.92, Z:163.82 [[ 7.12067580e-01 1.09600230e-02 -7.02025384e-01 2.18006291e+02] [-1.42010311e-02 9.99898433e-01 1.20624693e-03 -1.49240351e+01] [ 7.01967301e-01 9.11055497e-03 7.12150901e-01 1.63823771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.03, Y:-14.93, Z:163.84 [[ 7.11767567e-01 6.35755576e-03 -7.02386298e-01 2.18026846e+02] [-8.01809918e-03 9.99967426e-01 9.25880424e-04 -1.49251945e+01] [ 7.02369305e-01 4.97279135e-03 7.11795357e-01 1.63843655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.05, Y:-14.93, Z:163.86 [[ 7.11406598e-01 3.59474902e-03 -7.02771464e-01 2.18046305e+02] [-4.41529175e-03 9.99990044e-01 6.45509338e-04 -1.49259262e+01] [ 7.02766788e-01 2.64372145e-03 7.11415387e-01 1.63863129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.07, Y:-14.93, Z:163.88 [[ 7.11427852e-01 4.07001942e-04 -7.02759024e-01 2.18066910e+02] [-1.23205545e-04 9.99999889e-01 4.54423251e-04 -1.49264555e+01] [ 7.02759131e-01 -2.36705548e-04 7.11427823e-01 1.63882774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:-14.93, Z:163.90 [[ 7.11762668e-01 -6.28177909e-03 -7.02391944e-01 2.18087229e+02] [ 9.00083239e-03 9.99959476e-01 1.77866441e-04 -1.49275643e+01] [ 7.02362363e-01 -6.44871085e-03 7.11790366e-01 1.63902111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.11, Y:-14.93, Z:163.92 [[ 7.11961646e-01 -9.94402070e-03 -7.02147941e-01 2.18106892e+02] [ 1.38664283e-02 9.99903851e-01 -1.00690327e-04 -1.49282469e+01] [ 7.02081432e-01 -9.66459641e-03 7.12031080e-01 1.63921079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.13, Y:-14.93, Z:163.94 [[ 7.12203097e-01 -1.36175229e-02 -7.01841372e-01 2.18126826e+02] [ 1.88974549e-02 9.99821402e-01 -2.22649903e-04 -1.49292396e+01] [ 7.01719057e-01 -1.31044437e-02 7.12333236e-01 1.63940852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:-14.93, Z:163.96 [[ 7.12329921e-01 -1.73585450e-02 -7.01630076e-01 2.18146704e+02] [ 2.38642264e-02 9.99715081e-01 -5.05104837e-04 -1.49299627e+01] [ 7.01438937e-01 -1.63840577e-02 7.12541213e-01 1.63960638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.17, Y:-14.93, Z:163.98 [[ 7.12652037e-01 -2.39347551e-02 -7.01109265e-01 2.18165849e+02] [ 3.27945482e-02 9.99461805e-01 -7.85572201e-04 -1.49308430e+01] [ 7.00750735e-01 -2.24327220e-02 7.13053421e-01 1.63980358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.19, Y:-14.93, Z:164.00 [[ 7.12751235e-01 -2.68271182e-02 -7.00903690e-01 2.18185551e+02] [ 3.66529521e-02 9.99327577e-01 -9.76799180e-04 -1.49308644e+01] [ 7.00458591e-01 -2.49939746e-02 7.13255258e-01 1.63999938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.22, Y:-14.91, Z:164.00 [[ 7.17715678e-01 -5.62142750e-02 -6.94063514e-01 2.18221910e+02] [ 4.46542981e-02 9.98400110e-01 -3.46873852e-02 -1.49120205e+01] [ 6.94903015e-01 -6.09723887e-03 7.19077620e-01 1.63998119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.22, Y:-14.94, Z:164.05 [[ 7.13243028e-01 -1.76467696e-02 -7.00694638e-01 2.18220276e+02] [ 4.23504665e-02 9.98941542e-01 1.79508777e-02 -1.49374521e+01] [ 6.99636207e-01 -4.24780831e-02 7.13235439e-01 1.64046704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:-14.93, Z:164.06 [[ 7.12997642e-01 -3.34134046e-02 -7.00369836e-01 2.18246591e+02] [ 4.55472902e-02 9.98961351e-01 -1.29016018e-03 -1.49287533e+01] [ 6.99685506e-01 -3.09800670e-02 7.13778977e-01 1.64060439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.27, Y:-14.93, Z:164.08 [[ 7.12901947e-01 -3.40435608e-02 -7.00436900e-01 2.18266580e+02] [ 4.61591237e-02 9.98932864e-01 -1.57088043e-03 -1.49277950e+01] [ 6.99742917e-01 -3.12116698e-02 7.13712605e-01 1.64079885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:-14.93, Z:164.10 [[ 7.12852597e-01 -3.41430423e-02 -7.00482283e-01 2.18286052e+02] [ 4.60278815e-02 9.98938443e-01 -1.84972933e-03 -1.49266697e+01] [ 6.99801836e-01 -3.09231311e-02 7.13667395e-01 1.64098861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.31, Y:-14.92, Z:164.12 [[ 7.12563641e-01 -3.26853744e-02 -7.00845721e-01 2.18306223e+02] [ 4.38855428e-02 9.99034618e-01 -1.97272857e-03 -1.49239252e+01] [ 7.00233616e-01 -2.93513002e-02 7.13310160e-01 1.64118446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.33, Y:-14.92, Z:164.14 [[ 7.12546862e-01 -3.30673970e-02 -7.00844859e-01 2.18326813e+02] [ 4.41494007e-02 9.99022407e-01 -2.24950443e-03 -1.49236877e+01] [ 7.00234104e-01 -2.93390032e-02 7.13310187e-01 1.64138296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.35, Y:-14.92, Z:164.16 [[ 7.12340524e-01 -3.20180997e-02 -7.01103287e-01 2.18347133e+02] [ 4.24364512e-02 9.99096015e-01 -2.51026046e-03 -1.49219416e+01] [ 7.00549873e-01 -2.79641751e-02 7.13055314e-01 1.64157766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.37, Y:-14.92, Z:164.18 [[ 7.12162113e-01 -3.07936978e-02 -7.01339342e-01 2.18366985e+02] [ 4.04552874e-02 9.99177451e-01 -2.79129565e-03 -1.49198137e+01] [ 7.00848410e-01 -2.63850297e-02 7.12822093e-01 1.64177101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.39, Y:-14.92, Z:164.20 [[ 7.12163238e-01 -2.92400812e-02 -7.01404691e-01 2.18387335e+02] [ 3.80037683e-02 9.99272877e-01 -3.07088545e-03 -1.49174628e+01] [ 7.00984476e-01 -2.44690496e-02 7.12756641e-01 1.64196137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.41, Y:-14.91, Z:164.22 [[ 7.12084900e-01 -2.51085540e-02 -7.01644252e-01 2.18408113e+02] [ 3.19386140e-02 9.99484208e-01 -3.35297899e-03 -1.49127434e+01] [ 7.01366538e-01 -2.00219392e-02 7.12519545e-01 1.64215462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:-14.91, Z:164.23 [[ 7.12065524e-01 -2.27605606e-02 -7.01744004e-01 2.18427382e+02] [ 2.83664415e-02 9.99590974e-01 -3.63734621e-03 -1.49101131e+01] [ 7.01539760e-01 -1.73159514e-02 7.12419906e-01 1.64234944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:-14.91, Z:164.25 [[ 7.12388938e-01 -1.99762543e-02 -7.01500499e-01 2.18447092e+02] [ 2.43295674e-02 9.99696919e-01 -3.76063189e-03 -1.49075421e+01] [ 7.01363011e-01 -1.43881711e-02 7.12659040e-01 1.64254288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.47, Y:-14.90, Z:164.27 [[ 7.12562441e-01 -1.72079653e-02 -7.01397643e-01 2.18466319e+02] [ 2.01670984e-02 9.99788459e-01 -4.04051581e-03 -1.49046126e+01] [ 7.01318798e-01 -1.12660355e-02 7.12758739e-01 1.64273230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:-14.90, Z:164.29 [[ 7.12794249e-01 -1.10302405e-02 -7.01286455e-01 2.18486764e+02] [ 1.13100420e-02 9.99927085e-01 -4.23179892e-03 -1.48985476e+01] [ 7.01281998e-01 -4.91517735e-03 7.12867028e-01 1.64293048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.51, Y:-14.90, Z:164.31 [[ 7.12697142e-01 -8.25296166e-03 -7.01423319e-01 2.18507056e+02] [ 7.14175688e-03 9.99964331e-01 -4.50905677e-03 -1.48952610e+01] [ 7.01435513e-01 -1.79580294e-03 7.12730662e-01 1.64312378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.53, Y:-14.89, Z:164.33 [[ 7.12427988e-01 -5.44253937e-03 -7.01724120e-01 2.18527057e+02] [ 2.92121352e-03 9.99984261e-01 -4.79005828e-03 -1.48923780e+01] [ 7.01739146e-01 1.36268559e-03 7.12432673e-01 1.64331791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:-14.89, Z:164.35 [[ 7.12121229e-01 -2.95535436e-03 -7.02050299e-01 2.18547096e+02] [-8.49920846e-04 9.99986778e-01 -5.07166220e-03 -1.48896625e+01] [ 7.02056005e-01 4.20832550e-03 7.12109301e-01 1.64351446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.57, Y:-14.88, Z:164.37 [[ 7.12227224e-01 1.22607543e-03 -7.01947917e-01 2.18567254e+02] [-6.99404708e-03 9.99961230e-01 -5.34985966e-03 -1.48849444e+01] [ 7.01914144e-01 8.71977248e-03 7.12208186e-01 1.64370798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:-14.88, Z:164.39 [[ 7.12103065e-01 2.41122782e-03 -7.02070802e-01 2.18587501e+02] [-8.93754197e-03 9.99944205e-01 -5.63099581e-03 -1.48825277e+01] [ 7.02018052e-01 1.02846366e-02 7.12084883e-01 1.64390083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:-14.88, Z:164.41 [[ 7.11789988e-01 3.15471043e-03 -7.02385265e-01 2.18607977e+02] [-1.02657918e-02 9.99929828e-01 -5.91213817e-03 -1.48803140e+01] [ 7.02317326e-01 1.14187416e-02 7.11772426e-01 1.64409028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.63, Y:-14.88, Z:164.43 [[ 7.11520600e-01 3.74522265e-03 -7.02655256e-01 2.18627669e+02] [-1.13826170e-02 9.99916016e-01 -6.19657832e-03 -1.48785479e+01] [ 7.02573037e-01 1.24070488e-02 7.11503474e-01 1.64427742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.65, Y:-14.88, Z:164.45 [[ 7.10784127e-01 4.01987132e-03 -7.03398724e-01 2.18648254e+02] [-1.19170684e-02 9.99908967e-01 -6.32778753e-03 -1.48760422e+01] [ 7.03309255e-01 1.28801416e-02 7.10767328e-01 1.64446247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.67, Y:-14.88, Z:164.47 [[ 7.10424575e-01 3.33658212e-03 -7.03765437e-01 2.18667919e+02] [-1.12457118e-02 9.99914908e-01 -6.61148106e-03 -1.48750602e+01] [ 7.03683492e-01 1.26113019e-02 7.10401646e-01 1.64465327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.69, Y:-14.87, Z:164.48 [[ 7.10410219e-01 2.39827804e-03 -7.03783751e-01 2.18688020e+02] [-1.00483227e-02 9.99926830e-01 -6.73549028e-03 -1.48743792e+01] [ 7.03716101e-01 1.18568074e-02 7.10382337e-01 1.64484700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.71, Y:-14.87, Z:164.50 [[ 7.10989956e-01 1.27994086e-03 -7.03200998e-01 2.18708100e+02] [-8.73284339e-03 9.99937300e-01 -7.00952265e-03 -1.48736663e+01] [ 7.03147936e-01 1.11246444e-02 7.10956555e-01 1.64504291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:-14.87, Z:164.52 [[ 7.11717932e-01 -4.55486008e-04 -7.02465214e-01 2.18728473e+02] [-6.54478643e-03 9.99952087e-01 -7.27937262e-03 -1.48731869e+01] [ 7.02434873e-01 9.77834483e-03 7.11680851e-01 1.64524159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.75, Y:-14.87, Z:164.54 [[ 7.11878244e-01 -1.34043752e-03 -7.02301622e-01 2.18747767e+02] [-5.57028067e-03 9.99955948e-01 -7.55478832e-03 -1.48731593e+01] [ 7.02280811e-01 9.29010659e-03 7.11839418e-01 1.64543514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.77, Y:-14.87, Z:164.56 [[ 7.12224658e-01 -2.23230429e-03 -7.01948041e-01 2.18767854e+02] [-4.49427829e-03 9.99959945e-01 -7.74010378e-03 -1.48731717e+01] [ 7.01937203e-01 8.66744261e-03 7.12186098e-01 1.64563143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:-14.87, Z:164.58 [[ 7.12426716e-01 -2.98226337e-03 -7.01740180e-01 2.18788292e+02] [-3.70637265e-03 9.99961031e-01 -8.01246132e-03 -1.48730928e+01] [ 7.01736729e-01 8.30920212e-03 7.12387900e-01 1.64582839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:-14.87, Z:164.60 [[ 7.12429623e-01 -3.95514617e-03 -7.01732420e-01 2.18808069e+02] [-2.61186089e-03 9.99962245e-01 -8.28772300e-03 -1.48731226e+01] [ 7.01738705e-01 7.73724684e-03 7.12392395e-01 1.64602305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.83, Y:-14.87, Z:164.62 [[ 7.12532288e-01 -4.45109767e-03 -7.01625204e-01 2.18828060e+02] [-2.18754784e-03 9.99960925e-01 -8.56528839e-03 -1.48729668e+01] [ 7.01635912e-01 7.63788324e-03 7.12494709e-01 1.64621494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.85, Y:-14.87, Z:164.64 [[ 7.12212126e-01 -5.04937430e-03 -7.01946145e-01 2.18848607e+02] [-1.63250302e-03 9.99959510e-01 -8.84947990e-03 -1.48725443e+01] [ 7.01962408e-01 7.44863610e-03 7.12175046e-01 1.64640880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:-14.87, Z:164.66 [[ 7.11321481e-01 -5.33708792e-03 -7.02846545e-01 2.18869397e+02] [-1.53077315e-03 9.99957035e-01 -9.14243725e-03 -1.48723985e+01] [ 7.02865141e-01 7.57911063e-03 7.11282750e-01 1.64659657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.89, Y:-14.87, Z:164.68 [[ 7.10969803e-01 -5.58721314e-03 -7.03200343e-01 2.18889265e+02] [-1.47113431e-03 9.99954431e-01 -9.43243370e-03 -1.48723815e+01] [ 7.03221000e-01 7.74067768e-03 7.10929186e-01 1.64678184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.91, Y:-14.87, Z:164.70 [[ 7.10326077e-01 -5.74465821e-03 -7.03849318e-01 2.18908583e+02] [-1.39132849e-03 9.99953281e-01 -9.56552285e-03 -1.48726119e+01] [ 7.03871386e-01 7.77392593e-03 7.10284899e-01 1.64697378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.93, Y:-14.87, Z:164.72 [[ 7.09735612e-01 -6.09575187e-03 -7.04441767e-01 2.18928799e+02] [-1.03577137e-03 9.99952452e-01 -9.69645211e-03 -1.48727236e+01] [ 7.04467379e-01 7.61155799e-03 7.09695552e-01 1.64717211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72999999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.95, Y:-14.87, Z:164.74 [[ 7.09609620e-01 -7.10357801e-03 -7.04559243e-01 2.18949556e+02] [ 9.67976894e-05 9.99950151e-01 -9.98430637e-03 -1.48726732e+01] [ 7.04595046e-01 7.01676014e-03 7.09574934e-01 1.64736359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.97, Y:-14.87, Z:164.76 [[ 7.09595280e-01 -7.92567104e-03 -7.04564917e-01 2.18969737e+02] [ 9.72501121e-04 9.99946800e-01 -1.02689859e-02 -1.48727505e+01] [ 7.04608823e-01 6.60163374e-03 7.09565237e-01 1.64756394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.99, Y:-14.87, Z:164.77 [[ 7.09837188e-01 -8.57352709e-03 -7.04313610e-01 2.18988913e+02] [ 1.61442658e-03 9.99943096e-01 -1.05451025e-02 -1.48730132e+01] [ 7.04363941e-01 6.34824328e-03 7.09810636e-01 1.64774760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:-14.87, Z:164.79 [[ 7.10297301e-01 -9.47427496e-03 -7.03838037e-01 2.19007886e+02] [ 2.77489675e-03 9.99939334e-01 -1.06596946e-02 -1.48734028e+01] [ 7.03896330e-01 5.61847443e-03 7.10280500e-01 1.64793405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.03, Y:-14.87, Z:164.81 [[ 7.10495400e-01 -1.03813638e-02 -7.03625266e-01 2.19027620e+02] [ 3.93873391e-03 9.99934181e-01 -1.07759464e-02 -1.48740358e+01] [ 7.03690822e-01 4.88486765e-03 7.10489525e-01 1.64813605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.05, Y:-14.87, Z:164.83 [[ 7.11020364e-01 -1.13734133e-02 -7.03079432e-01 2.19047525e+02] [ 5.06595118e-03 9.99926090e-01 -1.10522053e-02 -1.48746141e+01] [ 7.03153169e-01 4.29657697e-03 7.11025429e-01 1.64833660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:-14.88, Z:164.85 [[ 7.11773778e-01 -1.24001873e-02 -7.02299313e-01 2.19067098e+02] [ 6.24647439e-03 9.99916367e-01 -1.13243362e-02 -1.48757317e+01] [ 7.02381001e-01 3.67347090e-03 7.11791707e-01 1.64853011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.09, Y:-14.88, Z:164.87 [[ 7.11907407e-01 -1.26459797e-02 -7.02159472e-01 2.19086985e+02] [ 6.47166550e-03 9.99913538e-01 -1.14470574e-02 -1.48759182e+01] [ 7.02243520e-01 3.60510369e-03 7.11927694e-01 1.64872997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.11, Y:-14.88, Z:164.89 [[ 7.12014099e-01 -1.27890909e-02 -7.02048689e-01 2.19107414e+02] [ 6.40051521e-03 9.99910789e-01 -1.17238206e-02 -1.48759700e+01] [ 7.02135996e-01 3.85405221e-03 7.12032436e-01 1.64892555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:-14.88, Z:164.91 [[ 7.11721645e-01 -1.19292682e-02 -7.02360301e-01 2.19127500e+02] [ 4.91101711e-03 9.99915858e-01 -1.20066400e-02 -1.48768024e+01] [ 7.02444433e-01 5.09608210e-03 7.11720344e-01 1.64911514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.15, Y:-14.88, Z:164.93 [[ 7.11229426e-01 -1.14934824e-02 -7.02865993e-01 2.19147464e+02] [ 4.00856305e-03 9.99916383e-01 -1.22946813e-02 -1.48768788e+01] [ 7.02948530e-01 5.92685649e-03 7.11216027e-01 1.64930628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.17, Y:-14.88, Z:164.95 [[ 7.10578669e-01 -1.08617778e-02 -7.03533920e-01 2.19167664e+02] [ 2.82309488e-03 9.99916805e-01 -1.25862349e-02 -1.48768933e+01] [ 7.03612099e-01 6.95736703e-03 7.10550216e-01 1.64949959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.19, Y:-14.88, Z:164.97 [[ 7.10216993e-01 -9.96467354e-03 -7.03912301e-01 2.19187688e+02] [ 1.27047352e-03 9.99916331e-01 -1.28730922e-02 -1.48773505e+01] [ 7.03981682e-01 8.24838687e-03 7.10170230e-01 1.64969016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.21, Y:-14.88, Z:164.99 [[ 7.09632536e-01 -9.32897742e-03 -7.04510209e-01 2.19207583e+02] [ 7.16550711e-05 9.99913289e-01 -1.31684674e-02 -1.48777438e+01] [ 7.04571969e-01 9.29429120e-03 7.09571672e-01 1.64988363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.23, Y:-14.88, Z:165.01 [[ 7.09615530e-01 -8.30165539e-03 -7.04540192e-01 2.19228253e+02] [-1.66099493e-03 9.99908098e-01 -1.34549602e-02 -1.48788717e+01] [ 7.04587142e-01 1.07180864e-02 7.09536526e-01 1.65007727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:-14.88, Z:165.03 [[ 7.10043119e-01 -8.14190943e-03 -7.04111127e-01 2.19247497e+02] [-2.15021799e-03 9.99903419e-01 -1.37306033e-02 -1.48796587e+01] [ 7.04154916e-01 1.12633128e-02 7.09957035e-01 1.65026446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.27, Y:-14.88, Z:165.05 [[ 7.10352667e-01 -8.37784251e-03 -7.03796065e-01 2.19267757e+02] [-1.92925490e-03 9.99902225e-01 -1.38498568e-02 -1.48806229e+01] [ 7.03843283e-01 1.11960847e-02 7.10267049e-01 1.65046572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:-14.88, Z:165.07 [[ 7.10848798e-01 -8.80833712e-03 -7.03289698e-01 2.19287604e+02] [-1.58332216e-03 9.99899004e-01 -1.41235542e-02 -1.48816246e+01] [ 7.03343074e-01 1.11532457e-02 7.10763059e-01 1.65065587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:-14.88, Z:165.09 [[ 7.11072501e-01 -9.20196230e-03 -7.03058477e-01 2.19308082e+02] [-1.14322988e-03 9.99897904e-01 -1.42433986e-02 -1.48827743e+01] [ 7.03117765e-01 1.09318465e-02 7.10989383e-01 1.65085476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.33, Y:-14.89, Z:165.10 [[ 7.11990270e-01 -1.00238266e-02 -7.02117781e-01 2.19327831e+02] [-2.27041475e-04 9.99894767e-01 -1.45052915e-02 -1.48857029e+01] [ 7.02189293e-01 1.04870363e-02 7.11913070e-01 1.65104369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.35, Y:-14.89, Z:165.12 [[ 7.12602227e-01 -1.04073828e-02 -7.01491092e-01 2.19348113e+02] [ 2.15483133e-04 9.99893163e-01 -1.46156056e-02 -1.48867016e+01] [ 7.01568257e-01 1.02639536e-02 7.12528338e-01 1.65123942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:-14.89, Z:165.14 [[ 7.13235317e-01 -1.04373013e-02 -7.00846949e-01 2.19367605e+02] [ 1.02246371e-05 9.99889281e-01 -1.48803575e-02 -1.48873510e+01] [ 7.00924663e-01 1.06060306e-02 7.13156455e-01 1.65142209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.39, Y:-14.89, Z:165.16 [[ 7.13535163e-01 -1.02768816e-02 -7.00544043e-01 2.19388411e+02] [-3.21436564e-04 9.99887508e-01 -1.49956050e-02 -1.48879873e+01] [ 7.00619346e-01 1.09250720e-02 7.13451593e-01 1.65161416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.43, Y:-14.86, Z:165.15 [[ 7.22252856e-01 -4.67248527e-02 -6.90048984e-01 2.19430118e+02] [ 5.74891844e-03 9.98086483e-01 -6.15655876e-02 -1.48614928e+01] [ 6.91605207e-01 4.04988861e-02 7.21139430e-01 1.65150351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.45, Y:-14.86, Z:165.17 [[ 7.22575013e-01 -4.46573476e-02 -6.89848586e-01 2.19452376e+02] [ 5.28777987e-03 9.98239106e-01 -5.90823754e-02 -1.48614315e+01] [ 6.91272298e-01 3.90436807e-02 7.21538773e-01 1.65166706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:-14.88, Z:165.20 [[ 7.20945642e-01 -2.29619821e-02 -6.92611095e-01 2.19464771e+02] [ 1.18666514e-03 9.99490340e-01 -3.19006704e-02 -1.48762050e+01] [ 6.92990601e-01 2.21767519e-02 7.20605453e-01 1.65195698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:-14.91, Z:165.25 [[ 7.09136548e-01 2.39208041e-02 -7.04665276e-01 2.19457269e+02] [-7.40696169e-03 9.99621914e-01 2.64795405e-02 -1.49089260e+01] [ 7.05032264e-01 -1.35581812e-02 7.09045614e-01 1.65253807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:-14.89, Z:165.26 [[ 7.09187214e-01 -3.96347832e-03 -7.05009068e-01 2.19488976e+02] [-8.87304095e-03 9.99854821e-01 -1.45466925e-02 -1.48941665e+01] [ 7.04964371e-01 1.65719026e-02 7.09049087e-01 1.65259828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.51, Y:-14.90, Z:165.28 [[ 7.08610696e-01 -2.84493041e-03 -7.05593925e-01 2.19508700e+02] [-1.06052429e-02 9.99835972e-01 -1.46818899e-02 -1.48965211e+01] [ 7.05519957e-01 1.78867392e-02 7.08464293e-01 1.65278191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.53, Y:-14.90, Z:165.30 [[ 7.08797463e-01 -2.84818228e-03 -7.05406297e-01 2.19529275e+02] [-1.07126240e-02 9.99833070e-01 -1.48010977e-02 -1.48974839e+01] [ 7.05330700e-01 1.80477330e-02 7.08648632e-01 1.65297931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:-14.90, Z:165.32 [[ 7.09037138e-01 -2.85394470e-03 -7.05165365e-01 2.19549155e+02] [-1.09729920e-02 9.99826082e-01 -1.50797355e-02 -1.48987502e+01] [ 7.05085761e-01 1.84298664e-02 7.08882508e-01 1.65316952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.57, Y:-14.90, Z:165.34 [[ 7.09578303e-01 -3.07541968e-03 -7.04619878e-01 2.19568672e+02] [-1.07530461e-02 9.99826763e-01 -1.51926101e-02 -1.49003110e+01] [ 7.04544536e-01 1.83571565e-02 7.09422308e-01 1.65336653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.59, Y:-14.90, Z:165.36 [[ 7.09582967e-01 -3.40086903e-03 -7.04613686e-01 2.19589171e+02] [-1.05755084e-02 9.99824313e-01 -1.54758166e-02 -1.48996705e+01] [ 7.04542527e-01 1.84330238e-02 7.09422337e-01 1.65356543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:-14.90, Z:165.38 [[ 7.10002692e-01 -3.68656264e-03 -7.04189312e-01 2.19608804e+02] [-1.03247131e-02 9.99824314e-01 -1.56442151e-02 -1.49008873e+01] [ 7.04123269e-01 1.83779875e-02 7.09839892e-01 1.65376153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.63, Y:-14.90, Z:165.40 [[ 7.10794475e-01 -4.12792320e-03 -7.03387642e-01 2.19628658e+02] [-9.93855836e-03 9.99824020e-01 -1.59108129e-02 -1.49018880e+01] [ 7.03329538e-01 1.82999770e-02 7.10628364e-01 1.65395735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.65, Y:-14.90, Z:165.42 [[ 7.11730046e-01 -4.36057662e-03 -7.02439554e-01 2.19648508e+02] [-9.83766719e-03 9.99820788e-01 -1.61744287e-02 -1.49041551e+01] [ 7.02384198e-01 1.84221934e-02 7.11559598e-01 1.65415526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.67, Y:-14.90, Z:165.44 [[ 7.12318789e-01 -4.62900924e-03 -7.01840804e-01 2.19668574e+02] [-9.70429299e-03 9.99817703e-01 -1.64434948e-02 -1.49048109e+01] [ 7.01788978e-01 1.85238791e-02 7.12144014e-01 1.65435124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:-14.89, Z:165.44 [[ 7.17414584e-01 -2.69548691e-02 -6.96124810e-01 2.19701637e+02] [-4.93322784e-03 9.99029549e-01 -4.37678415e-02 -1.48896399e+01] [ 6.96629011e-01 3.48338301e-02 7.16585393e-01 1.65436116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.71, Y:-14.90, Z:165.47 [[ 7.14682813e-01 -9.04036688e-03 -6.99390269e-01 2.19712557e+02] [-6.20663959e-03 9.99795133e-01 -1.92657720e-02 -1.49022073e+01] [ 6.99421157e-01 1.81097794e-02 7.14480288e-01 1.65466277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:-14.91, Z:165.49 [[ 7.12019140e-01 -5.03272410e-03 -7.02142020e-01 2.19728468e+02] [-6.74336191e-03 9.99879186e-01 -1.40050283e-02 -1.49062167e+01] [ 7.02127675e-01 1.47066459e-02 7.11899180e-01 1.65490743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:-14.91, Z:165.51 [[ 7.10408209e-01 -8.23048581e-03 -7.03741740e-01 2.19749771e+02] [-8.21823152e-03 9.99766430e-01 -1.99886716e-02 -1.49070573e+01] [ 7.03741883e-01 1.99836289e-02 7.10174638e-01 1.65511718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.77, Y:-14.90, Z:165.53 [[ 7.11403886e-01 -1.45029293e-02 -7.02633743e-01 2.19772952e+02] [-4.82079072e-03 9.99662820e-01 -2.55148129e-02 -1.49025924e+01] [ 7.02766868e-01 2.15385872e-02 7.11094099e-01 1.65525249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.79, Y:-14.91, Z:165.55 [[ 7.08478511e-01 -7.80035327e-03 -7.05689276e-01 2.19789534e+02] [-3.16126188e-03 9.99893807e-01 -1.42261068e-02 -1.49111177e+01] [ 7.05725305e-01 1.23097596e-02 7.08378616e-01 1.65553070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.81, Y:-14.91, Z:165.57 [[ 7.07674803e-01 -1.15185522e-02 -7.06444404e-01 2.19809720e+02] [ 1.99841637e-04 9.99870324e-01 -1.61026622e-02 -1.49098658e+01] [ 7.06538274e-01 1.12542713e-02 7.07585336e-01 1.65571335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:-14.91, Z:165.59 [[ 7.08459618e-01 -1.61462178e-02 -7.05566630e-01 2.19832113e+02] [ 1.38573677e-03 9.99768161e-01 -2.14873200e-02 -1.49095867e+01] [ 7.05749991e-01 1.42451689e-02 7.08317743e-01 1.65589993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.85, Y:-14.91, Z:165.61 [[ 7.08728979e-01 -1.46860097e-02 -7.05327978e-01 2.19850002e+02] [ 3.29763169e-03 9.99841343e-01 -1.75046970e-02 -1.49118785e+01] [ 7.05473146e-01 1.00801742e-02 7.08664963e-01 1.65610588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.87, Y:-14.91, Z:165.63 [[ 7.09390932e-01 -1.60585155e-02 -7.04632266e-01 2.19869882e+02] [ 5.14077902e-03 9.99831706e-01 -1.76105915e-02 -1.49124337e+01] [ 7.04796480e-01 8.87043512e-03 7.09354099e-01 1.65629919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.89, Y:-14.91, Z:165.65 [[ 7.10083048e-01 -1.72281313e-02 -7.03907137e-01 2.19889195e+02] [ 8.46288298e-03 9.99837232e-01 -1.59338878e-02 -1.49142362e+01] [ 7.04067074e-01 5.35729992e-03 7.10113269e-01 1.65650388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.91, Y:-14.91, Z:165.67 [[ 7.10836849e-01 -2.16669598e-02 -7.03023127e-01 2.19911611e+02] [ 9.73608443e-03 9.99732758e-01 -2.09671650e-02 -1.49127559e+01] [ 7.03289544e-01 8.05954096e-03 7.10857834e-01 1.65668100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.93, Y:-14.91, Z:165.69 [[ 7.11239213e-01 -2.10208464e-02 -7.02635685e-01 2.19931024e+02] [ 1.15386066e-02 9.99767232e-01 -1.82302781e-02 -1.49140232e+01] [ 7.02855349e-01 4.85865191e-03 7.11316211e-01 1.65688405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.95, Y:-14.91, Z:165.71 [[ 7.11609890e-01 -2.24949910e-02 -7.02214597e-01 2.19950623e+02] [ 1.33450598e-02 9.99739751e-01 -1.85024068e-02 -1.49137717e+01] [ 7.02448058e-01 3.79539992e-03 7.11724891e-01 1.65707174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.97, Y:-14.91, Z:165.73 [[ 7.12056089e-01 -2.28887164e-02 -7.01749408e-01 2.19970751e+02] [ 1.37926660e-02 9.99731630e-01 -1.86126583e-02 -1.49124829e+01] [ 7.01987099e-01 3.57426146e-03 7.12180691e-01 1.65726516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.99, Y:-14.91, Z:165.75 [[ 7.12038042e-01 -2.28985452e-02 -7.01767400e-01 2.19990993e+02] [ 1.35298889e-02 9.99729960e-01 -1.88931063e-02 -1.49113405e+01] [ 7.02010519e-01 3.95777548e-03 7.12155578e-01 1.65745985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.02, Y:-14.90, Z:165.76 [[ 7.13671761e-01 -3.58262076e-02 -6.99563507e-01 2.20021022e+02] [ 1.41219013e-02 9.99224123e-01 -3.67657953e-02 -1.49009136e+01] [ 7.00337911e-01 1.63595431e-02 7.13623974e-01 1.65756055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.03, Y:-14.91, Z:165.79 [[ 7.10624556e-01 -1.13787830e-02 -7.03479398e-01 2.20027764e+02] [ 1.21114514e-02 9.99918894e-01 -3.93922752e-03 -1.49143586e+01] [ 7.03467166e-01 -5.72084470e-03 7.10704734e-01 1.65790238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.05, Y:-14.91, Z:165.80 [[ 7.09754916e-01 -2.16248962e-02 -7.04116697e-01 2.20053912e+02] [ 1.10187183e-02 9.99747233e-01 -1.95973775e-02 -1.49067081e+01] [ 7.04362511e-01 6.15087144e-03 7.09813792e-01 1.65804244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.09, Y:-14.89, Z:165.81 [[ 7.13435241e-01 -4.20347299e-02 -6.99459247e-01 2.20088107e+02] [ 1.25982527e-02 9.98807220e-01 -4.71743771e-02 -1.48922540e+01] [ 7.00607908e-01 2.48438988e-02 7.13113834e-01 1.65808625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.10, Y:-14.90, Z:165.84 [[ 7.11941174e-01 -2.28646359e-02 -7.01866778e-01 2.20100466e+02] [ 1.11732209e-02 9.99712099e-01 -2.12339116e-02 -1.49026164e+01] [ 7.02150215e-01 7.27518343e-03 7.11991677e-01 1.65838798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:-14.91, Z:165.87 [[ 7.08265564e-01 -8.13780966e-03 -7.05899191e-01 2.20112017e+02] [ 8.81041585e-03 9.99957575e-01 -2.68784876e-03 -1.49106795e+01] [ 7.05891116e-01 -4.31555470e-03 7.08307213e-01 1.65870004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:-14.90, Z:165.89 [[ 7.07954654e-01 -1.60588187e-02 -7.06075295e-01 2.20133660e+02] [ 7.17548364e-03 9.99853409e-01 -1.55458598e-02 -1.49048988e+01] [ 7.06221439e-01 5.93933209e-03 7.07966103e-01 1.65885670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.15, Y:-14.90, Z:165.90 [[ 7.07976067e-01 -1.89326176e-02 -7.05982609e-01 2.20154727e+02] [ 6.18064041e-03 9.99768423e-01 -2.06130966e-02 -1.49018959e+01] [ 7.06209380e-01 1.02301544e-02 7.07929132e-01 1.65903614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.17, Y:-14.90, Z:165.92 [[ 7.07984252e-01 -1.85855479e-02 -7.05983624e-01 2.20174477e+02] [ 5.40884674e-03 9.99767035e-01 -2.08954420e-02 -1.49007234e+01] [ 7.06207508e-01 1.09750866e-02 7.07919843e-01 1.65923552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:-14.90, Z:165.94 [[ 7.08653910e-01 -1.73813381e-02 -7.05342133e-01 2.20193723e+02] [ 3.46138054e-03 9.99770129e-01 -2.11591241e-02 -1.48993993e+01] [ 7.05547769e-01 1.25530385e-02 7.08551175e-01 1.65943334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.22, Y:-14.89, Z:165.95 [[ 7.11723777e-01 -3.20171639e-02 -7.01729411e-01 2.20223152e+02] [ 5.45751289e-03 9.99182630e-01 -4.00535476e-02 -1.48886059e+01] [ 7.02438239e-01 2.46773649e-02 7.11316770e-01 1.65952190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.24, Y:-14.90, Z:165.98 [[ 7.11233312e-01 -1.95685959e-02 -7.02683604e-01 2.20237198e+02] [ 4.65067425e-03 9.99721571e-01 -2.31333603e-02 -1.48951844e+01] [ 7.02940643e-01 1.31852639e-02 7.11126291e-01 1.65977938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.26, Y:-14.89, Z:166.00 [[ 7.10751708e-01 -2.09701957e-02 -7.03130329e-01 2.20257588e+02] [ 6.78303263e-03 9.99713398e-01 -2.29589493e-02 -1.48936529e+01] [ 7.03410264e-01 1.15487565e-02 7.10690247e-01 1.65997601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.27, Y:-14.90, Z:166.03 [[ 7.08060334e-01 -1.21764079e-02 -7.06046953e-01 2.20270531e+02] [ 6.03839125e-03 9.99919170e-01 -1.11888853e-02 -1.48999205e+01] [ 7.06126123e-01 3.65901810e-03 7.08076627e-01 1.66025059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.29, Y:-14.89, Z:166.04 [[ 7.08221503e-01 -2.12587290e-02 -7.05670156e-01 2.20294034e+02] [ 7.73943923e-03 9.99720256e-01 -2.23497403e-02 -1.48946188e+01] [ 7.05947876e-01 1.03670754e-02 7.08187913e-01 1.66040685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.31, Y:-14.89, Z:166.06 [[ 7.07175702e-01 -2.49013400e-02 -7.06599215e-01 2.20314197e+02] [ 1.25564113e-02 9.99664315e-01 -2.26626236e-02 -1.48926415e+01] [ 7.06926349e-01 7.15410639e-03 7.07250985e-01 1.66059235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.33, Y:-14.89, Z:166.08 [[ 7.06759678e-01 -2.62116222e-02 -7.06967968e-01 2.20334306e+02] [ 1.42695553e-02 9.99638265e-01 -2.27973472e-02 -1.48905031e+01] [ 7.07309789e-01 6.02412722e-03 7.06878047e-01 1.66078004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.36, Y:-14.88, Z:166.09 [[ 7.07788035e-01 -3.55010218e-02 -7.05532263e-01 2.20359558e+02] [ 1.79234359e-02 9.99317401e-01 -3.23029812e-02 -1.48826262e+01] [ 7.06197457e-01 1.02181013e-02 7.07941200e-01 1.66091419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.37, Y:-14.89, Z:166.12 [[ 7.06362497e-01 -2.56954841e-02 -7.07383746e-01 2.20374365e+02] [ 1.74816576e-02 9.99669362e-01 -1.88562445e-02 -1.48888468e+01] [ 7.07634379e-01 9.53103553e-04 7.06578147e-01 1.66119333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.39, Y:-14.89, Z:166.14 [[ 7.06471617e-01 -3.12118751e-02 -7.07052808e-01 2.20394457e+02] [ 2.08922132e-02 9.99511426e-01 -2.32470191e-02 -1.48868217e+01] [ 7.07432943e-01 1.65146117e-03 7.06778539e-01 1.66138338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:-14.88, Z:166.16 [[ 7.06413859e-01 -3.41257539e-02 -7.06975879e-01 2.20414091e+02] [ 2.47348425e-02 9.99417171e-01 -2.35267276e-02 -1.48845935e+01] [ 7.07366700e-01 -8.67330596e-04 7.06846235e-01 1.66157798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.43, Y:-14.88, Z:166.18 [[ 7.06294748e-01 -3.45443475e-02 -7.07074548e-01 2.20432956e+02] [ 2.50234980e-02 9.99402794e-01 -2.38302344e-02 -1.48846119e+01] [ 7.07475479e-01 -8.62309087e-04 7.06737365e-01 1.66176513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.45, Y:-14.88, Z:166.20 [[ 7.06016899e-01 -3.59053873e-02 -7.07284202e-01 2.20453152e+02] [ 2.68110248e-02 9.99353111e-01 -2.39693236e-02 -1.48828083e+01] [ 7.07687295e-01 -2.04026676e-03 7.06522844e-01 1.66195975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:-14.88, Z:166.22 [[ 7.04769691e-01 -3.05004859e-02 -7.08780222e-01 2.20467689e+02] [ 2.89772762e-02 9.99479251e-01 -1.41966388e-02 -1.48848501e+01] [ 7.08844130e-01 -1.05331595e-02 7.05286504e-01 1.66220401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.49, Y:-14.88, Z:166.24 [[ 7.04409869e-01 -3.52595133e-02 -7.08917134e-01 2.20487307e+02] [ 3.03467529e-02 9.99348206e-01 -1.95509156e-02 -1.48820156e+01] [ 7.09144422e-01 -7.74147525e-03 7.05020750e-01 1.66240431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.52, Y:-14.87, Z:166.25 [[ 7.05858207e-01 -5.34575990e-02 -7.06333120e-01 2.20516198e+02] [ 3.03492835e-02 9.98514939e-01 -4.52419963e-02 -1.48693374e+01] [ 7.07702701e-01 1.04977303e-02 7.06432364e-01 1.66247627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.53, Y:-14.88, Z:166.28 [[ 7.03909905e-01 -3.36110451e-02 -7.09493583e-01 2.20527121e+02] [ 3.02173655e-02 9.99392500e-01 -1.73649542e-02 -1.48814659e+01] [ 7.09646219e-01 -9.21566361e-03 7.04497917e-01 1.66281947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.55, Y:-14.88, Z:166.30 [[ 7.04155449e-01 -4.02937078e-02 -7.08901630e-01 2.20550141e+02] [ 3.16760667e-02 9.99177199e-01 -2.53288728e-02 -1.48767035e+01] [ 7.09338940e-01 -4.61975153e-03 7.04852415e-01 1.66298590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:-14.87, Z:166.31 [[ 7.05524063e-01 -5.03517684e-02 -7.06894969e-01 2.20575863e+02] [ 3.36668797e-02 9.98727937e-01 -3.75372937e-02 -1.48691492e+01] [ 7.07885823e-01 2.68451609e-03 7.06321779e-01 1.66312044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.59, Y:-14.87, Z:166.33 [[ 7.05728181e-01 -4.25957851e-02 -7.07201056e-01 2.20591231e+02] [ 3.44507685e-02 9.99073409e-01 -2.57966781e-02 -1.48719953e+01] [ 7.07644600e-01 -6.15817717e-03 7.06541717e-01 1.66334822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.62, Y:-14.86, Z:166.34 [[ 7.10377223e-01 -6.08878511e-02 -7.01182480e-01 2.20620010e+02] [ 3.88040917e-02 9.98123872e-01 -4.73601034e-02 -1.48572185e+01] [ 7.02750626e-01 6.43478952e-03 7.11407162e-01 1.66339917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:-14.87, Z:166.38 [[ 7.06396415e-01 -3.75877763e-02 -7.06817703e-01 2.20628761e+02] [ 3.57442477e-02 9.99209240e-01 -1.74138890e-02 -1.48720128e+01] [ 7.06913329e-01 -1.29635583e-02 7.07181371e-01 1.66377439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.65, Y:-14.87, Z:166.39 [[ 7.06318726e-01 -4.43614936e-02 -7.06502594e-01 2.20650712e+02] [ 3.68142311e-02 9.98985868e-01 -2.59219493e-02 -1.48675465e+01] [ 7.06936044e-01 -7.70019162e-03 7.07235560e-01 1.66394468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.67, Y:-14.87, Z:166.41 [[ 7.06439935e-01 -4.68495561e-02 -7.06220743e-01 2.20669517e+02] [ 4.00526829e-02 9.98854086e-01 -2.61972706e-02 -1.48664606e+01] [ 7.06638805e-01 -9.77923733e-03 7.07506866e-01 1.66413519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.72, Y:-14.82, Z:166.38 [[ 7.17405333e-01 -1.18255973e-01 -6.86545784e-01 2.20724113e+02] [ 5.21080069e-02 9.91835588e-01 -1.16391248e-01 -1.48150845e+01] [ 6.94704501e-01 4.77251698e-02 7.17710223e-01 1.66382122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:-14.88, Z:166.47 [[ 7.06970023e-01 -1.26550954e-02 -7.07130282e-01 2.20692670e+02] [ 4.40403740e-02 9.98687254e-01 2.61574738e-02 -1.48848522e+01] [ 7.05870974e-01 -4.96348319e-02 7.06599286e-01 1.66469924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.73, Y:-14.86, Z:166.47 [[ 7.06173705e-01 -5.11414425e-02 -7.06189246e-01 2.20728821e+02] [ 4.52953110e-02 9.98608056e-01 -2.70237745e-02 -1.48630461e+01] [ 7.06588306e-01 -1.29035826e-02 7.07507218e-01 1.66473138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:-14.86, Z:166.49 [[ 7.06229304e-01 -5.24139226e-02 -7.06040333e-01 2.20748654e+02] [ 4.68176306e-02 9.98530407e-01 -2.72971840e-02 -1.48607889e+01] [ 7.06433493e-01 -1.37770643e-02 7.07645329e-01 1.66492626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:-14.86, Z:166.51 [[ 7.05945116e-01 -5.23920926e-02 -7.06326101e-01 2.20767891e+02] [ 4.64983279e-02 9.98537175e-01 -2.75937484e-02 -1.48590177e+01] [ 7.06738564e-01 -1.33633107e-02 7.07348587e-01 1.66511520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.79, Y:-14.86, Z:166.53 [[ 7.05836050e-01 -5.18633640e-02 -7.06474106e-01 2.20787220e+02] [ 4.56243818e-02 9.98573890e-01 -2.77236879e-02 -1.48574850e+01] [ 7.06904440e-01 -1.26640660e-02 7.07195683e-01 1.66530317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.81, Y:-14.86, Z:166.55 [[ 7.05315637e-01 -5.10805819e-02 -7.07050654e-01 2.20807049e+02] [ 4.43853936e-02 9.98625688e-01 -2.78688224e-02 -1.48560100e+01] [ 7.07502501e-01 -1.17264054e-02 7.06613545e-01 1.66550270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:-14.85, Z:166.57 [[ 7.04834893e-01 -4.79398951e-02 -7.07749631e-01 2.20826559e+02] [ 3.96353184e-02 9.98816668e-01 -2.81834282e-02 -1.48539649e+01] [ 7.08263239e-01 -8.18721839e-03 7.05900952e-01 1.66569037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.88, Y:-14.82, Z:166.55 [[ 7.15208291e-01 -9.34266406e-02 -6.92638841e-01 2.20875267e+02] [ 4.43716742e-02 9.95095737e-01 -8.84060478e-02 -1.48181579e+01] [ 6.97501438e-01 3.24951934e-02 7.15846217e-01 1.66551553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.89, Y:-14.83, Z:166.58 [[ 7.14995412e-01 -6.64079443e-02 -6.95968064e-01 2.20885631e+02] [ 4.37534360e-02 9.97777496e-01 -5.02563957e-02 -1.48342197e+01] [ 6.97758696e-01 5.48209822e-03 7.16311908e-01 1.66584017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.90, Y:-14.84, Z:166.61 [[ 7.13299317e-01 -5.56259865e-02 -6.98648577e-01 2.20901870e+02] [ 3.95787432e-02 9.98451650e-01 -3.90874159e-02 -1.48382357e+01] [ 6.99741101e-01 2.29394424e-04 7.14396486e-01 1.66610403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.92, Y:-14.84, Z:166.63 [[ 7.11554544e-01 -5.50848079e-02 -7.00468268e-01 2.20922746e+02] [ 3.55873709e-02 9.98468035e-01 -4.23688921e-02 -1.48359745e+01] [ 7.01729057e-01 5.21995364e-03 7.12424791e-01 1.66631263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.93, Y:-14.85, Z:166.66 [[ 7.08859768e-01 -3.27551158e-02 -7.04588484e-01 2.20931962e+02] [ 2.70174318e-02 9.99448990e-01 -1.92814632e-02 -1.48460177e+01] [ 7.04831815e-01 -5.36831779e-03 7.09354139e-01 1.66664288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.94, Y:-14.85, Z:166.70 [[ 7.02852038e-01 -1.85803913e-02 -7.11093370e-01 2.20940701e+02] [ 2.06966732e-02 9.99769743e-01 -5.66650502e-03 -1.48537174e+01] [ 7.11034922e-01 -1.07345525e-02 7.03074754e-01 1.66699037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.98, Y:-14.83, Z:166.69 [[ 7.11691188e-01 -4.87036583e-02 -7.00802117e-01 2.20977959e+02] [ 2.12458361e-02 9.98629713e-01 -4.78258345e-02 -1.48309812e+01] [ 7.02171110e-01 1.91480980e-02 7.11750716e-01 1.66693381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.00, Y:-14.83, Z:166.72 [[ 7.07085242e-01 -4.25477323e-02 -7.05847116e-01 2.20995401e+02] [ 1.67646858e-02 9.98916257e-01 -4.34195435e-02 -1.48337134e+01] [ 7.06929562e-01 1.88680133e-02 7.07032242e-01 1.66720277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.01, Y:-14.84, Z:166.75 [[ 7.05683210e-01 -2.81678412e-02 -7.07967358e-01 2.21007834e+02] [ 1.37371868e-02 9.99565552e-01 -2.60767695e-02 -1.48402571e+01] [ 7.08394309e-01 8.67645853e-03 7.05763573e-01 1.66747425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.02, Y:-14.84, Z:166.78 [[ 7.02239103e-01 -1.73036392e-02 -7.11730866e-01 2.21021223e+02] [ 7.45767269e-03 9.99828531e-01 -1.69496692e-02 -1.48442708e+01] [ 7.11902118e-01 6.59486469e-03 7.02247736e-01 1.66776456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.04, Y:-14.84, Z:166.79 [[ 7.02476063e-01 -2.42187515e-02 -7.11295180e-01 2.21044289e+02] [ 6.38217737e-03 9.99595021e-01 -2.77319700e-02 -1.48389288e+01] [ 7.11678754e-01 1.49414331e-02 7.02346143e-01 1.66792480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.06, Y:-14.84, Z:166.81 [[ 7.02117782e-01 -2.40785544e-02 -7.11653598e-01 2.21064034e+02] [ 5.86624424e-03 9.99589781e-01 -2.80331367e-02 -1.48382791e+01] [ 7.12036662e-01 1.55078299e-02 7.01971011e-01 1.66811898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.08, Y:-14.84, Z:166.83 [[ 7.01294147e-01 -2.45800052e-02 -7.12448133e-01 2.21084186e+02] [ 6.22974030e-03 9.99578531e-01 -2.83540150e-02 -1.48386632e+01] [ 7.12844800e-01 1.54461379e-02 7.01151701e-01 1.66831920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.10, Y:-14.84, Z:166.85 [[ 7.01017257e-01 -2.51631229e-02 -7.12700233e-01 2.21104422e+02] [ 6.74522088e-03 9.99566551e-01 -2.86567883e-02 -1.48386648e+01] [ 7.13112409e-01 1.52815826e-02 7.00883133e-01 1.66852081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.12, Y:-14.84, Z:166.87 [[ 7.00490388e-01 -2.58593434e-02 -7.13193179e-01 2.21123645e+02] [ 7.40719590e-03 9.99552921e-01 -2.89670644e-02 -1.48386871e+01] [ 7.13623395e-01 1.50083885e-02 7.00368759e-01 1.66870989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.14, Y:-14.84, Z:166.89 [[ 6.99871873e-01 -2.66985644e-02 -7.13769254e-01 2.21143644e+02] [ 8.36060098e-03 9.99538917e-01 -2.91899721e-02 -1.48389377e+01] [ 7.14219477e-01 1.44617006e-02 6.99772390e-01 1.66891154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.16, Y:-14.84, Z:166.91 [[ 6.99556406e-01 -2.76962714e-02 -7.14040441e-01 2.21163584e+02] [ 9.47798786e-03 9.99520323e-01 -2.94837628e-02 -1.48394227e+01] [ 7.14514522e-01 1.38578885e-02 6.99483350e-01 1.66910898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.18, Y:-14.84, Z:166.93 [[ 6.99400019e-01 -2.87966290e-02 -7.14150102e-01 2.21182398e+02] [ 1.07464642e-02 9.99498760e-01 -2.97782183e-02 -1.48397473e+01] [ 7.14649654e-01 1.31522979e-02 6.99358913e-01 1.66929938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.20, Y:-14.84, Z:166.95 [[ 6.99616058e-01 -3.03843566e-02 -7.13872651e-01 2.21202618e+02] [ 1.29032960e-02 9.99469770e-01 -2.98945376e-02 -1.48417637e+01] [ 7.14402461e-01 1.17033884e-02 6.99637159e-01 1.66949445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:-14.84, Z:166.97 [[ 6.99416592e-01 -3.11951690e-02 -7.14033117e-01 2.21221718e+02] [ 1.37559817e-02 9.99449510e-01 -3.01902447e-02 -1.48424225e+01] [ 7.14581838e-01 1.12933316e-02 6.99460690e-01 1.66968526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:-14.84, Z:166.98 [[ 7.02378267e-01 -4.18477253e-02 -7.10572683e-01 2.21248261e+02] [ 1.60273748e-02 9.98947006e-01 -4.29883964e-02 -1.48366125e+01] [ 7.11623421e-01 1.88055007e-02 7.02309376e-01 1.66980777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.26, Y:-14.85, Z:167.01 [[ 6.99411829e-01 -2.69776748e-02 -7.14209562e-01 2.21259866e+02] [ 1.52856405e-02 9.99623421e-01 -2.27896106e-02 -1.48470261e+01] [ 7.14555416e-01 5.02217258e-03 6.99560816e-01 1.67011723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.28, Y:-14.85, Z:167.03 [[ 6.99766081e-01 -3.37552795e-02 -7.13574112e-01 2.21282457e+02] [ 1.70983778e-02 9.99388265e-01 -3.05080650e-02 -1.48464538e+01] [ 7.14167402e-01 9.14754934e-03 6.99915170e-01 1.67029243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.30, Y:-14.85, Z:167.05 [[ 6.99852366e-01 -3.48962843e-02 -7.13434590e-01 2.21301735e+02] [ 1.84412341e-02 9.99355697e-01 -3.07914131e-02 -1.48472450e+01] [ 7.14049429e-01 8.39282900e-03 7.00044980e-01 1.67048285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.32, Y:-14.85, Z:167.07 [[ 6.99478174e-01 -3.56971670e-02 -7.13761863e-01 2.21320773e+02] [ 1.93648035e-02 9.99331717e-01 -3.10020119e-02 -1.48485188e+01] [ 7.14391551e-01 7.86337240e-03 6.99701993e-01 1.67067747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:-14.85, Z:167.09 [[ 6.99248531e-01 -3.68755573e-02 -7.13926947e-01 2.21340501e+02] [ 2.09103611e-02 9.99296439e-01 -3.11349417e-02 -1.48495907e+01] [ 7.14572774e-01 6.84259194e-03 6.99527648e-01 1.67087650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.36, Y:-14.85, Z:167.11 [[ 6.98749408e-01 -3.80289075e-02 -7.14355001e-01 2.21359874e+02] [ 2.22428490e-02 9.99258151e-01 -3.14388760e-02 -1.48507227e+01] [ 7.15020643e-01 6.07860560e-03 6.99076913e-01 1.67107001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:-14.83, Z:167.10 [[ 7.04943592e-01 -6.95572502e-02 -7.05844403e-01 2.21398054e+02] [ 2.95604945e-02 9.97196175e-01 -6.87456646e-02 -1.48334050e+01] [ 7.08647098e-01 2.75967062e-02 7.05023200e-01 1.67102830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.39, Y:-14.86, Z:167.16 [[ 6.96978020e-01 -2.41126957e-02 -7.16686974e-01 2.21391382e+02] [ 2.72465986e-02 9.99603286e-01 -7.13400649e-03 -1.48643461e+01] [ 7.16574674e-01 -1.45550365e-02 6.97358507e-01 1.67155738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:-14.84, Z:167.15 [[ 7.02358102e-01 -6.32148906e-02 -7.09011265e-01 2.21432952e+02] [ 3.09202602e-02 9.97818127e-01 -5.83345716e-02 -1.48398464e+01] [ 7.11151906e-01 1.90489462e-02 7.02780267e-01 1.67150575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:-14.86, Z:167.19 [[ 6.97513507e-01 -2.94262986e-02 -7.15967178e-01 2.21433043e+02] [ 2.85358662e-02 9.99504559e-01 -1.32793343e-02 -1.48598391e+01] [ 7.16003220e-01 -1.11682286e-02 6.98007636e-01 1.67194268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.46, Y:-14.85, Z:167.21 [[ 6.98183227e-01 -4.32098339e-02 -7.14613946e-01 2.21458861e+02] [ 2.90385633e-02 9.99064710e-01 -3.20385328e-02 -1.48510047e+01] [ 7.15329955e-01 1.61740390e-03 6.98784974e-01 1.67208027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:-14.85, Z:167.23 [[ 6.98256279e-01 -4.45545586e-02 -7.14459978e-01 2.21478424e+02] [ 3.06806809e-02 9.99006745e-01 -3.23143734e-02 -1.48494310e+01] [ 7.15190090e-01 6.43595576e-04 6.98929697e-01 1.67228662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.50, Y:-14.85, Z:167.25 [[ 6.98515108e-01 -4.55918622e-02 -7.14141461e-01 2.21498211e+02] [ 3.18884830e-02 9.98960150e-01 -3.25843935e-02 -1.48484413e+01] [ 7.14884444e-01 -1.21967572e-05 6.99242612e-01 1.67248944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.52, Y:-14.85, Z:167.27 [[ 6.98826438e-01 -4.68058437e-02 -7.13758239e-01 2.21517217e+02] [ 3.33451736e-02 9.98903654e-01 -3.28571190e-02 -1.48475344e+01] [ 7.14513617e-01 -8.38968986e-04 6.99621031e-01 1.67268774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.54, Y:-14.85, Z:167.29 [[ 6.99022964e-01 -4.82514220e-02 -7.13469478e-01 2.21536875e+02] [ 3.52931509e-02 9.98832945e-01 -3.29718197e-02 -1.48467225e+01] [ 7.14227757e-01 -2.13252676e-03 6.99910111e-01 1.67288787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.56, Y:-14.85, Z:167.31 [[ 6.98813232e-01 -5.16093138e-02 -7.13439939e-01 2.21557416e+02] [ 3.97976848e-02 9.98654067e-01 -3.32595655e-02 -1.48453758e+01] [ 7.14196200e-01 -5.15103337e-03 6.99926607e-01 1.67308542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:-14.84, Z:167.33 [[ 6.98611335e-01 -5.37127257e-02 -7.13482407e-01 2.21577162e+02] [ 4.25082463e-02 9.98532655e-01 -3.35497661e-02 -1.48439818e+01] [ 7.14237532e-01 -6.89063904e-03 6.99869465e-01 1.67327491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.60, Y:-14.84, Z:167.35 [[ 6.98127483e-01 -5.57749395e-02 -7.13797712e-01 2.21597065e+02] [ 4.53166649e-02 9.98404358e-01 -3.36918052e-02 -1.48426105e+01] [ 7.14537905e-01 -8.82575653e-03 6.99541056e-01 1.67347006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:-14.84, Z:167.37 [[ 6.97563885e-01 -5.79456325e-02 -7.14175699e-01 2.21616819e+02] [ 4.81165894e-02 9.98262954e-01 -3.39980530e-02 -1.48414457e+01] [ 7.14905182e-01 -1.06478849e-02 6.99140331e-01 1.67366925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.64, Y:-14.84, Z:167.39 [[ 6.97291253e-01 -6.18022322e-02 -7.14118613e-01 2.21635323e+02] [ 5.33440920e-02 9.97987548e-01 -3.42821052e-02 -1.48401215e+01] [ 7.14800194e-01 -1.41893968e-02 6.99184771e-01 1.67386134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.65, Y:-14.84, Z:167.41 [[ 6.97304836e-01 -6.35731352e-02 -7.13949873e-01 2.21654647e+02] [ 5.56812033e-02 9.97853405e-01 -3.44700630e-02 -1.48386867e+01] [ 7.14608682e-01 -1.57174464e-02 6.99347834e-01 1.67406310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.67, Y:-14.84, Z:167.43 [[ 6.97392901e-01 -6.52472813e-02 -7.13712781e-01 2.21673289e+02] [ 5.77922513e-02 9.97723980e-01 -3.47406857e-02 -1.48365865e+01] [ 7.14355092e-01 -1.70191608e-02 6.99576408e-01 1.67425222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.71, Y:-14.82, Z:167.43 [[ 7.02009482e-01 -8.68297125e-02 -7.06854503e-01 2.21706684e+02] [ 6.22060973e-02 9.96222139e-01 -6.05957968e-02 -1.48204768e+01] [ 7.09445620e-01 -1.43183601e-03 7.04758726e-01 1.67427872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.71, Y:-14.84, Z:167.47 [[ 6.98000427e-01 -5.53969662e-02 -7.13951385e-01 2.21707590e+02] [ 6.28744549e-02 9.97893840e-01 -1.59589228e-02 -1.48385238e+01] [ 7.13331765e-01 -3.37499692e-02 7.00013380e-01 1.67470921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.73, Y:-14.83, Z:167.48 [[ 6.97740103e-01 -7.01449166e-02 -7.12908437e-01 2.21733338e+02] [ 6.43025025e-02 9.97309683e-01 -3.51935374e-02 -1.48289217e+01] [ 7.13459134e-01 -2.12858541e-02 7.00373455e-01 1.67484831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.75, Y:-14.83, Z:167.51 [[ 6.97889480e-01 -7.12373316e-02 -7.12653855e-01 2.21753046e+02] [ 6.55761109e-02 9.97217135e-01 -3.54649170e-02 -1.48269951e+01] [ 7.13197061e-01 -2.19824757e-02 7.00618815e-01 1.67505170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.77, Y:-14.83, Z:167.52 [[ 6.98274578e-01 -7.21062910e-02 -7.12189088e-01 2.21772045e+02] [ 6.65321375e-02 9.97144536e-01 -3.57246330e-02 -1.48250071e+01] [ 7.12731428e-01 -2.24378593e-02 7.01078065e-01 1.67524469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:-14.82, Z:167.54 [[ 6.98295005e-01 -7.29912660e-02 -7.12078901e-01 2.21791919e+02] [ 6.76697192e-02 9.97063710e-01 -3.58436622e-02 -1.48225349e+01] [ 7.12604305e-01 -2.31567290e-02 7.01183907e-01 1.67544211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.81, Y:-14.82, Z:167.56 [[ 6.98344657e-01 -7.35481377e-02 -7.11972901e-01 2.21811004e+02] [ 6.81768323e-02 9.97019113e-01 -3.61221227e-02 -1.48177103e+01] [ 7.12507305e-01 -2.33143657e-02 7.01277249e-01 1.67563019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:-14.81, Z:167.58 [[ 6.98143218e-01 -7.35895379e-02 -7.12166151e-01 2.21831260e+02] [ 6.81081621e-02 9.97018916e-01 -3.62568618e-02 -1.48143995e+01] [ 7.12711250e-01 -2.31918455e-02 7.01074042e-01 1.67582915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.85, Y:-14.81, Z:167.60 [[ 6.97881494e-01 -7.33621683e-02 -7.12446077e-01 2.21851617e+02] [ 6.74971560e-02 9.97049722e-01 -3.65511361e-02 -1.48112274e+01] [ 7.13025634e-01 -2.25797226e-02 7.00774287e-01 1.67602738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:-14.81, Z:167.62 [[ 6.97753290e-01 -7.28943697e-02 -7.12619644e-01 2.21871343e+02] [ 6.65393480e-02 9.97103352e-01 -3.68431767e-02 -1.48080021e+01] [ 7.13241096e-01 -2.17097987e-02 7.00582489e-01 1.67621640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:-14.80, Z:167.64 [[ 6.97778908e-01 -7.23198412e-02 -7.12653097e-01 2.21891458e+02] [ 6.55908413e-02 9.97161509e-01 -3.69698194e-02 -1.48047252e+01] [ 7.13303888e-01 -2.09467560e-02 7.00541788e-01 1.67641121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:-14.80, Z:167.66 [[ 6.96786664e-01 -7.06389721e-02 -7.13791622e-01 2.21910613e+02] [ 6.28798945e-02 9.97323226e-01 -3.73162345e-02 -1.47998049e+01] [ 7.14516944e-01 -1.88816874e-02 6.99363295e-01 1.67660224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.93, Y:-14.80, Z:167.68 [[ 6.96306519e-01 -7.00503481e-02 -7.14317983e-01 2.21930882e+02] [ 6.18273474e-02 9.97380603e-01 -3.75408067e-02 -1.47968175e+01] [ 7.15076647e-01 -1.80244776e-02 6.98813643e-01 1.67680218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:-14.79, Z:167.70 [[ 6.96337261e-01 -6.94974698e-02 -7.14342019e-01 2.21950047e+02] [ 6.07406106e-02 9.97436459e-01 -3.78297217e-02 -1.47938170e+01] [ 7.15139845e-01 -1.70473256e-02 6.98773491e-01 1.67699504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:-14.79, Z:167.72 [[ 6.96692924e-01 -6.83761732e-02 -7.14103402e-01 2.21969381e+02] [ 5.90095236e-02 9.97536016e-01 -3.79443339e-02 -1.47889992e+01] [ 7.14938351e-01 -1.57033526e-02 6.99011130e-01 1.67719787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.99, Y:-14.79, Z:167.74 [[ 6.97139324e-01 -6.81808287e-02 -7.13686302e-01 2.21988685e+02] [ 5.84452425e-02 9.97559097e-01 -3.82099656e-02 -1.47863987e+01] [ 7.14549450e-01 -1.50738994e-02 6.99422520e-01 1.67740040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.01, Y:-14.78, Z:167.76 [[ 6.97784828e-01 -6.81103670e-02 -7.13061927e-01 2.22008321e+02] [ 5.80673598e-02 9.97571444e-01 -3.84629068e-02 -1.47838948e+01] [ 7.13949939e-01 -1.45667906e-02 7.00045208e-01 1.67760359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:-14.78, Z:167.78 [[ 6.98255195e-01 -6.80598583e-02 -7.12606159e-01 2.22027916e+02] [ 5.77169061e-02 9.97581726e-01 -3.87228500e-02 -1.47811998e+01] [ 7.13518354e-01 -1.40909916e-02 7.00494827e-01 1.67780586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:-14.78, Z:167.80 [[ 6.98642366e-01 -6.72988598e-02 -7.12298889e-01 2.22047781e+02] [ 5.63492987e-02 9.97649499e-01 -3.89901862e-02 -1.47766008e+01] [ 7.13248625e-01 -1.28973470e-02 7.00792450e-01 1.67800781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.07, Y:-14.77, Z:167.82 [[ 6.98816167e-01 -6.69215017e-02 -7.12163940e-01 2.22067601e+02] [ 5.55249627e-02 9.97684845e-01 -3.92674002e-02 -1.47734934e+01] [ 7.13143003e-01 -1.21021821e-02 7.00914113e-01 1.67820005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.10, Y:-14.77, Z:167.84 [[ 7.00376702e-01 -7.35979440e-02 -7.09968886e-01 2.22095737e+02] [ 5.33001455e-02 9.97285431e-01 -5.08021942e-02 -1.47679580e+01] [ 7.11780563e-01 -2.26077168e-03 7.02398262e-01 1.67836981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:-14.77, Z:167.86 [[ 7.00429131e-01 -5.94945322e-02 -7.11237958e-01 2.22110201e+02] [ 5.37212562e-02 9.98087480e-01 -3.05844404e-02 -1.47747766e+01] [ 7.11697309e-01 -1.67863636e-02 7.02285667e-01 1.67863264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.12, Y:-14.77, Z:167.89 [[ 6.99294503e-01 -5.12787008e-02 -7.12992071e-01 2.22122515e+02] [ 5.33265321e-02 9.98386668e-01 -1.95023495e-02 -1.47737570e+01] [ 7.12841834e-01 -2.43835088e-02 7.00900824e-01 1.67885680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.15, Y:-14.76, Z:167.90 [[ 6.99049958e-01 -6.48027708e-02 -7.12130436e-01 2.22147838e+02] [ 5.15061160e-02 9.97861491e-01 -4.02438091e-02 -1.47624197e+01] [ 7.13215449e-01 -8.54663980e-03 7.00892773e-01 1.67898948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:-14.76, Z:167.92 [[ 6.98282574e-01 -6.24209045e-02 -7.13095420e-01 2.22167684e+02] [ 4.77702660e-02 9.98033494e-01 -4.05850441e-02 -1.47573308e+01] [ 7.14226469e-01 -5.72492882e-03 6.99891260e-01 1.67918416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.19, Y:-14.75, Z:167.94 [[ 6.97848426e-01 -6.14869026e-02 -7.13601384e-01 2.22187569e+02] [ 4.61193881e-02 9.98098326e-01 -4.08990690e-02 -1.47539134e+01] [ 7.14759103e-01 -4.36950822e-03 6.99357085e-01 1.67938165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.21, Y:-14.75, Z:167.96 [[ 6.97468292e-01 -6.06320869e-02 -7.14046029e-01 2.22207484e+02] [ 4.45799142e-02 9.98155405e-01 -4.12118652e-02 -1.47504010e+01] [ 7.15227665e-01 -3.08814147e-03 6.98884719e-01 1.67957966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.23, Y:-14.75, Z:167.98 [[ 6.97516686e-01 -5.95408067e-02 -7.14090587e-01 2.22226706e+02] [ 4.27231162e-02 9.98224652e-01 -4.15003576e-02 -1.47470096e+01] [ 7.15293792e-01 -1.56098322e-03 6.98822119e-01 1.67977085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:-14.74, Z:168.00 [[ 6.97985582e-01 -5.76964052e-02 -7.13783758e-01 2.22246517e+02] [ 3.99728714e-02 9.98334044e-01 -4.16089570e-02 -1.47419556e+01] [ 7.14995313e-01 5.10465735e-04 6.99129060e-01 1.67996441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.27, Y:-14.74, Z:168.02 [[ 6.98654460e-01 -5.73027521e-02 -7.13160809e-01 2.22266589e+02] [ 3.91504126e-02 9.98355964e-01 -4.18642381e-02 -1.47387715e+01] [ 7.14387283e-01 1.32809668e-03 6.99749273e-01 1.68015916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.29, Y:-14.74, Z:168.03 [[ 6.99009236e-01 -5.71071081e-02 -7.12828777e-01 2.22285877e+02] [ 3.85903436e-02 9.98366157e-01 -4.21402704e-02 -1.47357934e+01] [ 7.14070636e-01 1.94813081e-03 7.00070948e-01 1.68034870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:-14.73, Z:168.05 [[ 6.99482156e-01 -5.68573027e-02 -7.12384700e-01 2.22305041e+02] [ 3.81311877e-02 9.98379469e-01 -4.22427353e-02 -1.47331851e+01] [ 7.13632066e-01 2.38396491e-03 7.00516660e-01 1.68054049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.33, Y:-14.73, Z:168.07 [[ 7.00692113e-01 -5.67585779e-02 -7.11202521e-01 2.22325122e+02] [ 3.79380016e-02 9.98384395e-01 -4.23002155e-02 -1.47289108e+01] [ 7.12454399e-01 2.65782497e-03 7.01713378e-01 1.68074142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:-14.73, Z:168.09 [[ 7.01232767e-01 -5.67891696e-02 -7.10667008e-01 2.22344847e+02] [ 3.77251420e-02 9.98381590e-01 -4.25560148e-02 -1.47260091e+01] [ 7.11933578e-01 3.03165817e-03 7.02240264e-01 1.68093699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.37, Y:-14.72, Z:168.11 [[ 7.01920426e-01 -5.70384240e-02 -7.09967840e-01 2.22365042e+02] [ 3.78344677e-02 9.98366911e-01 -4.28026281e-02 -1.47227805e+01] [ 7.11249793e-01 3.18278363e-03 7.02932146e-01 1.68113550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.38, Y:-14.72, Z:168.13 [[ 7.02544391e-01 -5.69908151e-02 -7.09354232e-01 2.22384318e+02] [ 3.75186667e-02 9.98368096e-01 -4.30522316e-02 -1.47197023e+01] [ 7.10650216e-01 3.63207878e-03 7.03536125e-01 1.68132462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:-14.71, Z:168.14 [[ 7.05545008e-01 -7.15197871e-02 -7.05046922e-01 2.22416020e+02] [ 3.79848178e-02 9.97280775e-01 -6.31522652e-02 -1.47097555e+01] [ 7.07646377e-01 1.77756866e-02 7.06343139e-01 1.68144948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:-14.72, Z:168.18 [[ 7.03444887e-01 -3.73292169e-02 -7.09768850e-01 2.22417802e+02] [ 3.70737008e-02 9.99187504e-01 -1.58073742e-02 -1.47224543e+01] [ 7.09782242e-01 -1.51941414e-02 7.04257273e-01 1.68179797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.47, Y:-14.69, Z:168.18 [[ 7.08844728e-01 -8.36040173e-02 -7.00392405e-01 2.22465019e+02] [ 3.71647424e-02 9.95998450e-01 -8.12764953e-02 -1.46935930e+01] [ 7.04384791e-01 3.15825119e-02 7.09115372e-01 1.68177195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.45, Y:-14.72, Z:168.22 [[ 7.03131145e-01 -2.48515341e-02 -7.10625777e-01 2.22454930e+02] [ 3.66120701e-02 9.99328736e-01 1.27807711e-03 -1.47230047e+01] [ 7.10116997e-01 -2.69161365e-02 7.03569024e-01 1.68224410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.49, Y:-14.70, Z:168.23 [[ 7.03516705e-01 -5.67936334e-02 -7.08405766e-01 2.22486884e+02] [ 3.63252422e-02 9.98372408e-01 -4.39660197e-02 -1.46996292e+01] [ 7.09749760e-01 5.19781828e-03 7.04434710e-01 1.68230559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:-14.68, Z:168.24 [[ 7.08580873e-01 -8.39631620e-02 -7.00616396e-01 2.22529386e+02] [ 3.52309574e-02 9.95866743e-01 -8.37150521e-02 -1.46830392e+01] [ 7.04749549e-01 3.46354982e-02 7.08610228e-01 1.68237333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:-14.72, Z:168.29 [[ 7.03931897e-01 -1.77236329e-02 -7.10046306e-01 2.22514095e+02] [ 3.72281021e-02 9.99235157e-01 1.19653766e-02 -1.47151097e+01] [ 7.09291162e-01 -3.48564866e-02 7.04053317e-01 1.68285111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.55, Y:-14.69, Z:168.29 [[ 7.04768850e-01 -5.84861599e-02 -7.07022091e-01 2.22548316e+02] [ 3.81506932e-02 9.98278416e-01 -4.45503065e-02 -1.46897577e+01] [ 7.08410469e-01 4.42428534e-03 7.05786818e-01 1.68289082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.60, Y:-14.67, Z:168.29 [[ 7.11508329e-01 -9.79039055e-02 -6.95823773e-01 2.22597773e+02] [ 4.02622336e-02 9.94299393e-01 -9.87302848e-02 -1.46659931e+01] [ 7.01523236e-01 4.22320007e-02 7.11394130e-01 1.68291234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.60, Y:-14.70, Z:168.33 [[ 7.10998384e-01 -4.39514059e-02 -7.01818760e-01 2.22600299e+02] [ 4.14296456e-02 9.98929319e-01 -2.05864216e-02 -1.46970263e+01] [ 7.01972138e-01 -1.44391900e-02 7.12058022e-01 1.68332955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.62, Y:-14.69, Z:168.36 [[ 7.10087123e-01 -4.55819912e-02 -7.02636862e-01 2.22621341e+02] [ 4.37000056e-02 9.98831600e-01 -2.06335914e-02 -1.46945862e+01] [ 7.02756421e-01 -1.60535872e-02 7.11249390e-01 1.68355121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.64, Y:-14.69, Z:168.38 [[ 7.08454635e-01 -4.51777285e-02 -7.04308883e-01 2.22641978e+02] [ 4.58121732e-02 9.98788154e-01 -1.79851964e-02 -1.46937262e+01] [ 7.04267900e-01 -1.95242248e-02 7.09665787e-01 1.68379363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.66, Y:-14.69, Z:168.40 [[ 7.10253835e-01 -4.47929473e-02 -7.02519097e-01 2.22660369e+02] [ 4.85113733e-02 9.98715435e-01 -1.46330811e-02 -1.46917738e+01] [ 7.02272125e-01 -2.36869642e-02 7.11514435e-01 1.68397260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.69, Y:-14.68, Z:168.42 [[ 7.09427576e-01 -5.36932770e-02 -7.02730067e-01 2.22685156e+02] [ 5.20246861e-02 9.98363081e-01 -2.37610988e-02 -1.46836450e+01] [ 7.02855566e-01 -1.97025325e-02 7.11059676e-01 1.68418262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:-14.69, Z:168.44 [[ 7.09368520e-01 -4.48045530e-02 -7.03412293e-01 2.22700623e+02] [ 5.30863322e-02 9.98539180e-01 -1.00671097e-02 -1.46858088e+01] [ 7.02835787e-01 -3.02002880e-02 7.10710770e-01 1.68441390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:-14.68, Z:168.46 [[ 7.09894608e-01 -5.51222837e-02 -7.02147548e-01 2.22726536e+02] [ 5.51382948e-02 9.98222493e-01 -2.26190711e-02 -1.46764805e+01] [ 7.02146291e-01 -2.26580618e-02 7.11672115e-01 1.68458238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.74, Y:-14.68, Z:168.48 [[ 7.09010729e-01 -4.45798263e-02 -7.03787201e-01 2.22741554e+02] [ 5.50297051e-02 9.98454199e-01 -7.80671116e-03 -1.46793432e+01] [ 7.03047308e-01 -3.31941602e-02 7.10367954e-01 1.68484330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.76, Y:-14.68, Z:168.51 [[ 7.07184226e-01 -4.53696304e-02 -7.05572156e-01 2.22761607e+02] [ 5.53256783e-02 9.98430031e-01 -8.74886355e-03 -1.46754892e+01] [ 7.04861362e-01 -3.28491998e-02 7.08584074e-01 1.68508153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:-14.67, Z:168.53 [[ 7.06294779e-01 -3.87996076e-02 -7.06853786e-01 2.22778156e+02] [ 5.33209193e-02 9.98576250e-01 -1.53366903e-03 -1.46723818e+01] [ 7.05906909e-01 -3.66068712e-02 7.07358023e-01 1.68532191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:-14.66, Z:168.55 [[ 7.06715423e-01 -4.72193147e-02 -7.05920425e-01 2.22801960e+02] [ 5.32687292e-02 9.98489486e-01 -1.34606627e-02 -1.46628477e+01] [ 7.05489725e-01 -2.80906260e-02 7.08163233e-01 1.68550568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.82, Y:-14.66, Z:168.57 [[ 7.05587244e-01 -3.79975925e-02 -7.07603578e-01 2.22817455e+02] [ 5.15165450e-02 9.98669589e-01 -2.25779386e-03 -1.46631855e+01] [ 7.06747965e-01 -3.48602210e-02 7.06606028e-01 1.68574328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.84, Y:-14.65, Z:168.59 [[ 7.05855120e-01 -4.32691427e-02 -7.07033472e-01 2.22840376e+02] [ 5.14172300e-02 9.98629344e-01 -9.78273418e-03 -1.46544790e+01] [ 7.06487663e-01 -2.94485096e-02 7.07112415e-01 1.68593183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.86, Y:-14.65, Z:168.61 [[ 7.05876533e-01 -4.14489551e-02 -7.07121139e-01 2.22859971e+02] [ 4.98087183e-02 9.98719827e-01 -8.82039522e-03 -1.46498924e+01] [ 7.06581497e-01 -2.89946876e-02 7.07037408e-01 1.68614538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.88, Y:-14.64, Z:168.63 [[ 7.06577580e-01 -3.63453708e-02 -7.06701590e-01 2.22877179e+02] [ 4.56752956e-02 9.98940033e-01 -5.70779244e-03 -1.46417904e+01] [ 7.06159961e-01 -2.82458059e-02 7.07488717e-01 1.68634589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.90, Y:-14.63, Z:168.65 [[ 7.07681074e-01 -4.36755705e-02 -7.05180786e-01 2.22900817e+02] [ 4.44914450e-02 9.98861420e-01 -1.72155694e-02 -1.46308529e+01] [ 7.05129781e-01 -1.91913795e-02 7.08818512e-01 1.68650830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.91, Y:-14.63, Z:168.68 [[ 7.05821268e-01 -2.88123684e-02 -7.07803776e-01 2.22914229e+02] [ 4.12726551e-02 9.99147803e-01 4.85025845e-04 -1.46331719e+01] [ 7.07186613e-01 -2.95552827e-02 7.06408932e-01 1.68679079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.94, Y:-14.62, Z:168.70 [[ 7.06197625e-01 -3.43777613e-02 -7.07179668e-01 2.22936112e+02] [ 3.93078981e-02 9.99183685e-01 -9.31949005e-03 -1.46235443e+01] [ 7.06922770e-01 -2.12163446e-02 7.06972463e-01 1.68697024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.96, Y:-14.60, Z:168.70 [[ 7.11960042e-01 -4.75392437e-02 -7.00608963e-01 2.22962120e+02] [ 3.76343859e-02 9.98855091e-01 -2.95323607e-02 -1.46014489e+01] [ 7.01210776e-01 -5.34112736e-03 7.12934023e-01 1.68702570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.97, Y:-14.61, Z:168.74 [[ 7.08997068e-01 -2.26411358e-02 -7.04847882e-01 2.22972062e+02] [ 3.24600258e-02 9.99472885e-01 5.46021133e-04 -1.46110375e+01] [ 7.04463984e-01 -2.32665078e-02 7.09358277e-01 1.68736054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.00, Y:-14.60, Z:168.75 [[ 7.10014962e-01 -3.52882936e-02 -7.03301848e-01 2.22996765e+02] [ 3.22425538e-02 9.99325259e-01 -1.75910067e-02 -1.45968037e+01] [ 7.03448059e-01 -1.01863698e-02 7.10673671e-01 1.68750896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.02, Y:-14.59, Z:168.77 [[ 7.09598803e-01 -3.09874744e-02 -7.03924226e-01 2.23015146e+02] [ 3.14496230e-02 9.99429742e-01 -1.22927843e-02 -1.45931740e+01] [ 7.03903729e-01 -1.34152065e-02 7.10168693e-01 1.68773461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.04, Y:-14.58, Z:168.79 [[ 7.11799360e-01 -4.04317664e-02 -7.01218186e-01 2.23038790e+02] [ 3.22864698e-02 9.99169989e-01 -2.48378029e-02 -1.45808719e+01] [ 7.01640403e-01 -4.96032761e-03 7.12513957e-01 1.68789541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.06, Y:-14.58, Z:168.82 [[ 7.11067447e-01 -3.02856150e-02 -7.02471257e-01 2.23055229e+02] [ 3.06383363e-02 9.99457580e-01 -1.20763146e-02 -1.45816750e+01] [ 7.02455962e-01 -1.29354764e-02 7.11609651e-01 1.68815060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:-14.55, Z:168.81 [[ 7.17453675e-01 -5.27951514e-02 -6.94602689e-01 2.23071415e+02] [ 3.85298821e-02 9.98604993e-01 -3.61042315e-02 -1.45509898e+01] [ 6.95539842e-01 -8.59846079e-04 7.18487014e-01 1.68812429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:-14.55, Z:168.84 [[ 7.13238358e-01 -5.79136491e-02 -6.98524913e-01 2.23100975e+02] [ 3.17102780e-02 9.98226421e-01 -5.03832396e-02 -1.45515307e+01] [ 7.00203901e-01 1.37848399e-02 7.13809831e-01 1.68844263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:-14.54, Z:168.85 [[ 7.18145807e-01 -5.34195898e-02 -6.93839281e-01 2.23111297e+02] [ 3.89986310e-02 9.98571806e-01 -3.65165156e-02 -1.45411478e+01] [ 6.94799041e-01 -8.34599552e-04 7.19203446e-01 1.68850575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:-14.55, Z:168.89 [[ 7.10666363e-01 -4.45454443e-02 -7.02117529e-01 2.23134150e+02] [ 3.13599826e-02 9.99007250e-01 -3.16396275e-02 -1.45493256e+01] [ 7.02829903e-01 4.66825565e-04 7.11357793e-01 1.68890310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.15, Y:-14.55, Z:168.91 [[ 7.06545843e-01 -4.36871988e-02 -7.06317493e-01 2.23153125e+02] [ 3.28012800e-02 9.99041632e-01 -2.89809082e-02 -1.45464046e+01] [ 7.06906676e-01 -2.69177766e-03 7.07301708e-01 1.68909455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.17, Y:-14.52, Z:168.90 [[ 7.16671358e-01 -6.04802934e-02 -6.94783635e-01 2.23170788e+02] [ 4.13460591e-02 9.98164945e-01 -4.42407835e-02 -1.45232172e+01] [ 6.96184364e-01 2.97953718e-03 7.17856848e-01 1.68904146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:-14.51, Z:168.92 [[ 7.16235671e-01 -7.58864238e-02 -6.93720199e-01 2.23193767e+02] [ 4.38766995e-02 9.97000146e-01 -6.37616123e-02 -1.45116232e+01] [ 6.96477781e-01 1.52301885e-02 7.17416714e-01 1.68920119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.20, Y:-14.54, Z:168.97 [[ 7.06102915e-01 -4.00044080e-02 -7.06978303e-01 2.23203768e+02] [ 3.72956323e-02 9.99118160e-01 -1.92857062e-02 -1.45409359e+01] [ 7.07126374e-01 -1.27495095e-02 7.06972235e-01 1.68970201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:-14.53, Z:168.99 [[ 7.07284650e-01 -4.72776694e-02 -7.05346189e-01 2.23226095e+02] [ 4.12726182e-02 9.98820869e-01 -2.55625306e-02 -1.45349605e+01] [ 7.05723030e-01 -1.10314984e-02 7.08401942e-01 1.68988568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.25, Y:-14.53, Z:169.01 [[ 7.07075942e-01 -5.52214943e-02 -7.04978155e-01 2.23249913e+02] [ 4.54699316e-02 9.98433543e-01 -3.26028506e-02 -1.45302518e+01] [ 7.05674215e-01 -9.00261727e-03 7.08479255e-01 1.69007049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:-14.51, Z:169.00 [[ 7.11665364e-01 -8.00007663e-02 -6.97948628e-01 2.23272773e+02] [ 5.27669129e-02 9.96775576e-01 -6.04491848e-02 -1.45065712e+01] [ 7.00534127e-01 6.19099666e-03 7.13592047e-01 1.69003666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.29, Y:-14.53, Z:169.06 [[ 6.99575606e-01 -4.83808292e-02 -7.12918836e-01 2.23285255e+02] [ 5.08129381e-02 9.98547717e-01 -1.79025632e-02 -1.45343856e+01] [ 7.12749617e-01 -2.37013041e-02 7.01017997e-01 1.69056473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:223.31, Y:-14.53, Z:169.07 [[ 7.01703254e-01 -5.26723741e-02 -7.10519644e-01 2.23307689e+02] [ 5.24445503e-02 9.98376646e-01 -2.22180438e-02 -1.45316125e+01] [ 7.10536496e-01 -2.16724096e-02 7.03326520e-01 1.69074515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:223.33, Y:-14.52, Z:169.09 [[ 7.01617297e-01 -6.49036112e-02 -7.09591918e-01 2.23332650e+02] [ 5.62770074e-02 9.97779646e-01 -3.56184728e-02 -1.45236327e+01] [ 7.10328141e-01 -1.49431730e-02 7.03712039e-01 1.69091369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:223.35, Y:-14.53, Z:169.11 [[ 7.01412306e-01 -5.10322353e-02 -7.10926500e-01 2.23347263e+02] [ 5.67829330e-02 9.98264115e-01 -1.56350920e-02 -1.45300728e+01] [ 7.10490306e-01 -2.94018458e-02 7.03092495e-01 1.69113874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:223.37, Y:-14.53, Z:169.13 [[ 7.02158145e-01 -5.40277054e-02 -7.09968271e-01 2.23367163e+02] [ 5.72740934e-02 9.98171622e-01 -1.93155832e-02 -1.45268410e+01] [ 7.09713757e-01 -2.71001950e-02 7.03968722e-01 1.69131670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41999999999996 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:223.39, Y:-14.52, Z:169.15 [[ 7.02384379e-01 -5.71319048e-02 -7.09501325e-01 2.23387730e+02] [ 5.81507657e-02 9.98047433e-01 -2.27993393e-02 -1.45228796e+01] [ 7.09418546e-01 -2.52441455e-02 7.04335190e-01 1.69151027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:223.41, Y:-14.52, Z:169.17 [[ 7.01813543e-01 -5.63694968e-02 -7.10126912e-01 2.23406025e+02] [ 5.92488302e-02 9.98029267e-01 -2.06678213e-02 -1.45217908e+01] [ 7.09892476e-01 -2.75692319e-02 7.03770282e-01 1.69171442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47999999999996 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:223.42, Y:-14.52, Z:169.19 [[ 7.01951292e-01 -6.01205978e-02 -7.09682956e-01 2.23424488e+02] [ 5.61944803e-02 9.97999662e-01 -2.89630010e-02 -1.45187394e+01] [ 7.10004623e-01 -1.95496489e-02 7.03925597e-01 1.69187484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:223.45, Y:-14.51, Z:169.20 [[ 7.01232708e-01 -7.00048174e-02 -7.09487149e-01 2.23445972e+02] [ 5.62623659e-02 9.97497584e-01 -4.28149052e-02 -1.45117755e+01] [ 7.10708967e-01 -9.89421363e-03 7.03416569e-01 1.69204752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53999999999996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:223.47, Y:-14.49, Z:169.21 [[ 7.01838345e-01 -9.35468786e-02 -7.06167062e-01 2.23471135e+02] [ 5.65602373e-02 9.95527847e-01 -7.56653521e-02 -1.44930450e+01] [ 7.10087232e-01 1.31638689e-02 7.03990650e-01 1.69208650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.49, Y:-14.50, Z:169.23 [[ 7.00512080e-01 -8.73439650e-02 -7.08275270e-01 2.23488937e+02] [ 5.56894745e-02 9.96145875e-01 -6.77648690e-02 -1.44954236e+01] [ 7.11464341e-01 8.02663180e-03 7.02676359e-01 1.69230210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.51, Y:-14.50, Z:169.25 [[ 6.98366432e-01 -8.52041402e-02 -7.10650815e-01 2.23507656e+02] [ 5.20642690e-02 9.96306156e-01 -6.82887721e-02 -1.44950667e+01] [ 7.13844267e-01 1.06910709e-02 7.00222867e-01 1.69251532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.53, Y:-14.49, Z:169.27 [[ 6.97823821e-01 -8.39686546e-02 -7.11330570e-01 2.23526569e+02] [ 4.99099563e-02 9.96391148e-01 -6.86562195e-02 -1.44936930e+01] [ 7.14528453e-01 1.24074678e-02 6.99496350e-01 1.69271741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.54, Y:-14.49, Z:169.29 [[ 6.97765604e-01 -8.22519545e-02 -7.11588208e-01 2.23544723e+02] [ 4.71173792e-02 9.96504533e-01 -6.89830978e-02 -1.44923233e+01] [ 7.14774869e-01 1.46058615e-02 6.99202084e-01 1.69291367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:223.56, Y:-14.51, Z:169.32 [[ 6.95934346e-01 -5.89452020e-02 -7.15682086e-01 2.23555758e+02] [ 4.24819823e-02 9.98259347e-01 -4.09091255e-02 -1.45060916e+01] [ 7.16847729e-01 -1.93352822e-03 6.97227075e-01 1.69324628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71999999999997 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:223.58, Y:-14.50, Z:169.35 [[ 7.01051389e-01 -6.24722002e-02 -7.10369041e-01 2.23580688e+02] [ 4.44701931e-02 9.98046364e-01 -4.38846005e-02 -1.45014625e+01] [ 7.11722805e-01 -8.24888263e-04 7.02459941e-01 1.69345796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:223.60, Y:-14.50, Z:169.37 [[ 6.97723015e-01 -6.41783407e-02 -7.13487025e-01 2.23602405e+02] [ 4.06424663e-02 9.97920996e-01 -5.00187507e-02 -1.44964940e+01] [ 7.15213803e-01 5.90136116e-03 6.98880812e-01 1.69367632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:223.62, Y:-14.50, Z:169.39 [[ 6.97327929e-01 -5.06907106e-02 -7.14957490e-01 2.23620226e+02] [ 3.77258419e-02 9.98709098e-01 -3.40131980e-02 -1.45014442e+01] [ 7.15758703e-01 -3.25402030e-03 6.98340097e-01 1.69390997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:223.64, Y:-14.50, Z:169.41 [[ 6.97584269e-01 -5.04045146e-02 -7.14727621e-01 2.23640384e+02] [ 3.57087336e-02 9.98728638e-01 -3.55808012e-02 -1.44984338e+01] [ 7.15612377e-01 -7.01410975e-04 6.98497269e-01 1.69409927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:223.66, Y:-14.49, Z:169.42 [[ 6.95863842e-01 -6.46658947e-02 -7.15256482e-01 2.23655377e+02] [ 2.81242374e-02 9.97627695e-01 -6.28331915e-02 -1.44873754e+01] [ 7.17622840e-01 2.36073029e-02 6.96031720e-01 1.69416817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.69, Y:-14.46, Z:169.42 [[ 7.01193080e-01 -9.90937369e-02 -7.06051482e-01 2.23693333e+02] [ 2.67054047e-02 9.93249666e-01 -1.12880120e-01 -1.44626479e+01] [ 7.12471112e-01 6.02953686e-02 6.99106131e-01 1.69416537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.69, Y:-14.51, Z:169.47 [[ 6.93617448e-01 -2.74746486e-02 -7.19819407e-01 2.23685698e+02] [ 2.37680770e-02 9.99601168e-01 -1.52506835e-02 -1.45063202e+01] [ 7.19951328e-01 -6.53058291e-03 6.93993831e-01 1.69468701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.74, Y:-14.45, Z:169.45 [[ 7.00921756e-01 -1.09268193e-01 -7.04818525e-01 2.23735896e+02] [ 2.12150413e-02 9.90951956e-01 -1.32529782e-01 -1.44546324e+01] [ 7.12922586e-01 7.79402532e-02 6.96897915e-01 1.69453482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.75, Y:-14.48, Z:169.48 [[ 6.98227112e-01 -6.76594964e-02 -7.12671798e-01 2.23746193e+02] [ 2.09616173e-02 9.97029080e-01 -7.41189928e-02 -1.44789741e+01] [ 7.15569361e-01 3.68131368e-02 6.97570988e-01 1.69483624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.75, Y:-14.50, Z:169.52 [[ 6.89242644e-01 -3.73922860e-02 -7.23565059e-01 2.23747539e+02] [ 1.89971181e-02 9.99256697e-01 -3.35434499e-02 -1.44964099e+01] [ 7.24281497e-01 9.37392522e-03 6.89440673e-01 1.69521862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.78, Y:-14.48, Z:169.53 [[ 6.90413425e-01 -7.29370378e-02 -7.19728763e-01 2.23777117e+02] [ 1.82146441e-02 9.96341619e-01 -8.34961372e-02 -1.44763238e+01] [ 7.23185682e-01 4.45372507e-02 6.89216151e-01 1.69531451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:-14.47, Z:169.55 [[ 6.92792966e-01 -7.91218700e-02 -7.16782837e-01 2.23799625e+02] [ 2.03403800e-02 9.95711254e-01 -9.02516925e-02 -1.44711643e+01] [ 7.20849620e-01 4.79461025e-02 6.91431122e-01 1.69546613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.82, Y:-14.48, Z:169.57 [[ 6.91847023e-01 -6.73360591e-02 -7.18897456e-01 2.23815468e+02] [ 2.12492342e-02 9.97109548e-01 -7.29453243e-02 -1.44787710e+01] [ 7.21731367e-01 3.51909850e-02 6.91278112e-01 1.69570416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.84, Y:-14.47, Z:169.59 [[ 6.92909975e-01 -8.11869475e-02 -7.16438724e-01 2.23839985e+02] [ 2.35540234e-02 9.95658884e-01 -9.00477397e-02 -1.44713870e+01] [ 7.20639282e-01 4.55199626e-02 6.91814252e-01 1.69585441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:-14.48, Z:169.61 [[ 6.92487221e-01 -7.70460734e-02 -7.17304225e-01 2.23858204e+02] [ 2.67568001e-02 9.96339725e-01 -8.11863633e-02 -1.44752640e+01] [ 7.20933785e-01 3.70277533e-02 6.92014034e-01 1.69606815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.88, Y:-14.47, Z:169.62 [[ 6.94064303e-01 -8.47872243e-02 -7.14902699e-01 2.23879615e+02] [ 3.14650875e-02 9.95664166e-01 -8.75375166e-02 -1.44716545e+01] [ 7.19225063e-01 3.82621895e-02 6.93722793e-01 1.69623684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:-14.48, Z:169.65 [[ 6.91844071e-01 -8.60787671e-02 -7.16897641e-01 2.23898051e+02] [ 3.95053570e-02 9.95893903e-01 -8.14534307e-02 -1.44776317e+01] [ 7.20965400e-01 2.80317758e-02 6.92403864e-01 1.69646377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.92, Y:-14.47, Z:169.66 [[ 6.92165819e-01 -9.50958431e-02 -7.15446197e-01 2.23919199e+02] [ 4.42892902e-02 9.95009988e-01 -8.94068362e-02 -1.44743610e+01] [ 7.20378330e-01 3.01977517e-02 6.92923630e-01 1.69663494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.94, Y:-14.48, Z:169.68 [[ 6.92695926e-01 -9.47522516e-02 -7.14978577e-01 2.23938405e+02] [ 4.87620394e-02 9.95217018e-01 -8.46483926e-02 -1.44764329e+01] [ 7.19579473e-01 2.37717832e-02 6.94003087e-01 1.69682985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.97, Y:-14.47, Z:169.70 [[ 6.94669429e-01 -1.09669387e-01 -7.10919833e-01 2.23967889e+02] [ 5.13630351e-02 9.93349241e-01 -1.03049133e-01 -1.44703846e+01] [ 7.17493012e-01 3.50700822e-02 6.95682303e-01 1.69697243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:-14.48, Z:169.72 [[ 6.93364985e-01 -9.31854462e-02 -7.14535842e-01 2.23982610e+02] [ 5.64094208e-02 9.95579261e-01 -7.50993544e-02 -1.44842002e+01] [ 7.18375232e-01 1.17647097e-02 6.95556336e-01 1.69724253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.00, Y:-14.48, Z:169.74 [[ 6.93308754e-01 -9.39083254e-02 -7.14495765e-01 2.24001397e+02] [ 5.71467751e-02 9.95515138e-01 -7.53913498e-02 -1.44835164e+01] [ 7.18371226e-01 1.14383540e-02 6.95565918e-01 1.69743562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:-14.48, Z:169.76 [[ 6.93424401e-01 -9.38291104e-02 -7.14393938e-01 2.24021574e+02] [ 5.69093623e-02 9.95519482e-01 -7.55134724e-02 -1.44823547e+01] [ 7.18278446e-01 1.17071809e-02 6.95657255e-01 1.69763758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.04, Y:-14.48, Z:169.78 [[ 6.92901899e-01 -9.31664380e-02 -7.14987394e-01 2.24041297e+02] [ 5.55773970e-02 9.95567867e-01 -7.58668313e-02 -1.44804299e+01] [ 7.18886717e-01 1.28311333e-02 6.95008813e-01 1.69784002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:-14.48, Z:169.80 [[ 6.92985921e-01 -9.20439890e-02 -7.15051339e-01 2.24060853e+02] [ 5.36449602e-02 9.95650399e-01 -7.61741559e-02 -1.44782048e+01] [ 7.18952524e-01 1.44287168e-02 6.94909404e-01 1.69803350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:-14.48, Z:169.82 [[ 6.93076939e-01 -9.07247502e-02 -7.15131719e-01 2.24080347e+02] [ 5.14275367e-02 9.95743728e-01 -7.64829189e-02 -1.44756399e+01] [ 7.19026818e-01 1.62310845e-02 6.94792766e-01 1.69822740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.10, Y:-14.47, Z:169.84 [[ 6.94212392e-01 -8.69003436e-02 -7.14505063e-01 2.24099518e+02] [ 4.57197612e-02 9.96004206e-01 -7.67158775e-02 -1.44733306e+01] [ 7.18316684e-01 2.05901119e-02 6.95411525e-01 1.69842510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.12, Y:-14.47, Z:169.86 [[ 6.94845756e-01 -8.53035998e-02 -7.14081698e-01 2.24119568e+02] [ 4.31871796e-02 9.96097692e-01 -7.69691907e-02 -1.44709794e+01] [ 7.17860880e-01 2.26425410e-02 6.95818276e-01 1.69862634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.14, Y:-14.47, Z:169.88 [[ 6.95600095e-01 -8.18039520e-02 -7.13756696e-01 2.24138543e+02] [ 3.79197961e-02 9.96291914e-01 -7.72302417e-02 -1.44683584e+01] [ 7.17427764e-01 2.66558551e-02 6.96122739e-01 1.69881700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.16, Y:-14.47, Z:169.90 [[ 6.95438958e-01 -8.04306781e-02 -7.14069718e-01 2.24158497e+02] [ 3.57625364e-02 9.96358712e-01 -7.73974087e-02 -1.44657916e+01] [ 7.17694710e-01 2.82882290e-02 6.95783069e-01 1.69901768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:-14.46, Z:169.92 [[ 6.95395112e-01 -7.93956537e-02 -7.14228233e-01 2.24178534e+02] [ 3.39462328e-02 9.96397815e-01 -7.77113099e-02 -1.44629095e+01] [ 7.17825391e-01 2.97947072e-02 6.95585353e-01 1.69921726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:-14.46, Z:169.94 [[ 6.95814450e-01 -7.84135030e-02 -7.13928269e-01 2.24198009e+02] [ 3.22850586e-02 9.96432338e-01 -7.79760968e-02 -1.44596823e+01] [ 7.17495593e-01 3.12076789e-02 6.95863604e-01 1.69940773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:-14.46, Z:169.96 [[ 6.96112411e-01 -7.74509346e-02 -7.13742855e-01 2.24218125e+02] [ 3.08021490e-02 9.96470402e-01 -7.80894762e-02 -1.44566999e+01] [ 7.17271733e-01 3.23742398e-02 6.96041069e-01 1.69960553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:-14.45, Z:169.98 [[ 6.96299152e-01 -7.65286722e-02 -7.13660181e-01 2.24237241e+02] [ 2.91934397e-02 9.96496407e-01 -7.83750882e-02 -1.44536651e+01] [ 7.17157747e-01 3.37383120e-02 6.96093738e-01 1.69979588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.26, Y:-14.45, Z:170.00 [[ 6.96118420e-01 -7.47898444e-02 -7.14020746e-01 2.24257599e+02] [ 2.65013232e-02 9.96558081e-01 -7.85472480e-02 -1.44496639e+01] [ 7.17437681e-01 3.57556916e-02 6.95704466e-01 1.69998996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.28, Y:-14.45, Z:170.02 [[ 6.95416503e-01 -7.44239913e-02 -7.14742580e-01 2.24276543e+02] [ 2.55458037e-02 9.96554129e-01 -7.89131134e-02 -1.44469483e+01] [ 7.18152699e-01 3.66188078e-02 6.94921409e-01 1.70017431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.30, Y:-14.44, Z:170.04 [[ 6.94539509e-01 -7.46064410e-02 -7.15575816e-01 2.24296446e+02] [ 2.55149050e-02 9.96537337e-01 -7.91348633e-02 -1.44445755e+01] [ 7.19001989e-01 3.67044401e-02 6.94038129e-01 1.70036684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.32, Y:-14.44, Z:170.06 [[ 6.93601666e-01 -7.52575316e-02 -7.16416801e-01 2.24315490e+02] [ 2.59858572e-02 9.96494462e-01 -7.95205801e-02 -1.44425207e+01] [ 7.19889897e-01 3.65389021e-02 6.93125851e-01 1.70055199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.33, Y:-14.44, Z:170.07 [[ 6.92956908e-01 -7.59315978e-02 -7.16969397e-01 2.24334314e+02] [ 2.67137913e-02 9.96459894e-01 -7.97123084e-02 -1.44411010e+01] [ 7.20483933e-01 3.60842239e-02 6.92532188e-01 1.70073936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:-14.44, Z:170.09 [[ 6.92778438e-01 -7.84699552e-02 -7.16868539e-01 2.24353020e+02] [ 3.01776317e-02 9.96346084e-01 -7.98986381e-02 -1.44402460e+01] [ 7.20518804e-01 3.37186590e-02 6.92615121e-01 1.70093203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:-14.44, Z:170.11 [[ 6.92968851e-01 -7.97633987e-02 -7.16541675e-01 2.24372217e+02] [ 3.19335153e-02 9.96281588e-01 -8.00202921e-02 -1.44390397e+01] [ 7.20259968e-01 3.25698754e-02 6.92939234e-01 1.70113104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:224.39, Y:-14.44, Z:170.13 [[ 6.93353559e-01 -8.11007056e-02 -7.16019216e-01 2.24391938e+02] [ 3.36525178e-02 9.96206593e-01 -8.02491935e-02 -1.44377662e+01] [ 7.19811329e-01 3.15452145e-02 6.93452630e-01 1.70133515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.41, Y:-14.44, Z:170.15 [[ 6.94002641e-01 -8.20296767e-02 -7.15284186e-01 2.24410798e+02] [ 3.48249128e-02 9.96150025e-01 -8.04509370e-02 -1.44367263e+01] [ 7.19129724e-01 3.09234534e-02 6.94187424e-01 1.70153104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.43, Y:-14.44, Z:170.17 [[ 6.94303567e-01 -8.29089093e-02 -7.14890670e-01 2.24430616e+02] [ 3.60244481e-02 9.96100575e-01 -8.05349851e-02 -1.44357343e+01] [ 7.18780075e-01 3.01621856e-02 6.94582930e-01 1.70173135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.45, Y:-14.44, Z:170.19 [[ 6.94508058e-01 -8.47869788e-02 -7.14471640e-01 2.24450782e+02] [ 3.84997098e-02 9.95988871e-01 -8.07709156e-02 -1.44356232e+01] [ 7.18454125e-01 2.85891009e-02 6.94986571e-01 1.70193208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:-14.43, Z:170.21 [[ 6.94118199e-01 -8.56743435e-02 -7.14744593e-01 2.24470151e+02] [ 3.94274911e-02 9.95926716e-01 -8.10891458e-02 -1.44344170e+01] [ 7.18780494e-01 2.81048657e-02 6.94668783e-01 1.70212307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.49, Y:-14.43, Z:170.23 [[ 6.93923330e-01 -8.65124385e-02 -7.14832855e-01 2.24490306e+02] [ 4.04803705e-02 9.95873081e-01 -8.12289683e-02 -1.44329440e+01] [ 7.18910114e-01 2.74299773e-02 6.94561620e-01 1.70231957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:-14.43, Z:170.25 [[ 6.93628705e-01 -8.70148466e-02 -7.15057785e-01 2.24510013e+02] [ 4.08623568e-02 9.95831715e-01 -8.15442354e-02 -1.44317569e+01] [ 7.19172780e-01 2.73424761e-02 6.94293095e-01 1.70251787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.53, Y:-14.43, Z:170.27 [[ 6.93850098e-01 -8.75851836e-02 -7.14773305e-01 2.24528835e+02] [ 4.14332623e-02 9.95787231e-01 -8.17989900e-02 -1.44303172e+01] [ 7.18926510e-01 2.71408474e-02 6.94556008e-01 1.70270526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:-14.43, Z:170.29 [[ 6.94419261e-01 -8.80930917e-02 -7.14157894e-01 2.24548517e+02] [ 4.21350332e-02 9.95752930e-01 -8.18580542e-02 -1.44288366e+01] [ 7.18335944e-01 2.67527430e-02 6.95181819e-01 1.70289813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21999999999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.57, Y:-14.43, Z:170.31 [[ 6.94405914e-01 -8.86561683e-02 -7.14101190e-01 2.24568126e+02] [ 4.26516448e-02 9.95707511e-01 -8.21425017e-02 -1.44283460e+01] [ 7.18318358e-01 2.65826486e-02 6.95206516e-01 1.70309817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.59, Y:-14.43, Z:170.33 [[ 6.94591909e-01 -8.89118777e-02 -7.13888478e-01 2.24586776e+02] [ 4.27574702e-02 9.95681176e-01 -8.24062749e-02 -1.44269569e+01] [ 7.18132216e-01 2.67146664e-02 6.95393735e-01 1.70328796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.61, Y:-14.43, Z:170.35 [[ 6.95040493e-01 -8.95425357e-02 -7.13372867e-01 2.24606443e+02] [ 4.35458109e-02 9.95635488e-01 -8.25453660e-02 -1.44251953e+01] [ 7.17650664e-01 2.63079719e-02 6.95906183e-01 1.70348140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.63, Y:-14.42, Z:170.37 [[ 6.95024795e-01 -8.99243213e-02 -7.13340137e-01 2.24626654e+02] [ 4.38035320e-02 9.95600751e-01 -8.28275012e-02 -1.44226569e+01] [ 7.17650183e-01 2.63203496e-02 6.95906211e-01 1.70368175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.65, Y:-14.42, Z:170.39 [[ 6.95319363e-01 -9.01542546e-02 -7.13023978e-01 2.24645615e+02] [ 4.39136783e-02 9.95576800e-01 -8.30567489e-02 -1.44209434e+01] [ 7.17358050e-01 2.64394602e-02 6.96202832e-01 1.70387362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.67, Y:-14.42, Z:170.41 [[ 6.96164978e-01 -9.05266672e-02 -7.12151140e-01 2.24665858e+02] [ 4.44332935e-02 9.95548840e-01 -8.31155248e-02 -1.44189250e+01] [ 7.16505413e-01 2.62188968e-02 6.97088634e-01 1.70406887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.69, Y:-14.42, Z:170.43 [[ 6.96683256e-01 -9.09557595e-02 -7.11589412e-01 2.24685080e+02] [ 4.48402096e-02 9.95511334e-01 -8.33459088e-02 -1.44165813e+01] [ 7.15976115e-01 2.61578807e-02 6.97634552e-01 1.70425617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.70, Y:-14.42, Z:170.44 [[ 6.97814978e-01 -9.13000690e-02 -7.10435468e-01 2.24704069e+02] [ 4.53992841e-02 9.95486490e-01 -8.33399900e-02 -1.44153236e+01] [ 7.14837857e-01 2.59026316e-02 6.98810341e-01 1.70444313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:-14.41, Z:170.46 [[ 6.97964492e-01 -9.19245061e-02 -7.10208035e-01 2.24724228e+02] [ 4.61969878e-02 9.95441197e-01 -8.34425694e-02 -1.44136005e+01] [ 7.14640754e-01 2.54304786e-02 6.99029244e-01 1.70463930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:-14.41, Z:170.48 [[ 6.98178101e-01 -9.28554872e-02 -7.09876890e-01 2.24744755e+02] [ 4.72889907e-02 9.95369174e-01 -8.36896550e-02 -1.44117364e+01] [ 7.14360617e-01 2.48609228e-02 6.99336002e-01 1.70483492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:-14.41, Z:170.50 [[ 6.97629985e-01 -9.38333810e-02 -7.10287055e-01 2.24764676e+02] [ 4.83155433e-02 9.95291227e-01 -8.40296452e-02 -1.44099801e+01] [ 7.14827260e-01 2.43036952e-02 6.98878615e-01 1.70502822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:-14.41, Z:170.52 [[ 6.97463355e-01 -9.50115765e-02 -7.10294072e-01 2.24784558e+02] [ 4.96958118e-02 9.95198423e-01 -8.43233329e-02 -1.44081613e+01] [ 7.14895234e-01 2.35137941e-02 6.98836108e-01 1.70521637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.80, Y:-14.41, Z:170.54 [[ 6.96888362e-01 -9.74218526e-02 -7.10531909e-01 2.24804180e+02] [ 5.28931651e-02 9.95014372e-01 -8.45500555e-02 -1.44071731e+01] [ 7.15226485e-01 2.13396681e-02 6.98566886e-01 1.70540354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.82, Y:-14.41, Z:170.56 [[ 6.96911780e-01 -9.88438903e-02 -7.10312506e-01 2.24824415e+02] [ 5.48294345e-02 9.94900978e-01 -8.46509160e-02 -1.44052466e+01] [ 7.15057832e-01 2.00481876e-02 6.98777766e-01 1.70559737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.84, Y:-14.40, Z:170.58 [[ 6.96885878e-01 -1.00340328e-01 -7.10128081e-01 2.24844264e+02] [ 5.67043039e-02 9.94773500e-01 -8.49135142e-02 -1.44033687e+01] [ 7.14936847e-01 1.89077104e-02 6.98933333e-01 1.70579255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.86, Y:-14.40, Z:170.60 [[ 6.97305295e-01 -1.01823197e-01 -7.09505012e-01 2.24863068e+02] [ 5.86214832e-02 9.94643789e-01 -8.51308147e-02 -1.44016691e+01] [ 7.14373045e-01 1.77699318e-02 6.99539408e-01 1.70598180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.88, Y:-14.40, Z:170.62 [[ 6.98528431e-01 -1.04163835e-01 -7.07960399e-01 2.24882388e+02] [ 6.20685598e-02 9.94439619e-01 -8.50725413e-02 -1.44005948e+01] [ 7.12885352e-01 1.54835064e-02 7.01109646e-01 1.70617283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.90, Y:-14.40, Z:170.64 [[ 6.99000948e-01 -1.05437700e-01 -7.07305144e-01 2.24901455e+02] [ 6.38533976e-02 9.94322586e-01 -8.51195585e-02 -1.43983649e+01] [ 7.12264290e-01 1.43348155e-02 7.01764985e-01 1.70636090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:-14.40, Z:170.66 [[ 6.99468277e-01 -1.06583541e-01 -7.06671125e-01 2.24921469e+02] [ 6.53803429e-02 9.94213197e-01 -8.52380767e-02 -1.43961010e+01] [ 7.11666734e-01 1.34189301e-02 7.02389060e-01 1.70655481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:-14.39, Z:170.67 [[ 6.99710681e-01 -1.07524318e-01 -7.06288527e-01 2.24941504e+02] [ 6.64805390e-02 9.94119304e-01 -8.54818595e-02 -1.43937156e+01] [ 7.11326437e-01 1.28581282e-02 7.02744170e-01 1.70674993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:-14.39, Z:170.69 [[ 7.00040753e-01 -1.08295174e-01 -7.05843537e-01 2.24961599e+02] [ 6.73434163e-02 9.94040503e-01 -8.57224725e-02 -1.43913322e+01] [ 7.10920395e-01 1.24753090e-02 7.03161830e-01 1.70694726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:-14.39, Z:170.71 [[ 7.00390736e-01 -1.08701249e-01 -7.05433807e-01 2.24980976e+02] [ 6.76784884e-02 9.93996234e-01 -8.59715616e-02 -1.43889064e+01] [ 7.10543763e-01 1.24709915e-02 7.03542490e-01 1.70713354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:-14.39, Z:170.73 [[ 7.00370356e-01 -1.08039417e-01 -7.05555702e-01 2.25000740e+02] [ 6.65877105e-02 9.94057194e-01 -8.61183613e-02 -1.43861977e+01] [ 7.10666899e-01 1.33334086e-02 7.03402288e-01 1.70732777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.02, Y:-14.38, Z:170.75 [[ 7.00113314e-01 -1.07394488e-01 -7.05909181e-01 2.25020146e+02] [ 6.53206792e-02 9.94111928e-01 -8.64562554e-02 -1.43831473e+01] [ 7.11037662e-01 1.44187084e-02 7.03006077e-01 1.70751730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:-14.38, Z:170.77 [[ 6.99693795e-01 -1.06528823e-01 -7.06456087e-01 2.25040311e+02] [ 6.38745638e-02 9.94188693e-01 -8.66538153e-02 -1.43798646e+01] [ 7.11581783e-01 1.55065625e-02 7.02432141e-01 1.70771308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.06, Y:-14.38, Z:170.79 [[ 6.99398455e-01 -1.05362982e-01 -7.06923223e-01 2.25059984e+02] [ 6.18472639e-02 9.94286294e-01 -8.70039147e-02 -1.43767798e+01] [ 7.12051064e-01 1.71291363e-02 7.01918710e-01 1.70790819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:-14.37, Z:170.81 [[ 6.99022849e-01 -1.02549704e-01 -7.07708001e-01 2.25079379e+02] [ 5.74218002e-02 9.94517620e-01 -8.73924518e-02 -1.43727899e+01] [ 7.12790147e-01 2.04514532e-02 7.01079128e-01 1.70809821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:-14.37, Z:170.83 [[ 6.99399421e-01 -1.01377408e-01 -7.07504821e-01 2.25099449e+02] [ 5.56568669e-02 9.94608770e-01 -8.74969003e-02 -1.43694206e+01] [ 7.12560709e-01 2.18177797e-02 7.01271147e-01 1.70829762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:-14.37, Z:170.85 [[ 7.00027210e-01 -1.00192963e-01 -7.07052527e-01 2.25118204e+02] [ 5.37562422e-02 9.94692691e-01 -8.77309300e-02 -1.43662211e+01] [ 7.12090003e-01 2.34055512e-02 7.01697947e-01 1.70848395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:-14.36, Z:170.87 [[ 7.00815930e-01 -9.92763797e-02 -7.06400193e-01 2.25138018e+02] [ 5.24378842e-02 9.94758866e-01 -8.77785071e-02 -1.43628768e+01] [ 7.11412187e-01 2.44744445e-02 7.02348704e-01 1.70868351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:-14.36, Z:170.89 [[ 7.01411460e-01 -9.86125445e-02 -7.05901927e-01 2.25156764e+02] [ 5.12945088e-02 9.94798697e-01 -8.80024152e-02 -1.43598268e+01] [ 7.10908459e-01 2.55170099e-02 7.02821489e-01 1.70886960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:-14.36, Z:170.91 [[ 7.02177254e-01 -9.82542286e-02 -7.05190195e-01 2.25176250e+02] [ 5.07855481e-02 9.94821483e-01 -8.80400227e-02 -1.43568554e+01] [ 7.10188659e-01 2.60062308e-02 7.03530912e-01 1.70906293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:-14.35, Z:170.92 [[ 7.02588497e-01 -9.82746649e-02 -7.04777620e-01 2.25196170e+02] [ 5.05949213e-02 9.94810000e-01 -8.82792074e-02 -1.43536496e+01] [ 7.09795434e-01 2.63657874e-02 7.03914261e-01 1.70924998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.22, Y:-14.35, Z:170.94 [[ 7.02521138e-01 -9.88246144e-02 -7.04767867e-01 2.25216121e+02] [ 5.12461251e-02 9.94765392e-01 -8.84061591e-02 -1.43508769e+01] [ 7.09815389e-01 2.59905732e-02 7.03908094e-01 1.70944777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.24, Y:-14.35, Z:170.96 [[ 7.02682067e-01 -9.93675389e-02 -7.04531053e-01 2.25235188e+02] [ 5.17645598e-02 9.94715366e-01 -8.86666240e-02 -1.43480683e+01] [ 7.09618449e-01 2.58347069e-02 7.04112367e-01 1.70963288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:-14.34, Z:170.98 [[ 7.02963696e-01 -1.00305255e-01 -7.04117105e-01 2.25254880e+02] [ 5.30366009e-02 9.94641605e-01 -8.87423054e-02 -1.43446462e+01] [ 7.09245487e-01 2.50386410e-02 7.04516788e-01 1.70983182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.27, Y:-14.34, Z:171.00 [[ 7.03278548e-01 -1.00785022e-01 -7.03734085e-01 2.25273866e+02] [ 5.34947367e-02 9.94595783e-01 -8.89805665e-02 -1.43413939e+01] [ 7.08898862e-01 2.49320540e-02 7.04869347e-01 1.71001715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:-14.34, Z:171.02 [[ 7.03219836e-01 -1.01325741e-01 -7.03715110e-01 2.25293960e+02] [ 5.41362108e-02 9.94550019e-01 -8.91040421e-02 -1.43379879e+01] [ 7.08908409e-01 2.45632603e-02 7.04872693e-01 1.71021743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:-14.33, Z:171.04 [[ 7.03344062e-01 -1.01840522e-01 -7.03516623e-01 2.25313798e+02] [ 5.46145939e-02 9.94500722e-01 -8.93619579e-02 -1.43345040e+01] [ 7.08748458e-01 2.44299278e-02 7.05038156e-01 1.71041374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:-14.33, Z:171.06 [[ 7.03566538e-01 -1.01238699e-01 -7.03381015e-01 2.25333276e+02] [ 5.42281115e-02 9.94562690e-01 -8.89065061e-02 -1.43314935e+01] [ 7.08557294e-01 2.44086186e-02 7.05231012e-01 1.71060756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.35, Y:-14.33, Z:171.08 [[ 7.02709929e-01 -1.04511039e-01 -7.03758622e-01 2.25353894e+02] [ 5.51697009e-02 9.94178264e-01 -9.25520551e-02 -1.43251027e+01] [ 7.09334237e-01 2.62110954e-02 7.04384780e-01 1.71078787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:-14.32, Z:171.10 [[ 7.02168236e-01 -1.03176054e-01 -7.04495898e-01 2.25373309e+02] [ 5.56509800e-02 9.94371027e-01 -9.01622401e-02 -1.43225001e+01] [ 7.09832894e-01 2.41031739e-02 7.03957598e-01 1.71098420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.39, Y:-14.32, Z:171.12 [[ 7.01754974e-01 -1.03887287e-01 -7.04803085e-01 2.25393369e+02] [ 5.63154539e-02 9.94304065e-01 -9.04875466e-02 -1.43190020e+01] [ 7.10189078e-01 2.38087802e-02 7.03608283e-01 1.71117738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:-14.32, Z:171.14 [[ 7.01232650e-01 -1.04728606e-01 -7.05198334e-01 2.25413113e+02] [ 5.71499534e-02 9.94225831e-01 -9.08233453e-02 -1.43158900e+01] [ 7.10638202e-01 2.33862432e-02 7.03168849e-01 1.71137287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:-14.31, Z:171.16 [[ 7.00577732e-01 -1.06294832e-01 -7.05614803e-01 2.25432654e+02] [ 5.90113866e-02 9.94086228e-01 -9.11604538e-02 -1.43131160e+01] [ 7.11131843e-01 2.22256761e-02 7.02707280e-01 1.71156699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:-14.31, Z:171.18 [[ 7.00723812e-01 -1.07563422e-01 -7.05277427e-01 2.25451781e+02] [ 6.06003972e-02 9.93970148e-01 -9.13834568e-02 -1.43103401e+01] [ 7.10854227e-01 2.12944720e-02 7.03016937e-01 1.71175971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:-14.31, Z:171.20 [[ 7.00731343e-01 -1.11445737e-01 -7.04666895e-01 2.25470617e+02] [ 6.60488290e-02 9.93615554e-01 -9.14641133e-02 -1.43078250e+01] [ 7.10361272e-01 1.75493477e-02 7.03618422e-01 1.71196058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:-14.30, Z:171.22 [[ 7.00519517e-01 -1.13954129e-01 -7.04476304e-01 2.25489115e+02] [ 6.93431685e-02 9.93366517e-01 -9.17305132e-02 -1.43049161e+01] [ 7.10256243e-01 1.54083957e-02 7.03774574e-01 1.71215362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:-14.30, Z:171.23 [[ 7.00555341e-01 -1.16142475e-01 -7.04083191e-01 2.25507590e+02] [ 7.23812821e-02 9.93142806e-01 -9.18058704e-02 -1.43022674e+01] [ 7.09917717e-01 1.33526487e-02 7.04158038e-01 1.71234698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:-14.30, Z:171.25 [[ 7.00439685e-01 -1.18335656e-01 -7.03833021e-01 2.25526879e+02] [ 7.54030974e-02 9.92909373e-01 -9.18985868e-02 -1.42992707e+01] [ 7.09717283e-01 1.12982274e-02 7.04396003e-01 1.71254461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.55, Y:-14.30, Z:171.27 [[ 7.00041446e-01 -1.22176658e-01 -7.03572909e-01 2.25545918e+02] [ 8.05918052e-02 9.92477623e-01 -9.21581744e-02 -1.42950551e+01] [ 7.09539946e-01 7.81233088e-03 7.04621908e-01 1.71274378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.57, Y:-14.29, Z:171.29 [[ 6.99793738e-01 -1.24174197e-01 -7.03469611e-01 2.25565666e+02] [ 8.31445585e-02 9.92241081e-01 -9.24371110e-02 -1.42907607e+01] [ 7.09489751e-01 6.19724125e-03 7.04688504e-01 1.71294024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:-14.29, Z:171.31 [[ 6.99537353e-01 -1.25903393e-01 -7.03417250e-01 2.25585219e+02] [ 8.53094917e-02 9.92030627e-01 -9.27228409e-02 -1.42867854e+01] [ 7.09485576e-01 4.85492262e-03 7.04703233e-01 1.71313687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.60, Y:-14.28, Z:171.33 [[ 6.99610168e-01 -1.27700832e-01 -7.03020704e-01 2.25604854e+02] [ 8.76152874e-02 9.91806748e-01 -9.29673917e-02 -1.42824549e+01] [ 7.09132692e-01 3.44557141e-03 7.05066630e-01 1.71333153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.62, Y:-14.28, Z:171.35 [[ 6.99013091e-01 -1.29236702e-01 -7.03333899e-01 2.25623908e+02] [ 8.94525449e-02 9.91611092e-01 -9.33042578e-02 -1.42781178e+01] [ 7.09492030e-01 2.30589054e-03 7.04709687e-01 1.71352625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.64, Y:-14.27, Z:171.37 [[ 6.98623960e-01 -1.31010488e-01 -7.03392362e-01 2.25643883e+02] [ 9.18305047e-02 9.91380744e-01 -9.34418506e-02 -1.42734749e+01] [ 7.09571505e-01 6.87840165e-04 7.04633100e-01 1.71372442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.66, Y:-14.27, Z:171.39 [[ 6.97343278e-01 -1.34643599e-01 -7.03976885e-01 2.25662445e+02] [ 9.66168426e-02 9.90890690e-01 -9.38127154e-02 -1.42663784e+01] [ 7.10195423e-01 -2.59635735e-03 7.03999802e-01 1.71391823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.68, Y:-14.26, Z:171.41 [[ 6.96858448e-01 -1.36688530e-01 -7.04062887e-01 2.25682118e+02] [ 9.93098215e-02 9.90604310e-01 -9.40247812e-02 -1.42611704e+01] [ 7.10299840e-01 -4.39839652e-03 7.03885496e-01 1.71411521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.70, Y:-14.25, Z:171.42 [[ 6.98282754e-01 -1.49178329e-01 -7.00105007e-01 2.25704722e+02] [ 1.04458862e-01 9.88809530e-01 -1.06508496e-01 -1.42476476e+01] [ 7.08159263e-01 1.24087370e-03 7.06051640e-01 1.71423711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:-14.25, Z:171.45 [[ 6.95954902e-01 -1.36457478e-01 -7.05000802e-01 2.25719354e+02] [ 1.04732999e-01 9.90568884e-01 -8.83418672e-02 -1.42530292e+01] [ 7.10406766e-01 -1.23548931e-02 7.03682871e-01 1.71451888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.74, Y:-14.24, Z:171.47 [[ 6.95473386e-01 -1.42997046e-01 -7.04179390e-01 2.25739653e+02] [ 1.07581040e-01 9.89673797e-01 -9.47211471e-02 -1.42447441e+01] [ 7.10452735e-01 -9.88031399e-03 7.03675558e-01 1.71470419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.76, Y:-14.24, Z:171.49 [[ 6.95766108e-01 -1.46538159e-01 -7.03161497e-01 2.25760539e+02] [ 1.09998585e-01 9.89157945e-01 -9.72978440e-02 -1.42376282e+01] [ 7.09795628e-01 -9.65022713e-03 7.04341564e-01 1.71489566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:-14.23, Z:171.51 [[ 6.94882254e-01 -1.45592979e-01 -7.04231026e-01 2.25777016e+02] [ 1.13953109e-01 9.89210751e-01 -9.20694268e-02 -1.42307909e+01] [ 7.10037564e-01 -1.62719041e-02 7.03975768e-01 1.71511134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.80, Y:-14.22, Z:171.53 [[ 6.93775825e-01 -1.52045035e-01 -7.03958388e-01 2.25797806e+02] [ 1.16093131e-01 9.88287917e-01 -9.90423068e-02 -1.42209791e+01] [ 7.10772459e-01 -1.30115753e-02 7.03301649e-01 1.71529871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.82, Y:-14.22, Z:171.55 [[ 6.94652993e-01 -1.47179919e-01 -7.04127326e-01 2.25815595e+02] [ 1.17680053e-01 9.88909140e-01 -9.06096997e-02 -1.42172804e+01] [ 7.09653877e-01 -1.99194420e-02 7.04268835e-01 1.71551038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.84, Y:-14.21, Z:171.57 [[ 6.94337897e-01 -1.52314886e-01 -7.03345620e-01 2.25835191e+02] [ 1.19850332e-01 9.88170602e-01 -9.56805066e-02 -1.42075330e+01] [ 7.09599030e-01 -1.78616046e-02 7.04379287e-01 1.71569513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:-14.20, Z:171.59 [[ 6.94411754e-01 -1.53932515e-01 -7.02920406e-01 2.25853404e+02] [ 1.21905232e-01 9.87896959e-01 -9.59099162e-02 -1.42002307e+01] [ 7.09176586e-01 -1.90887020e-02 7.04772439e-01 1.71588492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.87, Y:-14.20, Z:171.61 [[ 6.94368520e-01 -1.54204579e-01 -7.02903482e-01 2.25873517e+02] [ 1.22166947e-01 9.87852591e-01 -9.60338257e-02 -1.41973662e+01] [ 7.09173882e-01 -1.91887072e-02 7.04772445e-01 1.71608561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.89, Y:-14.19, Z:171.63 [[ 6.94231068e-01 -1.56018513e-01 -7.02638917e-01 2.25892172e+02] [ 1.24503263e-01 9.87538253e-01 -9.62659696e-02 -1.41898633e+01] [ 7.08902082e-01 -2.06500112e-02 7.05004550e-01 1.71628438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:-14.16, Z:171.63 [[ 7.00807166e-01 -1.87793427e-01 -6.88188161e-01 2.25927406e+02] [ 1.29594032e-01 9.82189230e-01 -1.36050371e-01 -1.41577460e+01] [ 7.01480366e-01 6.15999637e-03 7.12662158e-01 1.71633166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.92, Y:-14.19, Z:171.68 [[ 6.95762896e-01 -1.29534238e-01 -7.06494779e-01 2.25924019e+02] [ 1.31138052e-01 9.89980180e-01 -5.23646305e-02 -1.41850107e+01] [ 7.06198842e-01 -5.62149820e-02 7.05778345e-01 1.71677597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.95, Y:-14.16, Z:171.69 [[ 6.94779130e-01 -1.61716102e-01 -7.00806580e-01 2.25948738e+02] [ 1.32196684e-01 9.86506774e-01 -9.65837577e-02 -1.41570714e+01] [ 7.06969587e-01 -2.55399270e-02 7.06782651e-01 1.71689281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.98, Y:-14.13, Z:171.70 [[ 6.99423533e-01 -1.78306024e-01 -6.92108145e-01 2.25982756e+02] [ 1.29666580e-01 9.83966573e-01 -1.22459633e-01 -1.41316982e+01] [ 7.02846569e-01 -4.09214709e-03 7.11329709e-01 1.71702579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.00, Y:-14.14, Z:171.73 [[ 6.99089338e-01 -1.41425525e-01 -7.00908637e-01 2.25995594e+02] [ 1.28371252e-01 9.89142074e-01 -7.15456490e-02 -1.41433374e+01] [ 7.03416604e-01 -3.99597191e-02 7.09653650e-01 1.71734222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.00, Y:-14.13, Z:171.76 [[ 6.96201758e-01 -1.36017775e-01 -7.04842023e-01 2.26002224e+02] [ 1.31651186e-01 9.89423774e-01 -6.08979484e-02 -1.41319536e+01] [ 7.05670658e-01 -5.03960295e-02 7.06745472e-01 1.71755205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46999999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.02, Y:-14.11, Z:171.77 [[ 6.95836230e-01 -1.61133524e-01 -6.99891370e-01 2.26024218e+02] [ 1.30500703e-01 9.86651464e-01 -9.74087018e-02 -1.41053695e+01] [ 7.06244652e-01 -2.35558123e-02 7.07575873e-01 1.71768814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:-14.09, Z:171.79 [[ 6.96635723e-01 -1.60199909e-01 -6.99310130e-01 2.26042348e+02] [ 1.28937490e-01 9.86835818e-01 -9.76227046e-02 -1.40937311e+01] [ 7.05743433e-01 -2.21598296e-02 7.08120858e-01 1.71787826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.06, Y:-14.07, Z:171.81 [[ 6.97851148e-01 -1.58601699e-01 -6.98462079e-01 2.26059830e+02] [ 1.26629434e-01 9.87133672e-01 -9.76324751e-02 -1.40727166e+01] [ 7.04960114e-01 -2.03129229e-02 7.08956010e-01 1.71807487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.08, Y:-14.06, Z:171.83 [[ 6.97895444e-01 -1.58112956e-01 -6.98528627e-01 2.26078172e+02] [ 1.25642815e-01 9.87230066e-01 -9.79320157e-02 -1.40607693e+01] [ 7.05092783e-01 -1.94187951e-02 7.08849122e-01 1.71827250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:-14.05, Z:171.85 [[ 6.97876029e-01 -1.57736751e-01 -6.98633069e-01 2.26096159e+02] [ 1.24812458e-01 9.87305222e-01 -9.82356815e-02 -1.40485777e+01] [ 7.05259454e-01 -1.86417831e-02 7.08704160e-01 1.71846543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.13, Y:-14.03, Z:171.87 [[ 7.01663384e-01 -1.71652809e-01 -6.91522818e-01 2.26131379e+02] [ 1.17476691e-01 9.85134688e-01 -1.25335046e-01 -1.40333196e+01] [ 7.02757228e-01 6.70519995e-03 7.11398143e-01 1.71866479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.15, Y:-14.04, Z:171.89 [[ 7.02101492e-01 -1.45207796e-01 -6.97114188e-01 2.26152491e+02] [ 1.18239919e-01 9.89170278e-01 -8.69567907e-02 -1.40363988e+01] [ 7.02191438e-01 -2.13742325e-02 7.11667286e-01 1.71892080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.17, Y:-14.02, Z:171.92 [[ 7.02510141e-01 -1.31494266e-01 -6.99420303e-01 2.26170433e+02] [ 1.15750267e-01 9.90807651e-01 -7.00148228e-02 -1.40228522e+01] [ 7.02197535e-01 -3.17719638e-02 7.11272918e-01 1.71915400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.19, Y:-14.01, Z:171.93 [[ 7.04600115e-01 -1.27613010e-01 -6.98035528e-01 2.26189072e+02] [ 1.14838494e-01 9.91235829e-01 -6.52966369e-02 -1.40117923e+01] [ 7.00250526e-01 -3.41533308e-02 7.13079765e-01 1.71932970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.21, Y:-14.00, Z:171.95 [[ 7.04469609e-01 -1.31672193e-01 -6.97413079e-01 2.26210367e+02] [ 1.14277014e-01 9.90862318e-01 -7.16423773e-02 -1.39970409e+01] [ 7.00473649e-01 -2.92284066e-02 7.13079495e-01 1.71953425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:-13.97, Z:171.97 [[ 7.06005505e-01 -1.31455477e-01 -6.95899192e-01 2.26230778e+02] [ 1.11079070e-01 9.91014438e-01 -7.45105628e-02 -1.39740813e+01] [ 6.99440968e-01 -2.46949677e-02 7.14263601e-01 1.71972858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.25, Y:-13.97, Z:171.99 [[ 7.06061252e-01 -1.19597563e-01 -6.97978460e-01 2.26248937e+02] [ 1.07974022e-01 9.92292573e-01 -6.08034528e-02 -1.39683704e+01] [ 6.99870787e-01 -3.24325796e-02 7.13532767e-01 1.71994577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.27, Y:-13.95, Z:172.02 [[ 7.05371276e-01 -1.24329493e-01 -6.97849224e-01 2.26270092e+02] [ 1.05886783e-01 9.91932718e-01 -6.96955668e-02 -1.39527517e+01] [ 7.00884692e-01 -2.47317583e-02 7.12845698e-01 1.72015601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:-13.94, Z:172.04 [[ 7.05007687e-01 -1.19065224e-01 -6.99133488e-01 2.26290295e+02] [ 1.03133308e-01 9.92539248e-01 -6.50335497e-02 -1.39420694e+01] [ 7.01660660e-01 -2.62547969e-02 7.12027390e-01 1.72036979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.30, Y:-13.93, Z:172.06 [[ 7.05512449e-01 -9.73727142e-02 -7.01976310e-01 2.26303190e+02] [ 9.24209426e-02 9.94698561e-01 -4.50903724e-02 -1.39315152e+01] [ 7.02645397e-01 -3.30654932e-02 7.10771496e-01 1.72055354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:-13.92, Z:172.08 [[ 7.01408649e-01 -1.04134276e-01 -7.05111311e-01 2.26323099e+02] [ 8.88859354e-02 9.94326646e-01 -5.84278271e-02 -1.39163625e+01] [ 7.07195304e-01 -2.16926951e-02 7.06685382e-01 1.72083369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.34, Y:-13.90, Z:172.10 [[ 7.02040134e-01 -1.08163275e-01 -7.03875243e-01 2.26344655e+02] [ 8.68020377e-02 9.94025329e-01 -6.61743984e-02 -1.39006079e+01] [ 7.06827459e-01 -1.46407218e-02 7.07234468e-01 1.72103284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.34, Y:-13.90, Z:172.12 [[ 6.94634570e-01 -7.69797962e-02 -7.15232078e-01 2.26336890e+02] [ 9.34647471e-02 9.95487997e-01 -1.63703769e-02 -1.38965643e+01] [ 7.13265137e-01 -5.54775556e-02 6.98695274e-01 1.72117980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:-13.85, Z:172.13 [[ 6.96630264e-01 -1.41468423e-01 -7.03344127e-01 2.26350461e+02] [ 8.87751294e-02 9.89829114e-01 -1.11163396e-01 -1.38492601e+01] [ 7.11916605e-01 1.50003201e-02 7.02103794e-01 1.72134748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03999999999996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:226.39, Y:-13.83, Z:172.16 [[ 7.04952994e-01 -1.47686032e-01 -6.93707512e-01 2.26393832e+02] [ 7.11056519e-02 9.87869114e-01 -1.38052891e-01 -1.38346935e+01] [ 7.05680708e-01 4.79942736e-02 7.06902601e-01 1.72163494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:226.39, Y:-13.86, Z:172.17 [[ 6.97887005e-01 -6.76012478e-02 -7.13010379e-01 2.26391982e+02] [ 7.67870669e-02 9.96859636e-01 -1.93549205e-02 -1.38575154e+01] [ 7.12079683e-01 -4.12424282e-02 7.00886287e-01 1.72174024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09999999999997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:226.43, Y:-13.82, Z:172.21 [[ 7.03357441e-01 -1.41683515e-01 -6.96573106e-01 2.26431698e+02] [ 6.39147660e-02 9.88570717e-01 -1.36538788e-01 -1.38175043e+01] [ 7.07957070e-01 5.15142655e-02 7.04374238e-01 1.72205886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:226.45, Y:-13.85, Z:172.23 [[ 7.01370971e-01 -6.51924277e-02 -7.09808924e-01 2.26454794e+02] [ 6.13081780e-02 9.97635853e-01 -3.10485346e-02 -1.38498958e+01] [ 7.10154961e-01 -2.17405510e-02 7.03709656e-01 1.72226412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15999999999997 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:226.45, Y:-13.82, Z:172.23 [[ 7.00092896e-01 -6.73500308e-02 -7.10868420e-01 2.26447886e+02] [ 6.64059734e-02 9.97368412e-01 -2.90946150e-02 -1.38200150e+01] [ 7.10957231e-01 -2.68369761e-02 7.02722985e-01 1.72229490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:226.46, Y:-13.78, Z:172.25 [[ 7.02982931e-01 -1.24304546e-01 -7.00259508e-01 2.26460601e+02] [ 6.45847974e-02 9.91696962e-01 -1.11202247e-01 -1.37792097e+01] [ 7.08268172e-01 3.29471628e-02 7.05174221e-01 1.72250570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21999999999997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:226.50, Y:-13.78, Z:172.28 [[ 7.06113662e-01 -1.26931578e-01 -6.96628934e-01 2.26502471e+02] [ 5.43029712e-02 9.90611995e-01 -1.25455418e-01 -1.37797998e+01] [ 7.06013232e-01 5.07567636e-02 7.06377425e-01 1.72282662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:226.52, Y:-13.78, Z:172.30 [[ 6.98029210e-01 -8.29971378e-02 -7.11243065e-01 2.26521043e+02] [ 6.22790904e-02 9.96532978e-01 -5.51664580e-02 -1.37827237e+01] [ 7.13355828e-01 -5.78777205e-03 7.00778114e-01 1.72299418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:226.54, Y:-13.77, Z:172.32 [[ 6.98187681e-01 -9.12017918e-02 -7.10081823e-01 2.26539020e+02] [ 6.15654493e-02 9.95826901e-01 -6.73682355e-02 -1.37694779e+01] [ 7.13262684e-01 3.31916567e-03 7.00888954e-01 1.72319336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:226.56, Y:-13.76, Z:172.34 [[ 6.97844840e-01 -9.19216974e-02 -7.10325968e-01 2.26558578e+02] [ 6.14473382e-02 9.95757597e-01 -6.84911193e-02 -1.37605727e+01] [ 7.13608299e-01 4.14853415e-03 7.00532644e-01 1.72339199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:226.58, Y:-13.75, Z:172.36 [[ 6.97556439e-01 -9.11042876e-02 -7.10714446e-01 2.26578006e+02] [ 6.15791542e-02 9.95836468e-01 -6.72141066e-02 -1.37531025e+01] [ 7.13878857e-01 3.12043844e-03 7.00262266e-01 1.72359336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:226.61, Y:-13.75, Z:172.38 [[ 7.03102179e-01 -8.89402992e-02 -7.05504747e-01 2.26605875e+02] [ 5.61050478e-02 9.95992728e-01 -6.96470293e-02 -1.37458027e+01] [ 7.08872026e-01 9.38660051e-03 7.05274658e-01 1.72379355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:226.62, Y:-13.74, Z:172.40 [[ 6.96904340e-01 -7.59096060e-02 -7.13135382e-01 2.26619395e+02] [ 6.33021948e-02 9.97012239e-01 -4.42654127e-02 -1.37408025e+01] [ 7.14364874e-01 -1.42942767e-02 6.99627401e-01 1.72398979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:226.62, Y:-13.73, Z:172.40 [[ 6.99312660e-01 -7.96793594e-02 -7.10361178e-01 2.26618773e+02] [ 6.36910468e-02 9.96760896e-01 -4.91036326e-02 -1.37253524e+01] [ 7.11972790e-01 -1.09048551e-02 7.02122375e-01 1.72404614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:226.63, Y:-13.69, Z:172.43 [[ 7.01758998e-01 -1.32223684e-01 -7.00036575e-01 2.26627601e+02] [ 6.65688883e-02 9.90496661e-01 -1.20353428e-01 -1.36858522e+01] [ 7.09297464e-01 3.78584446e-02 7.03891928e-01 1.72426882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:226.66, Y:-13.67, Z:172.46 [[ 6.99529180e-01 -1.48565461e-01 -6.98990150e-01 2.26659907e+02] [ 7.08592497e-02 9.87750407e-01 -1.39025538e-01 -1.36746263e+01] [ 7.11082198e-01 4.77225032e-02 7.01487470e-01 1.72458627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:226.69, Y:-13.70, Z:172.48 [[ 6.97038302e-01 -1.02305562e-01 -7.09697948e-01 2.26693256e+02] [ 7.06618684e-02 9.94751994e-01 -7.39957519e-02 -1.36960323e+01] [ 7.13543626e-01 1.42929019e-03 7.00609343e-01 1.72476543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:226.72, Y:-13.70, Z:172.50 [[ 7.00030101e-01 -9.44923215e-02 -7.07834062e-01 2.26721737e+02] [ 6.97728806e-02 9.95514680e-01 -6.38926254e-02 -1.36969819e+01] [ 7.10696562e-01 -4.66086041e-03 7.03483243e-01 1.72498861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:226.72, Y:-13.69, Z:172.50 [[ 6.96894040e-01 -7.08443807e-02 -7.13666428e-01 2.26716999e+02] [ 7.53674868e-02 9.96833352e-01 -2.53576300e-02 -1.36901760e+01] [ 7.13202944e-01 -3.61156639e-02 7.00026585e-01 1.72497284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:226.75, Y:-13.65, Z:172.54 [[ 7.01389922e-01 -1.56982115e-01 -6.95276055e-01 2.26745815e+02] [ 7.63567574e-02 9.86380655e-01 -1.45680641e-01 -1.36466731e+01] [ 7.08676106e-01 4.90899087e-02 7.03824096e-01 1.72543366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:226.78, Y:-13.68, Z:172.56 [[ 6.96878521e-01 -8.91353615e-02 -7.11628565e-01 2.26778713e+02] [ 7.83026201e-02 9.95771192e-01 -4.80461477e-02 -1.36766336e+01] [ 7.12901835e-01 -2.22400528e-02 7.00911088e-01 1.72556667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66999999999996 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:226.77, Y:-13.67, Z:172.55 [[ 6.96780132e-01 -7.30768502e-02 -7.13552536e-01 2.26773893e+02] [ 8.03138396e-02 9.96489560e-01 -2.36271749e-02 -1.36687455e+01] [ 7.12774252e-01 -4.08451979e-02 7.00203210e-01 1.72554928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:226.79, Y:-13.62, Z:172.60 [[ 6.96662807e-01 -1.60243972e-01 -6.99273053e-01 2.26790470e+02] [ 8.76015424e-02 9.86441627e-01 -1.38776387e-01 -1.36168306e+01] [ 7.12030128e-01 3.54229493e-02 7.01254813e-01 1.72597788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72999999999996 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:226.81, Y:-13.64, Z:172.60 [[ 6.97366018e-01 -1.00105992e-01 -7.09689670e-01 2.26805971e+02] [ 8.39731843e-02 9.94789908e-01 -5.78060905e-02 -1.36364805e+01] [ 7.11778857e-01 -1.92828983e-02 7.02138895e-01 1.72595840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:226.83, Y:-13.61, Z:172.64 [[ 7.01760756e-01 -1.56646503e-01 -6.94977492e-01 2.26831764e+02] [ 8.36234201e-02 9.86895070e-01 -1.38004509e-01 -1.36055399e+01] [ 7.07487784e-01 3.87297537e-02 7.05663547e-01 1.72638576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78999999999996 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:226.84, Y:-13.62, Z:172.63 [[ 6.96486329e-01 -9.89562329e-02 -7.10714048e-01 2.26843052e+02] [ 8.64232831e-02 9.94803805e-01 -5.38182718e-02 -1.36202266e+01] [ 7.12346692e-01 -2.39385508e-02 7.01419372e-01 1.72633899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:226.85, Y:-13.58, Z:172.66 [[ 6.98998236e-01 -1.52574096e-01 -6.98657721e-01 2.26848763e+02] [ 8.64425885e-02 9.87838251e-01 -1.29241127e-01 -1.35843304e+01] [ 7.09879670e-01 2.99455378e-02 7.03686095e-01 1.72661451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84999999999997 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:226.87, Y:-13.58, Z:172.68 [[ 6.99144068e-01 -1.52416202e-01 -6.98546257e-01 2.26867427e+02] [ 8.59611994e-02 9.87845847e-01 -1.29503879e-01 -1.35776375e+01] [ 7.09794509e-01 3.04939945e-02 7.03748444e-01 1.72681134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:226.89, Y:-13.57, Z:172.70 [[ 6.99495825e-01 -1.52540692e-01 -6.98166834e-01 2.26885354e+02] [ 8.59433784e-02 9.87819157e-01 -1.29719115e-01 -1.35679667e+01] [ 7.09450017e-01 3.07351631e-02 7.04085239e-01 1.72700545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90999999999997 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:226.90, Y:-13.56, Z:172.72 [[ 6.99796312e-01 -1.52393160e-01 -6.97897876e-01 2.26903156e+02] [ 8.55143012e-02 9.87825405e-01 -1.29954890e-01 -1.35611331e+01] [ 7.09205489e-01 3.12617038e-02 7.04308370e-01 1.72719410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:226.92, Y:-13.55, Z:172.74 [[ 7.00031652e-01 -1.52434791e-01 -6.97652722e-01 2.26921553e+02] [ 8.54386288e-02 9.87812360e-01 -1.30103737e-01 -1.35537644e+01] [ 7.08982317e-01 3.14702421e-02 7.04523738e-01 1.72738901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96999999999997 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:226.94, Y:-13.54, Z:172.76 [[ 7.00533726e-01 -1.51044189e-01 -6.97451182e-01 2.26939553e+02] [ 8.32468646e-02 9.87967633e-01 -1.30345372e-01 -1.35419239e+01] [ 7.08747104e-01 3.32507051e-02 7.04678603e-01 1.72759143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:226.96, Y:-13.53, Z:172.78 [[ 7.00473985e-01 -1.49902581e-01 -6.97757416e-01 2.26957585e+02] [ 8.12721132e-02 9.88086923e-01 -1.30686937e-01 -1.35344192e+01] [ 7.09035288e-01 3.48345797e-02 7.04312085e-01 1.72779245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:226.98, Y:-13.53, Z:172.80 [[ 7.00285199e-01 -1.50140920e-01 -6.97895655e-01 2.26975522e+02] [ 8.12766115e-02 9.88044198e-01 -1.31006773e-01 -1.35258247e+01] [ 7.09221230e-01 3.50195098e-02 7.04115673e-01 1.72797966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:226.99, Y:-13.51, Z:172.82 [[ 7.00493918e-01 -1.47836094e-01 -6.98178173e-01 2.26992300e+02] [ 7.77498487e-02 9.88294484e-01 -1.31259187e-01 -1.35131773e+01] [ 7.09410482e-01 3.76630152e-02 7.03788509e-01 1.72816620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:227.01, Y:-13.51, Z:172.84 [[ 7.01008221e-01 -1.45990896e-01 -6.98050236e-01 2.27010962e+02] [ 7.50561598e-02 9.88489392e-01 -1.31359409e-01 -1.35051541e+01] [ 7.09192532e-01 3.96910558e-02 7.03896706e-01 1.72836796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:227.03, Y:-13.50, Z:172.86 [[ 7.00981455e-01 -1.46364833e-01 -6.97998808e-01 2.27030569e+02] [ 7.53126239e-02 9.88433587e-01 -1.31632265e-01 -1.35012716e+01] [ 7.09191800e-01 3.97036549e-02 7.03896733e-01 1.72857016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:227.05, Y:-13.49, Z:172.88 [[ 7.01345451e-01 -1.44653775e-01 -6.97989859e-01 2.27048670e+02] [ 7.26364145e-02 9.88598844e-01 -1.31894947e-01 -1.34933735e+01] [ 7.09111070e-01 4.18044406e-02 7.03856434e-01 1.72876578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:227.07, Y:-13.48, Z:172.90 [[ 7.02023814e-01 -1.41044157e-01 -6.98046639e-01 2.27065092e+02] [ 6.72464522e-02 9.88940535e-01 -1.32191272e-01 -1.34805704e+01] [ 7.08971423e-01 4.58602612e-02 7.03744526e-01 1.72896860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:227.08, Y:-13.47, Z:172.92 [[ 7.02193787e-01 -1.40508644e-01 -6.97983672e-01 2.27082970e+02] [ 6.62227727e-02 9.88973056e-01 -1.32464479e-01 -1.34716810e+01] [ 7.08899450e-01 4.67933204e-02 7.03755608e-01 1.72916006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:227.10, Y:-13.46, Z:172.94 [[ 7.02639285e-01 -1.37630139e-01 -6.98108860e-01 2.27101185e+02] [ 6.20088164e-02 9.89226460e-01 -1.32611903e-01 -1.34636944e+01] [ 7.08839151e-01 4.98894286e-02 7.03603655e-01 1.72936453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:227.12, Y:-13.45, Z:172.96 [[ 7.03104768e-01 -1.34699759e-01 -6.98211759e-01 2.27118403e+02] [ 5.75647171e-02 9.89453894e-01 -1.32918377e-01 -1.34516770e+01] [ 7.08752417e-01 5.32631825e-02 7.03443704e-01 1.72956859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:227.14, Y:-13.44, Z:172.98 [[ 7.03327147e-01 -1.33611574e-01 -6.98196872e-01 2.27137288e+02] [ 5.57506789e-02 9.89519797e-01 -1.33200728e-01 -1.34440820e+01] [ 7.08676786e-01 5.47587386e-02 7.03405071e-01 1.72976990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:227.16, Y:-13.44, Z:173.00 [[ 7.03761830e-01 -1.31875185e-01 -6.98088979e-01 2.27155785e+02] [ 5.30559568e-02 9.89632572e-01 -1.33463246e-01 -1.34373511e+01] [ 7.08452082e-01 5.68885593e-02 7.03462394e-01 1.72996904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:227.17, Y:-13.43, Z:173.02 [[ 7.04027933e-01 -1.30337745e-01 -6.98109406e-01 2.27174431e+02] [ 5.06042929e-02 9.89722407e-01 -1.33748880e-01 -1.34304545e+01] [ 7.08367048e-01 5.88356145e-02 7.03387870e-01 1.73016456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:227.19, Y:-13.42, Z:173.04 [[ 7.04013174e-01 -1.28490114e-01 -6.98466708e-01 2.27191463e+02] [ 4.76065262e-02 9.89823144e-01 -1.34103553e-01 -1.34200460e+01] [ 7.08589493e-01 6.11590944e-02 7.02965501e-01 1.73035787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41999999999996 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:227.21, Y:-13.41, Z:173.06 [[ 7.04188784e-01 -1.26844876e-01 -6.98590391e-01 2.27209953e+02] [ 4.50581108e-02 9.89912828e-01 -1.34321850e-01 -1.34132102e+01] [ 7.08581628e-01 6.31107766e-02 7.02800901e-01 1.73055914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:227.23, Y:-13.41, Z:173.08 [[ 7.04409604e-01 -1.25886722e-01 -6.98541082e-01 2.27228251e+02] [ 4.34441898e-02 9.89948128e-01 -1.34593115e-01 -1.34063511e+01] [ 7.08462923e-01 6.44611317e-02 7.02798015e-01 1.73075350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47999999999996 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:227.25, Y:-13.40, Z:173.10 [[ 7.04424532e-01 -1.23776242e-01 -6.98903084e-01 2.27246794e+02] [ 4.02368439e-02 9.90057549e-01 -1.34785187e-01 -1.34003374e+01] [ 7.08637478e-01 6.68243380e-02 7.02401191e-01 1.73095055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:227.27, Y:-13.39, Z:173.11 [[ 7.04852696e-01 -1.20526990e-01 -6.99039285e-01 2.27265840e+02] [ 3.53422306e-02 9.90202458e-01 -1.35092630e-01 -1.33920130e+01] [ 7.08472727e-01 7.05147969e-02 7.02206565e-01 1.73114748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53999999999996 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:227.28, Y:-13.39, Z:173.13 [[ 7.05171113e-01 -1.19469835e-01 -6.98899607e-01 2.27284360e+02] [ 3.36118094e-02 9.90226762e-01 -1.35355850e-01 -1.33858814e+01] [ 7.08240036e-01 7.19577553e-02 7.02294905e-01 1.73133888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:227.30, Y:-13.38, Z:173.15 [[ 7.05253946e-01 -1.18427253e-01 -6.98993460e-01 2.27303140e+02] [ 3.19167528e-02 9.90253351e-01 -1.35571466e-01 -1.33803969e+01] [ 7.08235972e-01 7.33027101e-02 7.02159897e-01 1.73153566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59999999999997 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:227.32, Y:-13.37, Z:173.17 [[ 7.05140139e-01 -1.17671923e-01 -6.99235799e-01 2.27322070e+02] [ 3.04862454e-02 9.90253046e-01 -1.35902517e-01 -1.33730152e+01] [ 7.08412290e-01 7.45132456e-02 7.01854546e-01 1.73173498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:227.34, Y:-13.37, Z:173.19 [[ 7.05364827e-01 -1.18015486e-01 -6.98951218e-01 2.27340759e+02] [ 3.07801496e-02 9.90212521e-01 -1.36131356e-01 -1.33675066e+01] [ 7.08175856e-01 7.45084470e-02 7.02093618e-01 1.73192311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65999999999997 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:227.36, Y:-13.36, Z:173.21 [[ 7.05299690e-01 -1.17735016e-01 -6.99064241e-01 2.27359978e+02] [ 3.02225444e-02 9.90209659e-01 -1.36277031e-01 -1.33621909e+01] [ 7.08264742e-01 7.49886478e-02 7.01952818e-01 1.73212587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:227.38, Y:-13.36, Z:173.23 [[ 7.05525884e-01 -1.17616400e-01 -6.98855929e-01 2.27377994e+02] [ 2.98478079e-02 9.90188312e-01 -1.36514523e-01 -1.33558134e+01] [ 7.08055320e-01 7.54552118e-02 7.02114076e-01 1.73232214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71999999999997 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:227.40, Y:-13.35, Z:173.25 [[ 7.05549939e-01 -1.17424393e-01 -6.98863932e-01 2.27397129e+02] [ 2.94532623e-02 9.90183186e-01 -1.36637345e-01 -1.33508995e+01] [ 7.08047872e-01 7.58206477e-02 7.02082218e-01 1.73252166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:227.42, Y:-13.35, Z:173.27 [[ 7.05518451e-01 -1.17384494e-01 -6.98902422e-01 2.27415451e+02] [ 2.91011223e-02 9.90153839e-01 -1.36925164e-01 -1.33462644e+01] [ 7.08093807e-01 7.62643848e-02 7.01987823e-01 1.73271237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:227.43, Y:-13.34, Z:173.29 [[ 7.05448973e-01 -1.17074274e-01 -6.99024578e-01 2.27434881e+02] [ 2.84304187e-02 9.90143611e-01 -1.37139863e-01 -1.33417965e+01] [ 7.08190269e-01 7.68716138e-02 7.01824264e-01 1.73291438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:227.45, Y:-13.34, Z:173.31 [[ 7.04555121e-01 -1.16989218e-01 -6.99939714e-01 2.27453607e+02] [ 2.77040039e-02 9.90100292e-01 -1.37600509e-01 -1.33371305e+01] [ 7.09108292e-01 7.75560110e-02 7.00821301e-01 1.73311443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:227.47, Y:-13.33, Z:173.33 [[ 7.04167744e-01 -1.17311080e-01 -7.00275588e-01 2.27472130e+02] [ 2.77471837e-02 9.90050022e-01 -1.37953067e-01 -1.33330871e+01] [ 7.09491284e-01 7.77114246e-02 7.00416342e-01 1.73330718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:227.49, Y:-13.33, Z:173.35 [[ 7.04122971e-01 -1.17658887e-01 -7.00262257e-01 2.27491393e+02] [ 2.81139213e-02 9.90022561e-01 -1.38075834e-01 -1.33296089e+01] [ 7.09521282e-01 7.75352483e-02 7.00405479e-01 1.73350427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:227.51, Y:-13.33, Z:173.37 [[ 7.03850383e-01 -1.19579000e-01 -7.00211041e-01 2.27509963e+02] [ 3.05437427e-02 9.89912239e-01 -1.38350418e-01 -1.33260783e+01] [ 7.09691284e-01 7.59909289e-02 7.00402499e-01 1.73369698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:227.53, Y:-13.32, Z:173.39 [[ 7.03889644e-01 -1.20793882e-01 -6.99963005e-01 2.27528439e+02] [ 3.22142631e-02 9.89848853e-01 -1.38425029e-01 -1.33226199e+01] [ 7.09578474e-01 7.48871519e-02 7.00635643e-01 1.73389079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:227.55, Y:-13.34, Z:173.41 [[ 6.90861898e-01 -9.25714994e-02 -7.17035811e-01 2.27545469e+02] [ 3.41710683e-02 9.94841466e-01 -9.55133286e-02 -1.33358629e+01] [ 7.22178770e-01 4.14846399e-02 6.90461331e-01 1.73411567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:227.55, Y:-13.30, Z:173.44 [[ 7.07895074e-01 -1.60139048e-01 -6.87924451e-01 2.27553370e+02] [ 3.79209757e-02 9.81171176e-01 -1.89380892e-01 -1.32990786e+01] [ 7.05298918e-01 1.07975034e-01 7.00638871e-01 1.73439309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:227.59, Y:-13.31, Z:173.45 [[ 7.03788536e-01 -1.25676412e-01 -6.99204645e-01 2.27587010e+02] [ 3.88950332e-02 9.89567991e-01 -1.38716864e-01 -1.33137946e+01] [ 7.09343974e-01 7.04317506e-02 7.01334796e-01 1.73448490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:227.60, Y:-13.33, Z:173.47 [[ 6.84993557e-01 -8.12645849e-02 -7.24002690e-01 2.27604652e+02] [ 4.15282684e-02 9.96499111e-01 -7.25598000e-02 -1.33349747e+01] [ 7.27364579e-01 1.96364175e-02 6.85970248e-01 1.73470549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:227.60, Y:-13.28, Z:173.51 [[ 7.09681848e-01 -1.86109647e-01 -6.79496044e-01 2.27603499e+02] [ 4.43591892e-02 9.74367936e-01 -2.20543390e-01 -1.32787467e+01] [ 7.03124411e-01 1.26373747e-01 6.99746911e-01 1.73507276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:227.65, Y:-13.30, Z:173.51 [[ 7.04376781e-01 -1.29857304e-01 -6.97846997e-01 2.27645675e+02] [ 4.47423740e-02 9.89291086e-01 -1.38928998e-01 -1.33034440e+01] [ 7.08414759e-01 6.66350287e-02 7.02643795e-01 1.73509064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:227.66, Y:-13.32, Z:173.53 [[ 6.86957683e-01 -8.92134530e-02 -7.21200459e-01 2.27661561e+02] [ 4.76392780e-02 9.95829505e-01 -7.78080767e-02 -1.33223727e+01] [ 7.25134223e-01 1.90933870e-02 6.88342794e-01 1.73532076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16999999999996 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:227.66, Y:-13.27, Z:173.57 [[ 7.10037367e-01 -1.84993985e-01 -6.79429292e-01 2.27664267e+02] [ 4.91637923e-02 9.75542839e-01 -2.14240731e-01 -1.32704606e+01] [ 7.02445627e-01 1.18715604e-01 7.01766875e-01 1.73565680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:227.70, Y:-13.29, Z:173.57 [[ 7.04972490e-01 -1.34131549e-01 -6.96435579e-01 2.27704788e+02] [ 5.08440635e-02 9.88985101e-01 -1.39008460e-01 -1.32940453e+01] [ 7.07409831e-01 6.25875251e-02 7.04027082e-01 1.73568437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22999999999996 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:227.72, Y:-13.29, Z:173.59 [[ 7.05208896e-01 -1.35050003e-01 -6.96018613e-01 2.27724621e+02] [ 5.21431746e-02 9.88911755e-01 -1.39049019e-01 -1.32905238e+01] [ 7.07079558e-01 6.17659850e-02 7.04431304e-01 1.73588160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:227.74, Y:-13.29, Z:173.61 [[ 7.05018328e-01 -1.35923977e-01 -6.96041543e-01 2.27743842e+02] [ 5.30778040e-02 9.88821615e-01 -1.39336140e-01 -1.32868668e+01] [ 7.07200045e-01 6.12901758e-02 7.04351908e-01 1.73607780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28999999999996 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:227.76, Y:-13.28, Z:173.63 [[ 7.04057814e-01 -1.36535439e-01 -6.96893585e-01 2.27762408e+02] [ 5.33654078e-02 9.88740644e-01 -1.39800118e-01 -1.32829184e+01] [ 7.08134682e-01 6.12373555e-02 7.03416846e-01 1.73627266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:227.78, Y:-13.28, Z:173.65 [[ 7.03653139e-01 -1.36561456e-01 -6.97297088e-01 2.27781619e+02] [ 5.30699650e-02 9.88716853e-01 -1.40080559e-01 -1.32787349e+01] [ 7.08558988e-01 6.15625930e-02 7.02961029e-01 1.73647435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34999999999997 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:227.80, Y:-13.27, Z:173.67 [[ 7.03090217e-01 -1.36612902e-01 -6.97854614e-01 2.27801192e+02] [ 5.26685870e-02 9.88681388e-01 -1.40481789e-01 -1.32743519e+01] [ 7.09147493e-01 6.20163553e-02 7.02327420e-01 1.73667033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:227.82, Y:-13.27, Z:173.69 [[ 7.02202623e-01 -1.36229452e-01 -6.98822591e-01 2.27819777e+02] [ 5.15198274e-02 9.88673235e-01 -1.40964326e-01 -1.32705069e+01] [ 7.10110684e-01 6.29822999e-02 7.01267457e-01 1.73685796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40999999999997 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:227.84, Y:-13.27, Z:173.71 [[ 7.01856803e-01 -1.35253377e-01 -6.99359387e-01 2.27838914e+02] [ 4.98391794e-02 9.88725956e-01 -1.41198587e-01 -1.32665348e+01] [ 7.10572364e-01 6.42456911e-02 7.00684955e-01 1.73705874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:227.86, Y:-13.26, Z:173.73 [[ 7.02318923e-01 -1.35141685e-01 -6.98916916e-01 2.27858169e+02] [ 4.95406534e-02 9.88712963e-01 -1.41394485e-01 -1.32622296e+01] [ 7.10136504e-01 6.46792215e-02 7.01086831e-01 1.73725704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46999999999997 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:227.88, Y:-13.26, Z:173.75 [[ 7.03224672e-01 -1.35138665e-01 -6.98006162e-01 2.27876893e+02] [ 4.95423623e-02 9.88696981e-01 -1.41505597e-01 -1.32572356e+01] [ 7.09239463e-01 6.49293527e-02 7.01971199e-01 1.73746434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:227.90, Y:-13.25, Z:173.77 [[ 7.03837672e-01 -1.35642070e-01 -6.97290298e-01 2.27895245e+02] [ 5.01916675e-02 9.88642813e-01 -1.41655164e-01 -1.32525726e+01] [ 7.08585442e-01 6.47040777e-02 7.02652157e-01 1.73766238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:227.91, Y:-13.25, Z:173.79 [[ 7.03789714e-01 -1.36045813e-01 -6.97260049e-01 2.27914270e+02] [ 5.06394136e-02 9.88602455e-01 -1.41777413e-01 -1.32481121e+01] [ 7.08601219e-01 6.44726451e-02 7.02657520e-01 1.73785929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:227.93, Y:-13.24, Z:173.80 [[ 7.03825063e-01 -1.37032559e-01 -6.97031103e-01 2.27932963e+02] [ 5.18111039e-02 9.88507055e-01 -1.42019054e-01 -1.32435945e+01] [ 7.08481397e-01 6.38426186e-02 7.02835848e-01 1.73804915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:227.95, Y:-13.24, Z:173.82 [[ 7.03672380e-01 -1.38239946e-01 -6.96946841e-01 2.27952400e+02] [ 5.33369479e-02 9.88400131e-01 -1.42198282e-01 -1.32391366e+01] [ 7.08519832e-01 6.28879860e-02 7.02883169e-01 1.73824145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:227.97, Y:-13.23, Z:173.84 [[ 7.02979320e-01 -1.40690717e-01 -6.97155791e-01 2.27971882e+02] [ 5.64228416e-02 9.88181351e-01 -1.42527472e-01 -1.32341280e+01] [ 7.08968644e-01 6.08583545e-02 7.02609225e-01 1.73843584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:227.99, Y:-13.23, Z:173.86 [[ 7.02741529e-01 -1.42242730e-01 -6.97080590e-01 2.27990253e+02] [ 5.83348498e-02 9.88030411e-01 -1.42803892e-01 -1.32294426e+01] [ 7.09049638e-01 5.96901337e-02 7.02627710e-01 1.73863036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:228.01, Y:-13.22, Z:173.88 [[ 7.02338164e-01 -1.45793481e-01 -6.96753446e-01 2.28008751e+02] [ 6.33053478e-02 9.87715751e-01 -1.42863672e-01 -1.32236190e+01] [ 7.09022945e-01 5.62303901e-02 7.02939974e-01 1.73882156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:228.03, Y:-13.22, Z:173.90 [[ 7.01922676e-01 -1.47898078e-01 -6.96728581e-01 2.28027451e+02] [ 6.61463223e-02 9.87512045e-01 -1.42984704e-01 -1.32190974e+01] [ 7.09175029e-01 5.42781728e-02 7.02940011e-01 1.73901736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:228.05, Y:-13.21, Z:173.92 [[ 7.01511971e-01 -1.50327733e-01 -6.96622227e-01 2.28045482e+02] [ 6.93101886e-02 9.87256776e-01 -1.43248581e-01 -1.32144110e+01] [ 7.09279249e-01 5.22075764e-02 7.02991690e-01 1.73920630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:228.06, Y:-13.21, Z:173.94 [[ 7.00297177e-01 -1.55580555e-01 -6.96691148e-01 2.28064387e+02] [ 7.65599416e-02 9.86700876e-01 -1.43387438e-01 -1.32082222e+01] [ 7.09734063e-01 4.70751844e-02 7.02895076e-01 1.73939709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:228.08, Y:-13.20, Z:173.96 [[ 6.99600785e-01 -1.58714082e-01 -6.96683990e-01 2.28083849e+02] [ 8.06928726e-02 9.86330542e-01 -1.43668796e-01 -1.32030398e+01] [ 7.09962958e-01 4.42933697e-02 7.02844716e-01 1.73959560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:228.10, Y:-13.20, Z:173.98 [[ 6.98473652e-01 -1.61869171e-01 -6.97088896e-01 2.28102153e+02] [ 8.47289769e-02 9.85937198e-01 -1.44044583e-01 -1.31977681e+01] [ 7.10602250e-01 4.15477169e-02 7.02366165e-01 1.73978439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:228.12, Y:-13.19, Z:174.00 [[ 6.96885498e-01 -1.68506522e-01 -6.97105555e-01 2.28120152e+02] [ 9.39710754e-02 9.85080169e-01 -1.44175229e-01 -1.31903735e+01] [ 7.10999324e-01 3.49658678e-02 7.02322824e-01 1.73996870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:228.14, Y:-13.18, Z:174.02 [[ 6.95975528e-01 -1.72259094e-01 -6.97097460e-01 2.28138963e+02] [ 9.90826233e-02 9.84550879e-01 -1.44368280e-01 -1.31841841e+01] [ 7.11196666e-01 3.14065446e-02 7.02291201e-01 1.74017029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91999999999996 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:228.16, Y:-13.18, Z:174.04 [[ 6.95178622e-01 -1.75855728e-01 -6.96994582e-01 2.28156949e+02] [ 1.03899227e-01 9.84013783e-01 -1.44643791e-01 -1.31781520e+01] [ 7.11288714e-01 2.81360730e-02 7.02336619e-01 1.74036344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:228.17, Y:-13.17, Z:174.06 [[ 6.93244456e-01 -1.82487606e-01 -6.97216177e-01 2.28173903e+02] [ 1.13106137e-01 9.82972277e-01 -1.44818865e-01 -1.31684384e+01] [ 7.11771821e-01 2.15354468e-02 7.02080550e-01 1.74056488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97999999999996 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:228.19, Y:-13.16, Z:174.08 [[ 6.92259490e-01 -1.85876289e-01 -6.97299652e-01 2.28192251e+02] [ 1.17762957e-01 9.82403909e-01 -1.44963601e-01 -1.31608984e+01] [ 7.11975200e-01 1.82363594e-02 7.01967770e-01 1.74076503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:228.21, Y:-13.15, Z:174.10 [[ 6.91301489e-01 -1.89036290e-01 -6.97400553e-01 2.28210195e+02] [ 1.21918249e-01 9.81849166e-01 -1.45286459e-01 -1.31536487e+01] [ 7.12206565e-01 1.54108910e-02 7.01800764e-01 1.74096581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03999999999996 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:228.23, Y:-13.15, Z:174.12 [[ 6.91253933e-01 -1.89434064e-01 -6.97339756e-01 2.28229706e+02] [ 1.22189395e-01 9.81772297e-01 -1.45577841e-01 -1.31493997e+01] [ 7.12206257e-01 1.54237319e-02 7.01800796e-01 1.74116775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:228.25, Y:-13.14, Z:174.14 [[ 6.90813997e-01 -1.92595180e-01 -6.96909692e-01 2.28248118e+02] [ 1.26493082e-01 9.81198066e-01 -1.45773302e-01 -1.31417040e+01] [ 7.11881677e-01 1.25479827e-02 7.02187316e-01 1.74136716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09999999999997 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:228.26, Y:-13.13, Z:174.16 [[ 6.90412959e-01 -1.97620173e-01 -6.95899572e-01 2.28264005e+02] [ 1.33559224e-01 9.80247940e-01 -1.45862639e-01 -1.31297724e+01] [ 7.10979522e-01 7.76164967e-03 7.03169878e-01 1.74156257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:228.28, Y:-13.12, Z:174.18 [[ 6.90128256e-01 -1.99990329e-01 -6.95504751e-01 2.28282150e+02] [ 1.36880880e-01 9.79782457e-01 -1.45910798e-01 -1.31213063e+01] [ 7.10624102e-01 5.49586188e-03 7.03550411e-01 1.74176550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15999999999997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:228.30, Y:-13.11, Z:174.20 [[ 6.89150129e-01 -2.03477383e-01 -6.95463194e-01 2.28299162e+02] [ 1.41545320e-01 9.79076918e-01 -1.46196138e-01 -1.31079848e+01] [ 7.10659568e-01 2.31152711e-03 7.03532256e-01 1.74196049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:228.32, Y:-13.10, Z:174.22 [[ 6.88374355e-01 -2.04760689e-01 -6.95854732e-01 2.28317195e+02] [ 1.42988356e-01 9.78811069e-01 -1.46571558e-01 -1.30986842e+01] [ 7.11122407e-01 1.39697733e-03 7.03066832e-01 1.74215531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21999999999997 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:228.33, Y:-13.09, Z:174.23 [[ 6.87534927e-01 -2.05389564e-01 -6.96498996e-01 2.28334923e+02] [ 1.43448224e-01 9.78679616e-01 -1.46999373e-01 -1.30888232e+01] [ 7.11841508e-01 1.15565850e-03 7.02339186e-01 1.74234661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:228.35, Y:-13.07, Z:174.25 [[ 6.86690756e-01 -2.04997922e-01 -6.97446527e-01 2.28351944e+02] [ 1.42554741e-01 9.78760855e-01 -1.47327307e-01 -1.30724922e+01] [ 7.12835151e-01 1.74399079e-03 7.01329456e-01 1.74254675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:228.37, Y:-13.06, Z:174.27 [[ 6.86417511e-01 -2.04092246e-01 -6.97980914e-01 2.28369287e+02] [ 1.40848616e-01 9.78946764e-01 -1.47732532e-01 -1.30614739e+01] [ 7.13437221e-01 3.09655094e-03 7.00712311e-01 1.74274370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:228.39, Y:-13.05, Z:174.29 [[ 6.86500576e-01 -2.02483375e-01 -6.98367698e-01 2.28386541e+02] [ 1.38170794e-01 9.79271998e-01 -1.48105317e-01 -1.30500993e+01] [ 7.13880796e-01 5.18036586e-03 7.00248080e-01 1.74294174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:228.40, Y:-13.03, Z:174.31 [[ 6.87312828e-01 -1.96999861e-01 -6.99136704e-01 2.28402262e+02] [ 1.29873988e-01 9.80338321e-01 -1.48558149e-01 -1.30307135e+01] [ 7.14656437e-01 1.13062498e-02 6.99384261e-01 1.74314653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:228.42, Y:-13.02, Z:174.33 [[ 6.88400999e-01 -1.93637014e-01 -6.99005559e-01 2.28419886e+02] [ 1.24817998e-01 9.80955520e-01 -1.48817791e-01 -1.30189211e+01] [ 7.14509994e-01 1.51978416e-02 6.99460145e-01 1.74334844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:228.44, Y:-13.01, Z:174.35 [[ 6.89289847e-01 -1.89876461e-01 -6.99161238e-01 2.28437441e+02] [ 1.19122242e-01 9.81613971e-01 -1.49143902e-01 -1.30071429e+01] [ 7.14625355e-01 1.95177228e-02 6.99235054e-01 1.74354816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:228.45, Y:-13.00, Z:174.37 [[ 6.90396113e-01 -1.85982283e-01 -6.99116441e-01 2.28454943e+02] [ 1.13290620e-01 9.82260885e-01 -1.49428210e-01 -1.29954317e+01] [ 7.14505733e-01 2.39613206e-02 6.99219145e-01 1.74374825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:228.47, Y:-12.98, Z:174.39 [[ 6.93630219e-01 -1.77337567e-01 -6.98160802e-01 2.28469925e+02] [ 1.00979335e-01 9.83589662e-01 -1.49514380e-01 -1.29765683e+01] [ 7.13218264e-01 3.32078784e-02 7.00154943e-01 1.74393996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:228.49, Y:-12.97, Z:174.41 [[ 6.95171766e-01 -1.73537816e-01 -6.97582140e-01 2.28487236e+02] [ 9.56336372e-02 9.84123313e-01 -1.49517598e-01 -1.29650451e+01] [ 7.12453804e-01 3.72280951e-02 7.00730794e-01 1.74414548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:228.51, Y:-12.95, Z:174.43 [[ 6.97126868e-01 -1.70281995e-01 -6.96432461e-01 2.28505067e+02] [ 9.10795629e-02 9.84549109e-01 -1.49557900e-01 -1.29540711e+01] [ 7.11138976e-01 4.08300659e-02 7.01864846e-01 1.74434615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:228.52, Y:-12.94, Z:174.45 [[ 6.99790539e-01 -1.65489786e-01 -6.94914623e-01 2.28520523e+02] [ 8.44959595e-02 9.85142184e-01 -1.49516922e-01 -1.29379339e+01] [ 7.09333233e-01 4.59130498e-02 7.03376398e-01 1.74454299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:228.54, Y:-12.93, Z:174.47 [[ 7.00710632e-01 -1.64685834e-01 -6.94178065e-01 2.28538535e+02] [ 8.33977953e-02 9.85230422e-01 -1.49552078e-01 -1.29285899e+01] [ 7.08554457e-01 4.68998107e-02 7.04095867e-01 1.74473862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:228.56, Y:-12.92, Z:174.49 [[ 7.00823801e-01 -1.65101125e-01 -6.93965142e-01 2.28556568e+02] [ 8.37540479e-02 9.85162823e-01 -1.49798101e-01 -1.29195684e+01] [ 7.08400493e-01 4.68596851e-02 7.04253442e-01 1.74493878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:228.58, Y:-12.91, Z:174.51 [[ 7.00868083e-01 -1.66295017e-01 -6.93635277e-01 2.28575078e+02] [ 8.52407092e-02 9.85001705e-01 -1.50018874e-01 -1.29111498e+01] [ 7.08179322e-01 4.60174774e-02 7.04531362e-01 1.74513689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66999999999996 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:228.59, Y:-12.90, Z:174.53 [[ 7.00284978e-01 -1.73554616e-01 -6.92444759e-01 2.28593226e+02] [ 9.55087525e-02 9.84053876e-01 -1.50053483e-01 -1.29042306e+01] [ 7.07445424e-01 3.89456649e-02 7.05694132e-01 1.74532311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:228.61, Y:-12.90, Z:174.55 [[ 6.99178983e-01 -1.77854299e-01 -6.92471370e-01 2.28610455e+02] [ 1.01418645e-01 9.83442105e-01 -1.50186166e-01 -1.28985638e+01] [ 7.07716757e-01 3.47775027e-02 7.05639793e-01 1.74551745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72999999999996 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:228.63, Y:-12.89, Z:174.58 [[ 7.05692460e-01 -1.94567544e-01 -6.81279402e-01 2.28634931e+02] [ 1.01419795e-01 9.79393003e-01 -1.74652142e-01 -1.28893398e+01] [ 7.01221917e-01 5.41554820e-02 7.10883258e-01 1.74578536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:228.67, Y:-12.90, Z:174.57 [[ 6.94733435e-01 -1.50642542e-01 -7.03315206e-01 2.28668711e+02] [ 1.12075209e-01 9.88550579e-01 -1.01029207e-01 -1.29040345e+01] [ 7.10481951e-01 -8.63583070e-03 7.03662434e-01 1.74574580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78999999999996 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:228.67, Y:-12.88, Z:174.61 [[ 6.93916229e-01 -1.91559212e-01 -6.94107583e-01 2.28666977e+02] [ 1.19448934e-01 9.81231381e-01 -1.51383386e-01 -1.28823775e+01] [ 7.10079024e-01 2.21369769e-02 7.03773923e-01 1.74610223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:228.69, Y:-12.88, Z:174.63 [[ 6.93324854e-01 -1.93238339e-01 -6.94233096e-01 2.28686427e+02] [ 1.21661614e-01 9.80935478e-01 -1.51538904e-01 -1.28786438e+01] [ 7.10281000e-01 2.06041695e-02 7.03616636e-01 1.74629372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84999999999997 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:228.71, Y:-12.87, Z:174.65 [[ 6.92603523e-01 -1.94245964e-01 -6.94671768e-01 2.28705284e+02] [ 1.22678791e-01 9.80748889e-01 -1.51926068e-01 -1.28748008e+01] [ 7.10809591e-01 2.00030372e-02 7.03099996e-01 1.74647921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:228.72, Y:-12.87, Z:174.67 [[ 6.92161559e-01 -1.93351378e-01 -6.95361504e-01 2.28723725e+02] [ 1.21102238e-01 9.80901812e-01 -1.52203427e-01 -1.28712659e+01] [ 7.11510102e-01 2.11395265e-02 7.02357812e-01 1.74667323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90999999999997 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:228.74, Y:-12.87, Z:174.69 [[ 6.92358730e-01 -1.92071730e-01 -6.95519834e-01 2.28742539e+02] [ 1.19120193e-01 9.81119722e-01 -1.52362955e-01 -1.28662638e+01] [ 7.11652843e-01 2.26393651e-02 7.02166426e-01 1.74687413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:228.76, Y:-12.86, Z:174.71 [[ 6.92646343e-01 -1.90921115e-01 -6.95550265e-01 2.28760988e+02] [ 1.17195436e-01 9.81306573e-01 -1.52652023e-01 -1.28614102e+01] [ 7.11692541e-01 2.42185486e-02 7.02073492e-01 1.74707400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96999999999997 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:228.78, Y:-12.86, Z:174.73 [[ 6.93999504e-01 -1.88339368e-01 -6.94905008e-01 2.28779466e+02] [ 1.13422616e-01 9.81726548e-01 -1.52801487e-01 -1.28577135e+01] [ 7.10985231e-01 2.72262122e-02 7.02679682e-01 1.74727408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:228.81, Y:-12.85, Z:174.76 [[ 7.09676331e-01 -2.12063452e-01 -6.71854596e-01 2.28809719e+02] [ 1.01483800e-01 9.74448589e-01 -2.00377108e-01 -1.28459647e+01] [ 6.97180424e-01 7.40205332e-02 7.13064104e-01 1.74761415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:228.86, Y:-12.88, Z:174.74 [[ 6.90818228e-01 -1.17394780e-01 -7.13434399e-01 2.28857473e+02] [ 1.09000126e-01 9.92362945e-01 -5.77473635e-02 -1.28819136e+01] [ 7.14765100e-01 -3.78715083e-02 6.98338457e-01 1.74736755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:228.84, Y:-12.84, Z:174.79 [[ 6.94007433e-01 -1.85015822e-01 -6.95789357e-01 2.28837226e+02] [ 1.07088340e-01 9.82194168e-01 -1.54359012e-01 -1.28447323e+01] [ 7.11959108e-01 3.26153742e-02 7.01463090e-01 1.74787779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:228.86, Y:-12.84, Z:174.81 [[ 6.94291638e-01 -1.82825805e-01 -6.96084655e-01 2.28855847e+02] [ 1.03600101e-01 9.82511110e-01 -1.54722130e-01 -1.28414219e+01] [ 7.12198105e-01 3.53078411e-02 7.01090020e-01 1.74806456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:228.87, Y:-12.84, Z:174.83 [[ 6.94414874e-01 -1.82555728e-01 -6.96032607e-01 2.28874962e+02] [ 1.03101387e-01 9.82544915e-01 -1.54840541e-01 -1.28370210e+01] [ 7.12150326e-01 3.57616469e-02 7.01115552e-01 1.74826478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:228.89, Y:-12.83, Z:174.85 [[ 6.94747240e-01 -1.82561418e-01 -6.95699361e-01 2.28893555e+02] [ 1.02911161e-01 9.82530308e-01 -1.55059624e-01 -1.28329547e+01] [ 7.11853613e-01 3.61320172e-02 7.01397827e-01 1.74846213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:228.93, Y:-12.83, Z:174.88 [[ 7.08102546e-01 -1.94778095e-01 -6.78713693e-01 2.28930213e+02] [ 9.16303522e-02 9.78421351e-01 -1.85190549e-01 -1.28291400e+01] [ 7.00139031e-01 6.89431243e-02 7.10670235e-01 1.74879117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:228.97, Y:-12.85, Z:174.86 [[ 6.91612384e-01 -1.22577491e-01 -7.11791451e-01 2.28967124e+02] [ 1.05557417e-01 9.92066355e-01 -6.82786895e-02 -1.28531802e+01] [ 7.14513780e-01 -2.79124801e-02 6.99064340e-01 1.74858819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:228.95, Y:-12.82, Z:174.91 [[ 6.94355260e-01 -1.86635772e-01 -6.95009253e-01 2.28949939e+02] [ 1.07626459e-01 9.81853935e-01 -1.56139027e-01 -1.28189022e+01] [ 7.11538698e-01 3.36145698e-02 7.01842391e-01 1.74906723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:228.97, Y:-12.81, Z:174.93 [[ 6.93658746e-01 -1.88222517e-01 -6.95276800e-01 2.28968242e+02] [ 1.09494888e-01 9.81591073e-01 -1.56492286e-01 -1.28146073e+01] [ 7.11932872e-01 3.24229876e-02 7.01498636e-01 1.74925540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:228.99, Y:-12.81, Z:174.94 [[ 6.92476546e-01 -1.92786659e-01 -6.95204673e-01 2.28988098e+02] [ 1.15847721e-01 9.80843781e-01 -1.56603904e-01 -1.28108920e+01] [ 7.12078324e-01 2.79066537e-02 7.01545209e-01 1.74944754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:229.03, Y:-12.81, Z:174.98 [[ 7.02372599e-01 -2.05626944e-01 -6.81461878e-01 2.29026903e+02] [ 1.07171858e-01 9.77001323e-01 -1.84343723e-01 -1.28099866e+01] [ 7.03695193e-01 5.64444443e-02 7.08256380e-01 1.74978889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:229.06, Y:-12.83, Z:174.96 [[ 6.87523381e-01 -1.37511790e-01 -7.13023217e-01 2.29061424e+02] [ 1.24001359e-01 9.89716581e-01 -7.13074464e-02 -1.28294712e+01] [ 7.15496515e-01 -3.93903112e-02 6.97504939e-01 1.74957617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:229.04, Y:-12.79, Z:175.01 [[ 6.87820696e-01 -2.04762782e-01 -6.96401388e-01 2.29043066e+02] [ 1.30341669e-01 9.78634854e-01 -1.59012172e-01 -1.27941040e+01] [ 7.14082446e-01 1.86017433e-02 6.99814429e-01 1.75005053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41999999999996 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:229.06, Y:-12.79, Z:175.02 [[ 6.86855599e-01 -2.07209123e-01 -6.96630294e-01 2.29062062e+02] [ 1.33630508e-01 9.78161669e-01 -1.59193707e-01 -1.27897538e+01] [ 7.14403439e-01 1.62520287e-02 6.99545279e-01 1.75024480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:229.08, Y:-12.79, Z:175.04 [[ 6.86712724e-01 -2.09328830e-01 -6.96137254e-01 2.29080966e+02] [ 1.36477423e-01 9.77738695e-01 -1.59376781e-01 -1.27855797e+01] [ 7.14002485e-01 1.44390451e-02 6.99994261e-01 1.75044155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47999999999996 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:229.10, Y:-12.78, Z:175.06 [[ 6.86205931e-01 -2.10441669e-01 -6.96301461e-01 2.29098877e+02] [ 1.37712523e-01 9.77510305e-01 -1.59714947e-01 -1.27803008e+01] [ 7.14252533e-01 1.37079131e-02 6.99753822e-01 1.75063422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:229.12, Y:-12.78, Z:175.08 [[ 6.86004555e-01 -2.12427867e-01 -6.95896653e-01 2.29116400e+02] [ 1.40513844e-01 9.77105407e-01 -1.59752571e-01 -1.27758225e+01] [ 7.13900280e-01 1.18078779e-02 7.00147816e-01 1.75083403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53999999999996 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:229.14, Y:-12.77, Z:175.10 [[ 6.86249245e-01 -2.13465908e-01 -6.95337530e-01 2.29135435e+02] [ 1.42004278e-01 9.76889822e-01 -1.59753127e-01 -1.27710544e+01] [ 7.13370002e-01 1.08895584e-02 7.00702974e-01 1.75103307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:229.15, Y:-12.77, Z:175.12 [[ 6.86177111e-01 -2.14530879e-01 -6.95080912e-01 2.29153384e+02] [ 1.43287351e-01 9.76664120e-01 -1.59987289e-01 -1.27663667e+01] [ 7.13182800e-01 1.01833129e-02 7.00904126e-01 1.75124322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59999999999997 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:229.17, Y:-12.76, Z:175.14 [[ 6.86138968e-01 -2.15238793e-01 -6.94899689e-01 2.29172396e+02] [ 1.44044323e-01 9.76511785e-01 -1.60237220e-01 -1.27620803e+01] [ 7.13067002e-01 9.84864537e-03 7.01026715e-01 1.75144593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:229.22, Y:-12.77, Z:175.18 [[ 6.93887724e-01 -2.08061143e-01 -6.89369558e-01 2.29217211e+02] [ 1.29177113e-01 9.77783381e-01 -1.65084624e-01 -1.27733990e+01] [ 7.08401793e-01 2.54994246e-02 7.05348623e-01 1.75178787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65999999999997 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:229.24, Y:-12.78, Z:175.16 [[ 6.84742444e-01 -1.60378106e-01 -7.10919579e-01 2.29241997e+02] [ 1.45635937e-01 9.85922240e-01 -8.21432352e-02 -1.27811276e+01] [ 7.14085400e-01 -4.72884792e-02 6.98459620e-01 1.75156195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:229.23, Y:-12.75, Z:175.20 [[ 6.85205516e-01 -2.16897605e-01 -6.95304847e-01 2.29228048e+02] [ 1.44719450e-01 9.76140012e-01 -1.61885632e-01 -1.27505078e+01] [ 7.13827487e-01 1.03007932e-02 7.00245823e-01 1.75201449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71999999999997 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:229.27, Y:-12.75, Z:175.24 [[ 7.00763883e-01 -2.29824243e-01 -6.75359754e-01 2.29274528e+02] [ 1.26448193e-01 9.71711600e-01 -1.99467846e-01 -1.27536056e+01] [ 7.02097454e-01 5.43818414e-02 7.10001254e-01 1.75243872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:229.35, Y:-12.79, Z:175.22 [[ 6.98242122e-01 -1.40219889e-01 -7.01994531e-01 2.29345678e+02] [ 1.24908284e-01 9.89449745e-01 -7.33970224e-02 -1.27942082e+01] [ 7.04880032e-01 -3.64360394e-02 7.08390115e-01 1.75224709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:229.36, Y:-12.79, Z:175.24 [[ 6.99033101e-01 -1.38803705e-01 -7.01488600e-01 2.29364780e+02] [ 1.23498753e-01 9.89673668e-01 -7.27604925e-02 -1.27912877e+01] [ 7.04344222e-01 -3.57709745e-02 7.08956737e-01 1.75242326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:229.38, Y:-12.78, Z:175.27 [[ 6.97401591e-01 -1.51345338e-01 -7.00518100e-01 2.29383838e+02] [ 1.26079752e-01 9.88112755e-01 -8.79606670e-02 -1.27839133e+01] [ 7.05503307e-01 -2.69772395e-02 7.08192991e-01 1.75268889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:229.41, Y:-12.79, Z:175.28 [[ 6.94192950e-01 -1.34844118e-01 -7.07045411e-01 2.29409200e+02] [ 1.26546134e-01 9.89859230e-01 -6.45351206e-02 -1.27890866e+01] [ 7.08577607e-01 -4.46740373e-02 7.04217300e-01 1.75283389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:229.42, Y:-12.78, Z:175.31 [[ 6.92309578e-01 -1.46383914e-01 -7.06596914e-01 2.29423261e+02] [ 1.29224303e-01 9.88528718e-01 -7.81796224e-02 -1.27800302e+01] [ 7.09935580e-01 -3.71849926e-02 7.03284259e-01 1.75308578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:229.41, Y:-12.77, Z:175.31 [[ 6.75244660e-01 -1.38705970e-01 -7.24434472e-01 2.29408063e+02] [ 1.52509788e-01 9.87190359e-01 -4.68610728e-02 -1.27683864e+01] [ 7.21654637e-01 -7.88406582e-02 6.87749036e-01 1.75305005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:229.38, Y:-12.72, Z:175.36 [[ 6.77071792e-01 -2.30322727e-01 -6.98945799e-01 2.29375314e+02] [ 1.51340450e-01 9.73039578e-01 -1.74040361e-01 -1.27199983e+01] [ 7.20187376e-01 1.20590470e-02 6.93674796e-01 1.75364748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:229.39, Y:-12.72, Z:175.38 [[ 6.76560535e-01 -2.30471673e-01 -6.99391629e-01 2.29393994e+02] [ 1.51159442e-01 9.73001557e-01 -1.74409843e-01 -1.27158604e+01] [ 7.20705672e-01 1.22791679e-02 6.93132423e-01 1.75384945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:229.44, Y:-12.72, Z:175.42 [[ 6.91361897e-01 -2.31132061e-01 -6.84541232e-01 2.29443889e+02] [ 1.30579654e-01 9.71820446e-01 -1.96249778e-01 -1.27229871e+01] [ 7.10610781e-01 4.62924609e-02 7.02060771e-01 1.75423975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:229.48, Y:-12.75, Z:175.39 [[ 6.74674347e-01 -1.44128210e-01 -7.23907166e-01 2.29477745e+02] [ 1.47533285e-01 9.87291707e-01 -5.90678820e-02 -1.27462255e+01] [ 7.23220890e-01 -6.69488179e-02 6.87364096e-01 1.75386760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:229.45, Y:-12.70, Z:175.44 [[ 6.77439013e-01 -2.27060575e-01 -6.99656972e-01 2.29448631e+02] [ 1.44181598e-01 9.73702649e-01 -1.76393932e-01 -1.27021123e+01] [ 7.21309954e-01 1.86184706e-02 6.92362118e-01 1.75442850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:229.47, Y:-12.70, Z:175.46 [[ 6.77815477e-01 -2.26704781e-01 -6.99407693e-01 2.29467438e+02] [ 1.43434075e-01 9.73770217e-01 -1.76630211e-01 -1.26978477e+01] [ 7.21105294e-01 1.94037954e-02 6.92553715e-01 1.75462631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:229.48, Y:-12.69, Z:175.48 [[ 6.77632976e-01 -2.24575331e-01 -7.00270998e-01 2.29484711e+02] [ 1.39798652e-01 9.74205114e-01 -1.77146076e-01 -1.26897273e+01] [ 7.21990227e-01 2.21430807e-02 6.91548839e-01 1.75483946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:229.50, Y:-12.68, Z:175.50 [[ 6.77470465e-01 -2.23186809e-01 -7.00871898e-01 2.29502814e+02] [ 1.37304516e-01 9.74478169e-01 -1.77594392e-01 -1.26821647e+01] [ 7.22621090e-01 2.40820788e-02 6.90824735e-01 1.75503905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16999999999996 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:229.52, Y:-12.68, Z:175.52 [[ 6.77720767e-01 -2.21904374e-01 -7.01037097e-01 2.29520261e+02] [ 1.35096830e-01 9.74724892e-01 -1.77933222e-01 -1.26752202e+01] [ 7.22802468e-01 2.58811501e-02 6.90569879e-01 1.75523071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:229.54, Y:-12.67, Z:175.54 [[ 6.78404474e-01 -2.21247097e-01 -7.00583394e-01 2.29539749e+02] [ 1.34083831e-01 9.74848529e-01 -1.78022113e-01 -1.26688148e+01] [ 7.22349567e-01 2.68340926e-02 6.91007261e-01 1.75542113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22999999999996 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:229.59, Y:-12.68, Z:175.58 [[ 6.86969637e-01 -2.21506752e-01 -6.92103661e-01 2.29589475e+02] [ 1.27634819e-01 9.74384077e-01 -1.85162157e-01 -1.26778720e+01] [ 7.15389454e-01 3.88642545e-02 6.97644249e-01 1.75580840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:229.65, Y:-12.71, Z:175.57 [[ 6.87749843e-01 -1.52797889e-01 -7.09685113e-01 2.29648194e+02] [ 1.22214338e-01 9.88015037e-01 -9.42864923e-02 -1.27059385e+01] [ 7.15586339e-01 -2.18881762e-02 6.98181279e-01 1.75568503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28999999999996 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:229.63, Y:-12.68, Z:175.57 [[ 6.77456737e-01 -1.59040256e-01 -7.18163329e-01 2.29631475e+02] [ 1.41243502e-01 9.86303234e-01 -8.51833484e-02 -1.26822896e+01] [ 7.21874395e-01 -4.37278703e-02 6.90641174e-01 1.75567880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:229.64, Y:-12.66, Z:175.64 [[ 6.90490421e-01 -2.26239940e-01 -6.87050557e-01 2.29642940e+02] [ 1.31464081e-01 9.73260565e-01 -1.88364192e-01 -1.26598324e+01] [ 7.11294717e-01 3.97412002e-02 7.01769523e-01 1.75637112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34999999999997 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:229.70, Y:-12.68, Z:175.63 [[ 6.86319933e-01 -1.67324940e-01 -7.07790445e-01 2.29699087e+02] [ 1.39706165e-01 9.85383006e-01 -9.74808673e-02 -1.26824215e+01] [ 7.13755656e-01 -3.19796267e-02 6.99664324e-01 1.75627798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:229.72, Y:-12.68, Z:175.65 [[ 6.85467353e-01 -1.61171703e-01 -7.10040978e-01 2.29722579e+02] [ 1.46537117e-01 9.85776046e-01 -8.22949598e-02 -1.26814862e+01] [ 7.13205007e-01 -4.76368499e-02 6.99334933e-01 1.75646716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40999999999997 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:229.74, Y:-12.68, Z:175.67 [[ 6.82393421e-01 -1.63004624e-01 -7.12578916e-01 2.29737509e+02] [ 1.52312048e-01 9.85130506e-01 -7.94916707e-02 -1.26756826e+01] [ 7.14940738e-01 -5.42897607e-02 6.97074145e-01 1.75665911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:229.75, Y:-12.66, Z:175.69 [[ 6.81802999e-01 -1.88769554e-01 -7.06760727e-01 2.29747566e+02] [ 1.63047991e-01 9.81043007e-01 -1.04737627e-01 -1.26584809e+01] [ 7.13133945e-01 -4.38254880e-02 6.99656561e-01 1.75693856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46999999999997 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:229.77, Y:-12.65, Z:175.71 [[ 6.84286755e-01 -1.97989592e-01 -7.01820318e-01 2.29769340e+02] [ 1.68812350e-01 9.79301383e-01 -1.11674489e-01 -1.26486528e+01] [ 7.09403995e-01 -4.20585635e-02 7.03546054e-01 1.75713657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:229.79, Y:-12.65, Z:175.73 [[ 6.83439941e-01 -1.88996999e-01 -7.05116998e-01 2.29794711e+02] [ 1.73079019e-01 9.80315391e-01 -9.50020382e-02 -1.26471679e+01] [ 7.09192146e-01 -5.71127709e-02 7.02698109e-01 1.75728172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:229.81, Y:-12.64, Z:175.74 [[ 6.83063905e-01 -1.92274285e-01 -7.04595133e-01 2.29812930e+02] [ 1.79279845e-01 9.79349732e-01 -9.34496640e-02 -1.26412052e+01] [ 7.08013021e-01 -6.24876140e-02 7.03429356e-01 1.75744176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:229.83, Y:-12.63, Z:175.77 [[ 6.81362234e-01 -2.04555656e-01 -7.02781964e-01 2.29831417e+02] [ 1.88440164e-01 9.76813034e-01 -1.01619881e-01 -1.26303737e+01] [ 7.07273504e-01 -6.31923992e-02 7.04110013e-01 1.75771413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:229.85, Y:-12.63, Z:175.79 [[ 6.77061596e-01 -2.00656890e-01 -7.08042660e-01 2.29845349e+02] [ 1.90974045e-01 9.77057204e-01 -9.42769010e-02 -1.26265246e+01] [ 7.10715491e-01 -7.13865018e-02 6.99848168e-01 1.75786271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:229.86, Y:-12.61, Z:175.81 [[ 6.78352577e-01 -2.20859140e-01 -7.00756035e-01 2.29855437e+02] [ 1.92929048e-01 9.73827150e-01 -1.20162661e-01 -1.26111992e+01] [ 7.08954274e-01 -5.36835437e-02 7.03208301e-01 1.75810347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:229.88, Y:-12.61, Z:175.83 [[ 6.75583610e-01 -2.18985017e-01 -7.04011611e-01 2.29875328e+02] [ 1.97613354e-01 9.73716982e-01 -1.13243994e-01 -1.26074965e+01] [ 7.10306799e-01 -6.26163096e-02 7.01101597e-01 1.75831351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:229.89, Y:-12.60, Z:175.85 [[ 6.74671088e-01 -2.19847562e-01 -7.04617608e-01 2.29892164e+02] [ 2.00268671e-01 9.73326311e-01 -1.11930121e-01 -1.26018746e+01] [ 7.10430421e-01 -6.55968157e-02 7.00703700e-01 1.75851339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:229.90, Y:-12.59, Z:175.87 [[ 6.74745598e-01 -2.32106505e-01 -7.00603275e-01 2.29904342e+02] [ 2.04887926e-01 9.70858769e-01 -1.24314876e-01 -1.25898245e+01] [ 7.09041124e-01 -5.96642370e-02 7.02638501e-01 1.75872747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:229.92, Y:-12.58, Z:175.90 [[ 6.76148192e-01 -2.43252821e-01 -6.95450708e-01 2.29922890e+02] [ 2.06745126e-01 9.68641860e-01 -1.37802033e-01 -1.25796227e+01] [ 7.07163401e-01 -5.06064490e-02 7.05236777e-01 1.75895887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:229.95, Y:-12.58, Z:175.91 [[ 6.73425489e-01 -2.27595438e-01 -7.03348013e-01 2.29946144e+02] [ 2.09372166e-01 9.71191271e-01 -1.13801630e-01 -1.25812338e+01] [ 7.08986183e-01 -7.06245788e-02 7.01677107e-01 1.75909968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:229.93, Y:-12.56, Z:175.92 [[ 6.65498298e-01 -2.34937696e-01 -7.08460510e-01 2.29934559e+02] [ 2.13518006e-01 9.69428202e-01 -1.20909150e-01 -1.25635413e+01] [ 7.15207716e-01 -7.08042419e-02 6.95316247e-01 1.75916162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:229.95, Y:-12.55, Z:175.98 [[ 6.68794654e-01 -2.88147380e-01 -6.85335537e-01 2.29945349e+02] [ 2.11509313e-01 9.57487228e-01 -1.96168345e-01 -1.25450995e+01] [ 7.12725418e-01 -1.37585078e-02 7.01308193e-01 1.75975587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:229.99, Y:-12.56, Z:175.97 [[ 6.69013199e-01 -2.45401498e-01 -7.01569273e-01 2.29990973e+02] [ 2.13193409e-01 9.67615603e-01 -1.35161441e-01 -1.25585540e+01] [ 7.12018195e-01 -5.91451569e-02 6.99665592e-01 1.75973399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:229.99, Y:-12.54, Z:175.98 [[ 6.62273479e-01 -2.47081973e-01 -7.07350223e-01 2.29985930e+02] [ 2.15727449e-01 9.66966091e-01 -1.35787504e-01 -1.25434889e+01] [ 7.17534325e-01 -6.26663961e-02 6.93698361e-01 1.75979288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91999999999996 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:229.98, Y:-12.52, Z:176.02 [[ 6.61697441e-01 -2.90456605e-01 -6.91224607e-01 2.29975654e+02] [ 2.11973091e-01 9.56774303e-01 -1.99123935e-01 -1.25175153e+01] [ 7.19182804e-01 -1.47612187e-02 6.94664092e-01 1.76019809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:230.01, Y:-12.52, Z:176.05 [[ 6.67070316e-01 -2.91073357e-01 -6.85779479e-01 2.30014211e+02] [ 2.09759179e-01 9.56657509e-01 -2.02008655e-01 -1.25184017e+01] [ 7.14855426e-01 -9.09456320e-03 6.99213136e-01 1.76053377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97999999999996 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:230.06, Y:-12.53, Z:176.05 [[ 6.70631504e-01 -2.47726974e-01 -6.99202927e-01 2.30055342e+02] [ 2.02185030e-01 9.67943562e-01 -1.49018369e-01 -1.25294081e+01] [ 7.13704841e-01 -4.14319519e-02 6.99220132e-01 1.76047197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:230.05, Y:-12.52, Z:176.06 [[ 6.64950647e-01 -2.48419335e-01 -7.04363877e-01 2.30054551e+02] [ 2.05702666e-01 9.67505856e-01 -1.47033436e-01 -1.25150727e+01] [ 7.18002124e-01 -4.71195485e-02 6.94444165e-01 1.76060832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03999999999996 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:230.05, Y:-12.49, Z:176.10 [[ 6.65715696e-01 -2.86817581e-01 -6.88881911e-01 2.30048366e+02] [ 2.05012342e-01 9.57955062e-01 -2.00728771e-01 -1.24930250e+01] [ 7.17490454e-01 -7.60100088e-03 6.96526865e-01 1.76098021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:230.07, Y:-12.49, Z:176.12 [[ 6.67197544e-01 -2.84841214e-01 -6.88268059e-01 2.30066213e+02] [ 2.02216725e-01 9.58560125e-01 -2.00676067e-01 -1.24878714e+01] [ 7.16907130e-01 -5.28873382e-03 6.97148618e-01 1.76117922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09999999999997 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:230.08, Y:-12.48, Z:176.14 [[ 6.67738752e-01 -2.84373369e-01 -6.87936586e-01 2.30084184e+02] [ 2.01513115e-01 9.58702524e-01 -2.00703601e-01 -1.24818239e+01] [ 7.16601300e-01 -4.61067259e-03 6.97467790e-01 1.76137682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:230.10, Y:-12.48, Z:176.16 [[ 6.67609319e-01 -2.83716093e-01 -6.88333477e-01 2.30101764e+02] [ 2.00155731e-01 9.58901897e-01 -2.01109016e-01 -1.24762409e+01] [ 7.17102141e-01 -3.51163667e-03 6.96959244e-01 1.76158173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15999999999997 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:230.12, Y:-12.47, Z:176.18 [[ 6.67250261e-01 -2.84248181e-01 -6.88462098e-01 2.30119904e+02] [ 2.00583837e-01 9.58743650e-01 -2.01436683e-01 -1.24703433e+01] [ 7.17316676e-01 -3.68568939e-03 6.96737542e-01 1.76177184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:230.14, Y:-12.47, Z:176.20 [[ 6.67063858e-01 -2.84170724e-01 -6.88674676e-01 2.30138688e+02] [ 2.00205307e-01 9.58767909e-01 -2.01697625e-01 -1.24650687e+01] [ 7.17595739e-01 -3.33112862e-03 6.96451907e-01 1.76196773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21999999999997 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:230.16, Y:-12.46, Z:176.22 [[ 6.67053437e-01 -2.84453385e-01 -6.88568068e-01 2.30156839e+02] [ 2.00343323e-01 9.58684419e-01 -2.01957269e-01 -1.24603734e+01] [ 7.17566907e-01 -3.23372485e-03 6.96482073e-01 1.76215579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:230.18, Y:-12.45, Z:176.24 [[ 6.66488967e-01 -2.85281966e-01 -6.88771847e-01 2.30175574e+02] [ 2.01342108e-01 9.58435490e-01 -2.02145409e-01 -1.24545248e+01] [ 7.17811822e-01 -3.95109073e-03 6.96225952e-01 1.76235728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:230.19, Y:-12.45, Z:176.25 [[ 6.66415447e-01 -2.85862009e-01 -6.88602472e-01 2.30193881e+02] [ 2.01929076e-01 9.58261688e-01 -2.02383757e-01 -1.24493209e+01] [ 7.17715194e-01 -4.17719893e-03 6.96324242e-01 1.76254351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:230.21, Y:-12.44, Z:176.27 [[ 6.66037868e-01 -2.86726567e-01 -6.88608331e-01 2.30212656e+02] [ 2.03039514e-01 9.57999758e-01 -2.02512764e-01 -1.24439887e+01] [ 7.17752404e-01 -4.93353103e-03 6.96280939e-01 1.76274294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:230.23, Y:-12.44, Z:176.29 [[ 6.65364493e-01 -2.88626109e-01 -6.88465729e-01 2.30229810e+02] [ 2.05513583e-01 9.57419289e-01 -2.02762110e-01 -1.24382910e+01] [ 7.17672808e-01 -6.57835040e-03 6.96349385e-01 1.76293823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:230.25, Y:-12.43, Z:176.31 [[ 6.65190432e-01 -2.90164420e-01 -6.87987135e-01 2.30247964e+02] [ 2.07732580e-01 9.56942946e-01 -2.02749532e-01 -1.24326463e+01] [ 7.17195136e-01 -8.05029368e-03 6.96825896e-01 1.76313850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:230.27, Y:-12.43, Z:176.33 [[ 6.65046107e-01 -2.91480967e-01 -6.87570012e-01 2.30265232e+02] [ 2.09442191e-01 9.56533779e-01 -2.02921410e-01 -1.24270523e+01] [ 7.16831671e-01 -9.05407595e-03 6.97187478e-01 1.76333068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:230.28, Y:-12.42, Z:176.35 [[ 6.64465094e-01 -2.94191977e-01 -6.86976870e-01 2.30283379e+02] [ 2.13301915e-01 9.55674951e-01 -2.02947483e-01 -1.24208801e+01] [ 7.16232108e-01 -1.16819642e-02 6.97764358e-01 1.76353780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:230.30, Y:-12.42, Z:176.37 [[ 6.63933204e-01 -2.95893463e-01 -6.86760336e-01 2.30301722e+02] [ 2.15516029e-01 9.55130884e-01 -2.03169475e-01 -1.24153808e+01] [ 7.16062526e-01 -1.31168996e-02 6.97912892e-01 1.76373060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:230.32, Y:-12.41, Z:176.39 [[ 6.63999653e-01 -2.96569407e-01 -6.86404434e-01 2.30320368e+02] [ 2.16457577e-01 9.54913612e-01 -2.03189840e-01 -1.24104470e+01] [ 7.15716828e-01 -1.36594578e-02 6.98257002e-01 1.76392487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:230.34, Y:-12.40, Z:176.41 [[ 6.63353089e-01 -2.98292376e-01 -6.86282987e-01 2.30339346e+02] [ 2.18667575e-01 9.54354939e-01 -2.03448132e-01 -1.24049937e+01] [ 7.15644585e-01 -1.51098899e-02 6.98301167e-01 1.76411503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:230.36, Y:-12.40, Z:176.43 [[ 6.63128566e-01 -2.98777214e-01 -6.86289065e-01 2.30357798e+02] [ 2.19062733e-01 9.54201317e-01 -2.03743383e-01 -1.23992921e+01] [ 7.15731810e-01 -1.52323006e-02 6.98209104e-01 1.76430935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:230.38, Y:-12.39, Z:176.45 [[ 6.63093200e-01 -2.99355512e-01 -6.86071196e-01 2.30375980e+02] [ 2.19655696e-01 9.54016576e-01 -2.03969970e-01 -1.23934145e+01] [ 7.15582828e-01 -1.54483455e-02 6.98357047e-01 1.76449642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:230.39, Y:-12.39, Z:176.47 [[ 6.63620077e-01 -2.98834724e-01 -6.85788744e-01 2.30394736e+02] [ 2.18853340e-01 9.54191661e-01 -2.04013455e-01 -1.23876514e+01] [ 7.15340205e-01 -1.46997328e-02 6.98621721e-01 1.76469378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:230.41, Y:-12.38, Z:176.49 [[ 6.63862821e-01 -2.98647708e-01 -6.85635254e-01 2.30413184e+02] [ 2.18333401e-01 9.54259256e-01 -2.04254247e-01 -1.23822911e+01] [ 7.15273850e-01 -1.41002758e-02 6.98702012e-01 1.76489288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66999999999996 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:230.43, Y:-12.38, Z:176.51 [[ 6.64229276e-01 -2.98053895e-01 -6.85538726e-01 2.30431347e+02] [ 2.17215090e-01 9.54459593e-01 -2.04510368e-01 -1.23769476e+01] [ 7.15274125e-01 -1.30675825e-02 6.98721808e-01 1.76509119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:230.45, Y:-12.37, Z:176.53 [[ 6.65470913e-01 -2.96472242e-01 -6.85020199e-01 2.30449111e+02] [ 2.14789410e-01 9.54978726e-01 -2.04648826e-01 -1.23715809e+01] [ 7.14852414e-01 -1.09472427e-02 6.99189663e-01 1.76528043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72999999999996 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:230.47, Y:-12.36, Z:176.55 [[ 6.70660957e-01 -3.07562541e-01 -6.74995677e-01 2.30471428e+02] [ 2.10625365e-01 9.51492174e-01 -2.24275721e-01 -1.23625963e+01] [ 7.11231915e-01 8.24175827e-03 7.02909124e-01 1.76552932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:230.50, Y:-12.37, Z:176.56 [[ 6.66164139e-01 -2.71335709e-01 -6.94695814e-01 2.30502878e+02] [ 2.13191372e-01 9.61883468e-01 -1.71258965e-01 -1.23702909e+01] [ 7.14685091e-01 -3.40165721e-02 6.98618704e-01 1.76557539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78999999999996 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:230.51, Y:-12.35, Z:176.59 [[ 6.66227212e-01 -2.94694361e-01 -6.85052214e-01 2.30505102e+02] [ 2.10978560e-01 9.55563159e-01 -2.05881266e-01 -1.23548976e+01] [ 7.15282706e-01 -7.36762787e-03 6.98796371e-01 1.76588592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:230.52, Y:-12.35, Z:176.61 [[ 6.66235386e-01 -2.94004140e-01 -6.85340773e-01 2.30523762e+02] [ 2.09695852e-01 9.55783021e-01 -2.06170964e-01 -1.23496115e+01] [ 7.15652192e-01 -6.35472598e-03 6.98427919e-01 1.76607964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84999999999997 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:230.54, Y:-12.34, Z:176.63 [[ 6.66159521e-01 -2.94258791e-01 -6.85305229e-01 2.30542772e+02] [ 2.09939702e-01 9.55704004e-01 -2.06289063e-01 -1.23437480e+01] [ 7.15651322e-01 -6.45135275e-03 6.98427924e-01 1.76628180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:230.56, Y:-12.34, Z:176.65 [[ 6.65940777e-01 -2.92861444e-01 -6.86115921e-01 2.30561904e+02] [ 2.07412712e-01 9.56143881e-01 -2.06806299e-01 -1.23383203e+01] [ 7.16591131e-01 -4.58841621e-03 6.97478385e-01 1.76647367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90999999999997 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:230.58, Y:-12.33, Z:176.67 [[ 6.65710944e-01 -2.92571699e-01 -6.86462483e-01 2.30579917e+02] [ 2.06595137e-01 9.56235698e-01 -2.07199757e-01 -1.23332204e+01] [ 7.17040716e-01 -3.88466442e-03 6.97020459e-01 1.76666496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:230.60, Y:-12.33, Z:176.69 [[ 6.65611823e-01 -2.92146498e-01 -6.86739634e-01 2.30598751e+02] [ 2.05769245e-01 9.56368041e-01 -2.07410676e-01 -1.23276434e+01] [ 7.17370141e-01 -3.25489771e-03 6.96684639e-01 1.76686661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96999999999997 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:230.62, Y:-12.32, Z:176.71 [[ 6.66058023e-01 -2.90784980e-01 -6.86884856e-01 2.30616179e+02] [ 2.03471354e-01 9.56787415e-01 -2.07743235e-01 -1.23221793e+01] [ 7.17611398e-01 -1.39234325e-03 6.96442347e-01 1.76706289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:230.64, Y:-12.31, Z:176.73 [[ 6.72272346e-01 -3.05811262e-01 -6.74187930e-01 2.30636746e+02] [ 2.00083769e-01 9.51855244e-01 -2.32245731e-01 -1.23114355e+01] [ 7.12752676e-01 2.12383204e-02 7.01093828e-01 1.76730570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:230.67, Y:-12.32, Z:176.73 [[ 6.66153237e-01 -2.62461474e-01 -6.98107327e-01 2.30670697e+02] [ 2.02630826e-01 9.64515517e-01 -1.69264780e-01 -1.23220916e+01] [ 7.17760833e-01 -2.87017830e-02 6.95697919e-01 1.76734215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:230.67, Y:-12.30, Z:176.77 [[ 6.72196974e-01 -3.03186968e-01 -6.75447178e-01 2.30673843e+02] [ 1.98446740e-01 9.52707002e-01 -2.30148344e-01 -1.22997298e+01] [ 7.13281234e-01 2.06647303e-02 7.00573229e-01 1.76771351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:230.71, Y:-12.31, Z:176.78 [[ 6.66671031e-01 -2.65763018e-01 -6.96361799e-01 2.30705928e+02] [ 2.01095463e-01 9.63759851e-01 -1.75292796e-01 -1.23086465e+01] [ 7.17711886e-01 -2.31725690e-02 6.95954511e-01 1.76776948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:230.71, Y:-12.29, Z:176.81 [[ 6.67290490e-01 -2.90099619e-01 -6.85977852e-01 2.30709064e+02] [ 2.01113348e-01 9.56995187e-01 -2.09078055e-01 -1.22926805e+01] [ 7.17130967e-01 1.55649490e-03 6.96936693e-01 1.76808898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:230.73, Y:-12.28, Z:176.83 [[ 6.73849886e-01 -3.06107918e-01 -6.72476225e-01 2.30728830e+02] [ 1.98705771e-01 9.51691240e-01 -2.34093574e-01 -1.22803224e+01] [ 7.11647629e-01 2.41190215e-02 7.02122443e-01 1.76834732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:230.77, Y:-12.29, Z:176.84 [[ 6.73691980e-01 -2.79074043e-01 -6.84292916e-01 2.30765410e+02] [ 1.99188212e-01 9.60258645e-01 -1.95518261e-01 -1.22854486e+01] [ 7.11662260e-01 -4.58399790e-03 7.02506808e-01 1.76841867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:230.78, Y:-12.28, Z:176.86 [[ 6.74329940e-01 -2.78467775e-01 -6.83911420e-01 2.30784740e+02] [ 2.00429055e-01 9.60422636e-01 -1.93433591e-01 -1.22803742e+01] [ 7.10709030e-01 -6.63765772e-03 7.03454772e-01 1.76859428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:230.80, Y:-12.28, Z:176.88 [[ 6.67306669e-01 -2.64413800e-01 -6.96266581e-01 2.30800252e+02] [ 2.04806247e-01 9.63964137e-01 -1.69786759e-01 -1.22792067e+01] [ 7.16069976e-01 -2.92999090e-02 6.97413295e-01 1.76876258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:230.80, Y:-12.26, Z:176.91 [[ 6.66653212e-01 -2.93674754e-01 -6.85075641e-01 2.30800604e+02] [ 2.05818943e-01 9.55904456e-01 -2.09488030e-01 -1.22612184e+01] [ 7.16388203e-01 -1.34567636e-03 6.97700603e-01 1.76909190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:230.82, Y:-12.25, Z:176.93 [[ 6.66196701e-01 -2.94847846e-01 -6.85015842e-01 2.30819188e+02] [ 2.07221599e-01 9.55541663e-01 -2.09760193e-01 -1.22549195e+01] [ 7.16408518e-01 -2.20852922e-03 6.97677546e-01 1.76928405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:230.84, Y:-12.25, Z:176.95 [[ 6.65094852e-01 -2.96162649e-01 -6.85519163e-01 2.30837165e+02] [ 2.08656429e-01 9.55132050e-01 -2.10202908e-01 -1.22488146e+01] [ 7.17015573e-01 -3.23310857e-03 6.97049650e-01 1.76947602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:230.86, Y:-12.24, Z:176.97 [[ 6.63142934e-01 -2.98705683e-01 -6.86306319e-01 2.30856362e+02] [ 2.11940172e-01 9.54327553e-01 -2.10571332e-01 -1.22427605e+01] [ 7.17859883e-01 -5.81698823e-03 6.96163307e-01 1.76967428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:230.87, Y:-12.24, Z:176.99 [[ 6.62106141e-01 -3.00157530e-01 -6.86673805e-01 2.30874895e+02] [ 2.13620855e-01 9.53863953e-01 -2.10973197e-01 -1.22368286e+01] [ 7.18318584e-01 -7.00119591e-03 6.95679089e-01 1.76987298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41999999999996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:230.89, Y:-12.23, Z:177.01 [[ 6.61643430e-01 -3.01365291e-01 -6.86590805e-01 2.30892573e+02] [ 2.15089540e-01 9.53475901e-01 -2.11234930e-01 -1.22310222e+01] [ 7.18306663e-01 -7.91629670e-03 6.95681587e-01 1.77006480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:230.91, Y:-12.22, Z:177.03 [[ 6.61689157e-01 -3.01651961e-01 -6.86420829e-01 2.30910287e+02] [ 2.15423610e-01 9.53384122e-01 -2.11308743e-01 -1.22237459e+01] [ 7.18164415e-01 -8.05054899e-03 6.95826890e-01 1.77026345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47999999999996 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:230.93, Y:-12.22, Z:177.05 [[ 6.62234421e-01 -3.02066074e-01 -6.85712519e-01 2.30928410e+02] [ 2.15941615e-01 9.53252618e-01 -2.11373282e-01 -1.22176150e+01] [ 7.17505952e-01 -8.09520531e-03 6.96505331e-01 1.77047003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:230.95, Y:-12.21, Z:177.07 [[ 6.63486594e-01 -3.01871064e-01 -6.84587029e-01 2.30945940e+02] [ 2.15711743e-01 9.53319461e-01 -2.11306531e-01 -1.22114393e+01] [ 7.16417464e-01 -7.47441099e-03 6.97631816e-01 1.77067168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53999999999996 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:230.96, Y:-12.20, Z:177.09 [[ 6.64906377e-01 -3.01729020e-01 -6.83270889e-01 2.30963907e+02] [ 2.15779661e-01 9.53367095e-01 -2.11022084e-01 -1.22048913e+01] [ 7.15079469e-01 -7.12603106e-03 6.99006847e-01 1.77087214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:230.98, Y:-12.20, Z:177.11 [[ 6.67046027e-01 -3.01082779e-01 -6.81468090e-01 2.30981875e+02] [ 2.15099291e-01 9.53579146e-01 -2.10758411e-01 -1.21991040e+01] [ 7.13289487e-01 -5.99774262e-03 7.00843873e-01 1.77107322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59999999999997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:231.00, Y:-12.19, Z:177.13 [[ 6.67542696e-01 -3.00904659e-01 -6.81060303e-01 2.31000453e+02] [ 2.14689272e-01 9.53638785e-01 -2.10906577e-01 -1.21931276e+01] [ 7.12948291e-01 -5.42719557e-03 7.01195607e-01 1.77127386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:231.02, Y:-12.19, Z:177.15 [[ 6.67706722e-01 -3.00765986e-01 -6.80960759e-01 2.31018379e+02] [ 2.14220575e-01 9.53685512e-01 -2.11171707e-01 -1.21874247e+01] [ 7.12935677e-01 -4.87503682e-03 7.01212489e-01 1.77146390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65999999999997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:231.04, Y:-12.18, Z:177.17 [[ 6.67474319e-01 -3.00731217e-01 -6.81203912e-01 2.31036781e+02] [ 2.13967611e-01 9.53697508e-01 -2.11373898e-01 -1.21820855e+01] [ 7.13229203e-01 -4.66892533e-03 7.00915334e-01 1.77165882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:231.06, Y:-12.18, Z:177.19 [[ 6.66933787e-01 -3.00742308e-01 -6.81728237e-01 2.31055652e+02] [ 2.13694732e-01 9.53694742e-01 -2.11662233e-01 -1.21764685e+01] [ 7.13816423e-01 -4.51703875e-03 7.00318292e-01 1.77185047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71999999999997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:231.07, Y:-12.17, Z:177.20 [[ 6.65424514e-01 -3.01185610e-01 -6.83006182e-01 2.31074436e+02] [ 2.13632053e-01 9.53554416e-01 -2.12356590e-01 -1.21716176e+01] [ 7.15242310e-01 -4.60473192e-03 6.98861384e-01 1.77203812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:231.09, Y:-12.17, Z:177.22 [[ 6.64684744e-01 -3.01074859e-01 -6.83774905e-01 2.31093197e+02] [ 2.13101466e-01 9.53590734e-01 -2.12726296e-01 -1.21656865e+01] [ 7.16087953e-01 -4.31751146e-03 6.97996707e-01 1.77223423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:231.11, Y:-12.16, Z:177.24 [[ 6.64075650e-01 -3.01068945e-01 -6.84369069e-01 2.31112425e+02] [ 2.12606108e-01 9.53594332e-01 -2.13205282e-01 -1.21600505e+01] [ 7.16799954e-01 -3.91660817e-03 6.97267872e-01 1.77242752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:231.13, Y:-12.16, Z:177.26 [[ 6.63546041e-01 -3.01037074e-01 -6.84896584e-01 2.31131906e+02] [ 2.12094116e-01 9.53606059e-01 -2.13662282e-01 -1.21553179e+01] [ 7.17441800e-01 -3.48777465e-03 6.96609718e-01 1.77262543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:231.15, Y:-12.14, Z:177.29 [[ 6.69993722e-01 -3.15340616e-01 -6.72063024e-01 2.31152291e+02] [ 2.08845731e-01 9.48799732e-01 -2.36986350e-01 -1.21439433e+01] [ 7.12384639e-01 1.84218733e-02 7.01547405e-01 1.77287238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:231.19, Y:-12.15, Z:177.29 [[ 6.63729051e-01 -2.73414028e-01 -6.96210109e-01 2.31185838e+02] [ 2.11138480e-01 9.61428716e-01 -1.76282064e-01 -1.21548337e+01] [ 7.17554381e-01 -2.99932173e-02 6.95856392e-01 1.77289894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:231.19, Y:-12.14, Z:177.32 [[ 6.64493616e-01 -3.00077874e-01 -6.84398644e-01 2.31186205e+02] [ 2.10045212e-01 9.53913758e-01 -2.14311808e-01 -1.21374967e+01] [ 7.17167514e-01 -1.34583007e-03 6.96899524e-01 1.77323134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:231.20, Y:-12.13, Z:177.34 [[ 6.66020304e-01 -2.98708563e-01 -6.83513094e-01 2.31203717e+02] [ 2.08072557e-01 9.54344237e-01 -2.14319593e-01 -1.21315465e+01] [ 7.16325880e-01 5.20882847e-04 6.97765693e-01 1.77343898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:231.22, Y:-12.12, Z:177.37 [[ 6.72214439e-01 -3.09348974e-01 -6.72629884e-01 2.31224068e+02] [ 2.05115322e-01 9.50774855e-01 -2.32281896e-01 -1.21213356e+01] [ 7.11375747e-01 1.81765490e-02 7.02576800e-01 1.77368001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:231.26, Y:-12.12, Z:177.38 [[ 6.72960232e-01 -2.87863963e-01 -6.81365442e-01 2.31256756e+02] [ 2.04231115e-01 9.57667719e-01 -2.02884675e-01 -1.21243620e+01] [ 7.10924875e-01 -2.62270606e-03 7.03263068e-01 1.77377871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:231.27, Y:-12.12, Z:177.39 [[ 6.67522516e-01 -2.74054981e-01 -6.92320416e-01 2.31273996e+02] [ 2.06169845e-01 9.61476572e-01 -1.81815280e-01 -1.21240409e+01] [ 7.15477244e-01 -2.13698001e-02 6.98309133e-01 1.77392966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:231.28, Y:-12.11, Z:177.42 [[ 6.67720274e-01 -2.97266879e-01 -6.82482263e-01 2.31276848e+02] [ 2.05325070e-01 9.54788294e-01 -2.14990531e-01 -1.21090134e+01] [ 7.15535640e-01 3.42281807e-03 6.98567844e-01 1.77423917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:231.30, Y:-12.10, Z:177.44 [[ 6.67999176e-01 -2.96127861e-01 -6.82704468e-01 2.31295219e+02] [ 2.03490388e-01 9.55136132e-01 -2.15189757e-01 -1.21037385e+01] [ 7.15799387e-01 4.82278277e-03 6.98289323e-01 1.77442519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:231.31, Y:-12.10, Z:177.46 [[ 6.68070993e-01 -2.95545163e-01 -6.82886671e-01 2.31313567e+02] [ 2.02468307e-01 9.55312233e-01 -2.15372057e-01 -1.20979630e+01] [ 7.16022160e-01 5.62091623e-03 6.98054920e-01 1.77462034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:231.33, Y:-12.09, Z:177.48 [[ 6.68516421e-01 -2.94564234e-01 -6.82874591e-01 2.31332069e+02] [ 2.00773849e-01 9.55605553e-01 -2.15656878e-01 -1.20919972e+01] [ 7.16083554e-01 7.06680381e-03 6.97978799e-01 1.77482112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16999999999996 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:231.35, Y:-12.09, Z:177.50 [[ 6.69158556e-01 -2.93221628e-01 -6.82823479e-01 2.31350451e+02] [ 1.98559667e-01 9.56002875e-01 -2.15945737e-01 -1.20857709e+01] [ 7.16101170e-01 8.92073545e-03 6.97939492e-01 1.77501999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:231.37, Y:-12.08, Z:177.52 [[ 6.71751409e-01 -2.89194698e-01 -6.81994480e-01 2.31367549e+02] [ 1.92791083e-01 9.57173587e-01 -2.15986858e-01 -1.20791415e+01] [ 7.15249357e-01 1.36070219e-02 6.98736865e-01 1.77521765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22999999999996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:231.39, Y:-12.07, Z:177.55 [[ 6.80219045e-01 -3.02341793e-01 -6.67751070e-01 2.31387046e+02] [ 1.87295741e-01 9.52422323e-01 -2.40441311e-01 -1.20666092e+01] [ 7.08676482e-01 3.84858276e-02 7.04483133e-01 1.77547591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:231.42, Y:-12.08, Z:177.55 [[ 6.72797568e-01 -2.56527558e-01 -6.93928703e-01 2.31422159e+02] [ 1.86786895e-01 9.66473379e-01 -1.76181338e-01 -1.20777083e+01] [ 7.15858987e-01 -1.10824116e-02 6.98156924e-01 1.77548977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28999999999996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:231.42, Y:-12.06, Z:177.58 [[ 6.75804328e-01 -2.80343540e-01 -6.81686152e-01 2.31421570e+02] [ 1.79746189e-01 9.59606060e-01 -2.16442871e-01 -1.20590496e+01] [ 7.14828524e-01 2.37425407e-02 6.98896611e-01 1.77582804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:231.44, Y:-12.05, Z:177.60 [[ 6.76840481e-01 -2.78453341e-01 -6.81432829e-01 2.31439513e+02] [ 1.76859089e-01 9.60094421e-01 -2.16655409e-01 -1.20531464e+01] [ 7.14568280e-01 2.61235618e-02 6.99077773e-01 1.77602644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34999999999997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:231.46, Y:-12.05, Z:177.62 [[ 6.78145506e-01 -2.76884049e-01 -6.80774482e-01 2.31457879e+02] [ 1.74754435e-01 9.60498212e-01 -2.16573481e-01 -1.20468655e+01] [ 7.13848415e-01 2.78999735e-02 6.99744261e-01 1.77622471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:231.48, Y:-12.04, Z:177.64 [[ 6.79855726e-01 -2.74759669e-01 -6.79928905e-01 2.31475117e+02] [ 1.71780162e-01 9.61030575e-01 -2.16591344e-01 -1.20412876e+01] [ 7.12943033e-01 3.04525684e-02 7.00560400e-01 1.77641878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40999999999997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:231.49, Y:-12.04, Z:177.66 [[ 6.79977584e-01 -2.73771830e-01 -6.80205462e-01 2.31493882e+02] [ 1.70149317e-01 9.61272594e-01 -2.16804545e-01 -1.20350762e+01] [ 7.13217846e-01 3.16857360e-02 7.00225905e-01 1.77662181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:231.51, Y:-12.03, Z:177.68 [[ 6.79551751e-01 -2.73459107e-01 -6.80756590e-01 2.31512887e+02] [ 1.69189450e-01 9.61335289e-01 -2.17277225e-01 -1.20290501e+01] [ 7.13851769e-01 3.24742852e-02 6.99543475e-01 1.77681782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46999999999997 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:231.53, Y:-12.02, Z:177.70 [[ 6.78995325e-01 -2.74055461e-01 -6.81071914e-01 2.31530821e+02] [ 1.69604313e-01 9.61171692e-01 -2.17677183e-01 -1.20239882e+01] [ 7.14282665e-01 3.22890551e-02 6.99112074e-01 1.77701127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:231.55, Y:-12.02, Z:177.72 [[ 6.78488703e-01 -2.74603167e-01 -6.81356133e-01 2.31549328e+02] [ 1.70134786e-01 9.61027702e-01 -2.17898853e-01 -1.20184707e+01] [ 7.14637834e-01 3.19195299e-02 6.98765990e-01 1.77720782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:231.57, Y:-12.01, Z:177.74 [[ 6.77288789e-01 -2.75969574e-01 -6.81997574e-01 2.31567205e+02] [ 1.71507351e-01 9.60667651e-01 -2.18409921e-01 -1.20134744e+01] [ 7.15447500e-01 3.09589937e-02 6.97980240e-01 1.77740914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:231.59, Y:-12.01, Z:177.77 [[ 6.83746084e-01 -2.86187505e-01 -6.71258522e-01 2.31591437e+02] [ 1.69243511e-01 9.56995699e-01 -2.35618050e-01 -1.20050164e+01] [ 7.09822461e-01 4.74967697e-02 7.02777441e-01 1.77765030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:231.62, Y:-12.01, Z:177.77 [[ 6.74888436e-01 -2.52204994e-01 -6.93482689e-01 2.31620557e+02] [ 1.73954528e-01 9.67670280e-01 -1.82630915e-01 -1.20122428e+01] [ 7.17123017e-01 2.62103835e-03 6.96941682e-01 1.77768576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:231.62, Y:-12.00, Z:177.80 [[ 6.75312439e-01 -2.79437048e-01 -6.82545270e-01 2.31621606e+02] [ 1.75428951e-01 9.59744091e-01 -2.19353513e-01 -1.19961168e+01] [ 7.16364288e-01 2.83939554e-02 6.97148471e-01 1.77801234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:231.64, Y:-11.99, Z:177.82 [[ 6.75143642e-01 -2.81207164e-01 -6.81985040e-01 2.31640995e+02] [ 1.78023231e-01 9.59276841e-01 -2.19307255e-01 -1.19910958e+01] [ 7.15883225e-01 2.66547181e-02 6.97711067e-01 1.77820944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:231.66, Y:-11.99, Z:177.84 [[ 6.75367632e-01 -2.82261789e-01 -6.81327267e-01 2.31659652e+02] [ 1.79462367e-01 9.58987670e-01 -2.19398971e-01 -1.19853240e+01] [ 7.15312394e-01 2.59023597e-02 6.98324600e-01 1.77840029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:231.68, Y:-11.98, Z:177.86 [[ 6.75164234e-01 -2.83344387e-01 -6.81079449e-01 2.31677892e+02] [ 1.80958651e-01 9.58694437e-01 -2.19451460e-01 -1.19797471e+01] [ 7.15127418e-01 2.49185584e-02 6.98549813e-01 1.77860194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:231.70, Y:-11.97, Z:177.88 [[ 6.75095650e-01 -2.83722340e-01 -6.80990085e-01 2.31696684e+02] [ 1.81216214e-01 9.58582319e-01 -2.19728517e-01 -1.19734984e+01] [ 7.15126944e-01 2.49313212e-02 6.98549843e-01 1.77880492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:231.72, Y:-11.96, Z:177.91 [[ 6.87654978e-01 -3.12641120e-01 -6.55275637e-01 2.31715089e+02] [ 1.79969333e-01 9.47769677e-01 -2.63331880e-01 -1.19560626e+01] [ 7.03378753e-01 6.31519583e-02 7.08004351e-01 1.77910658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:231.76, Y:-11.98, Z:177.90 [[ 6.72952649e-01 -2.38276494e-01 -7.00256414e-01 2.31764018e+02] [ 1.85755280e-01 9.70796295e-01 -1.51820715e-01 -1.19802194e+01] [ 7.15981640e-01 -2.79081734e-02 6.97561055e-01 1.77899489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:231.75, Y:-11.95, Z:177.94 [[ 6.73954508e-01 -2.88551770e-01 -6.80090580e-01 2.31750572e+02] [ 1.87567765e-01 9.57236476e-01 -2.20264981e-01 -1.19539664e+01] [ 7.14565361e-01 2.08855065e-02 6.99256849e-01 1.77941794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:231.77, Y:-11.95, Z:177.96 [[ 6.73076111e-01 -2.89761848e-01 -6.80445898e-01 2.31768935e+02] [ 1.89020276e-01 9.56893885e-01 -2.20511740e-01 -1.19477707e+01] [ 7.15010409e-01 1.98031129e-02 6.98833279e-01 1.77961220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:231.79, Y:-11.94, Z:177.98 [[ 6.70903060e-01 -2.92188908e-01 -6.81553172e-01 2.31787792e+02] [ 1.91759936e-01 9.56197043e-01 -2.21168132e-01 -1.19400857e+01] [ 7.16322002e-01 1.76877833e-02 6.97545648e-01 1.77980720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91999999999996 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:231.81, Y:-11.93, Z:178.00 [[ 6.69962746e-01 -2.93391537e-01 -6.81961381e-01 2.31806672e+02] [ 1.93019082e-01 9.55844202e-01 -2.21597599e-01 -1.19328735e+01] [ 7.16863692e-01 1.68305763e-02 6.97010171e-01 1.78000578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:231.82, Y:-11.93, Z:178.02 [[ 6.69120480e-01 -2.94287939e-01 -6.82401929e-01 2.31824071e+02] [ 1.93827075e-01 9.55577719e-01 -2.22041185e-01 -1.19257988e+01] [ 7.17432122e-01 1.63043342e-02 6.96437592e-01 1.78019676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97999999999996 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:231.84, Y:-11.92, Z:178.04 [[ 6.68683454e-01 -2.95432239e-01 -6.82335863e-01 2.31842322e+02] [ 1.95349810e-01 9.55241895e-01 -2.22151691e-01 -1.19187918e+01] [ 7.17426574e-01 1.52549788e-02 6.96467082e-01 1.78039185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:231.86, Y:-11.91, Z:178.06 [[ 6.68244518e-01 -2.97737848e-01 -6.81763477e-01 2.31860271e+02] [ 1.98541937e-01 9.54556826e-01 -2.22266430e-01 -1.19113427e+01] [ 7.16959109e-01 1.31696823e-02 6.96990815e-01 1.78059824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03999999999996 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:231.88, Y:-11.90, Z:178.08 [[ 6.68150954e-01 -2.99384680e-01 -6.81133699e-01 2.31878528e+02] [ 2.00811042e-01 9.54059613e-01 -2.22362721e-01 -1.19046057e+01] [ 7.16414145e-01 1.17926966e-02 6.97575591e-01 1.78079421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:231.90, Y:-11.90, Z:178.10 [[ 6.67640336e-01 -3.01090603e-01 -6.80882391e-01 2.31896505e+02] [ 2.03025158e-01 9.53539149e-01 -2.22584538e-01 -1.18979518e+01] [ 7.16266129e-01 1.03701608e-02 6.97750165e-01 1.78100018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09999999999997 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:231.91, Y:-11.89, Z:178.12 [[ 6.67214431e-01 -3.03797757e-01 -6.80096924e-01 2.31913878e+02] [ 2.06855895e-01 9.52704105e-01 -2.22633166e-01 -1.18912164e+01] [ 7.15566588e-01 7.86200363e-03 6.98500284e-01 1.78119659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:231.93, Y:-11.88, Z:178.14 [[ 6.66665326e-01 -3.05859420e-01 -6.79711231e-01 2.31932096e+02] [ 2.09721476e-01 9.52058240e-01 -2.22715086e-01 -1.18846702e+01] [ 7.15244186e-01 5.92638262e-03 6.98849506e-01 1.78139264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15999999999997 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:231.95, Y:-11.88, Z:178.16 [[ 6.66151498e-01 -3.07493602e-01 -6.79477642e-01 2.31950409e+02] [ 2.11824552e-01 9.51539107e-01 -2.22943236e-01 -1.18783528e+01] [ 7.15103168e-01 4.58392359e-03 6.99003896e-01 1.78159038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:231.97, Y:-11.87, Z:178.18 [[ 6.65606393e-01 -3.08963977e-01 -6.79344824e-01 2.31969181e+02] [ 2.13656046e-01 9.51067584e-01 -2.23207402e-01 -1.18719694e+01] [ 7.15065887e-01 3.42214480e-03 6.99048686e-01 1.78178976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21999999999997 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:231.99, Y:-11.87, Z:178.20 [[ 6.65354400e-01 -3.10711631e-01 -6.78794376e-01 2.31986998e+02] [ 2.16026843e-01 9.50502208e-01 -2.23333732e-01 -1.18661007e+01] [ 7.14587941e-01 1.95827565e-03 6.99542879e-01 1.78198103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:232.01, Y:-11.86, Z:178.22 [[ 6.65269526e-01 -3.11836520e-01 -6.78361586e-01 2.32005437e+02] [ 2.17567618e-01 9.50135212e-01 -2.23399667e-01 -1.18600018e+01] [ 7.14199404e-01 1.03147576e-03 6.99941531e-01 1.78217643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:232.02, Y:-11.85, Z:178.24 [[ 6.65201384e-01 -3.12561431e-01 -6.78094735e-01 2.32023088e+02] [ 2.18377924e-01 9.49897310e-01 -2.23620621e-01 -1.18539112e+01] [ 7.14015546e-01 6.71825943e-04 7.00129522e-01 1.78237045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:232.04, Y:-11.85, Z:178.26 [[ 6.64733646e-01 -3.13686396e-01 -6.78033941e-01 2.32041743e+02] [ 2.19790719e-01 9.49526609e-01 -2.23810764e-01 -1.18478972e+01] [ 7.14017661e-01 -2.51022796e-04 7.00127643e-01 1.78257003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:232.06, Y:-11.84, Z:178.28 [[ 6.64673746e-01 -3.14290557e-01 -6.77812848e-01 2.32059623e+02] [ 2.20423179e-01 9.49326710e-01 -2.24036651e-01 -1.18418101e+01] [ 7.13878444e-01 -4.94382872e-04 7.00269464e-01 1.78276173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:232.08, Y:-11.84, Z:178.30 [[ 6.64255166e-01 -3.15073123e-01 -6.77859868e-01 2.32077755e+02] [ 2.21392057e-01 9.49066692e-01 -2.24182897e-01 -1.18365671e+01] [ 7.13968228e-01 -1.15814267e-03 7.00177140e-01 1.78296373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:232.11, Y:-11.83, Z:178.33 [[ 6.76258238e-01 -3.26329914e-01 -6.60441960e-01 2.32113075e+02] [ 2.11321939e-01 9.44786117e-01 -2.50444067e-01 -1.18308721e+01] [ 7.05703786e-01 2.97989884e-02 7.07880065e-01 1.78329009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:232.15, Y:-11.85, Z:178.31 [[ 6.64135274e-01 -2.58162108e-01 -7.01624304e-01 2.32151215e+02] [ 2.21608990e-01 9.64288601e-01 -1.45041199e-01 -1.18478502e+01] [ 7.14012460e-01 -5.91592764e-02 6.97629118e-01 1.78309801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:232.13, Y:-11.82, Z:178.36 [[ 6.64442753e-01 -3.15626502e-01 -6.77418437e-01 2.32132641e+02] [ 2.21018714e-01 9.48883508e-01 -2.25323805e-01 -1.18181043e+01] [ 7.13909347e-01 -7.38200564e-06 7.00238134e-01 1.78357288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:232.15, Y:-11.81, Z:178.38 [[ 6.64624698e-01 -3.14990095e-01 -6.77536162e-01 2.32150309e+02] [ 2.19759674e-01 9.49094334e-01 -2.25667080e-01 -1.18121184e+01] [ 7.14128627e-01 1.08878874e-03 7.00013656e-01 1.78376731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:232.17, Y:-11.81, Z:178.40 [[ 6.65465765e-01 -3.13191203e-01 -6.77544527e-01 2.32169042e+02] [ 2.17053761e-01 9.49684700e-01 -2.25802203e-01 -1.18056101e+01] [ 7.14172935e-01 3.20004768e-03 6.99961984e-01 1.78396756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:232.21, Y:-11.80, Z:178.43 [[ 6.78445572e-01 -3.20005334e-01 -6.61292819e-01 2.32209240e+02] [ 2.03421045e-01 9.46779250e-01 -2.49457272e-01 -1.18028683e+01] [ 7.05925977e-01 3.47223057e-02 7.07434009e-01 1.78431386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:232.25, Y:-11.82, Z:178.40 [[ 6.64590926e-01 -2.46172268e-01 -7.05491400e-01 2.32247834e+02] [ 2.16960232e-01 9.67068843e-01 -1.33064314e-01 -1.18218441e+01] [ 7.15015496e-01 -6.46302422e-02 6.96114770e-01 1.78403952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:232.22, Y:-11.79, Z:178.46 [[ 6.64645100e-01 -3.14683946e-01 -6.77658399e-01 2.32222088e+02] [ 2.17470552e-01 9.49188812e-01 -2.27480017e-01 -1.17884415e+01] [ 7.14810080e-01 3.82273264e-03 6.99308184e-01 1.78455092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:232.24, Y:-11.78, Z:178.47 [[ 6.64048437e-01 -3.15569756e-01 -6.77831397e-01 2.32240484e+02] [ 2.18539157e-01 9.48897473e-01 -2.27671305e-01 -1.17825379e+01] [ 7.15038678e-01 3.05207253e-03 6.99078232e-01 1.78474745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66999999999996 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:232.26, Y:-11.78, Z:178.49 [[ 6.62515777e-01 -3.16978427e-01 -6.78673354e-01 2.32258121e+02] [ 2.19946689e-01 9.48430735e-01 -2.28259929e-01 -1.17767306e+01] [ 7.16028141e-01 1.95384717e-03 6.98068681e-01 1.78493852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:232.30, Y:-11.78, Z:178.53 [[ 6.70850746e-01 -3.11000484e-01 -6.73229511e-01 2.32304936e+02] [ 2.07396845e-01 9.50271264e-01 -2.32316755e-01 -1.17823186e+01] [ 7.12001282e-01 1.62241922e-02 7.01990706e-01 1.78526865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72999999999996 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:232.36, Y:-11.79, Z:178.53 [[ 6.72451276e-01 -2.69834361e-01 -6.89201494e-01 2.32359061e+02] [ 2.10247515e-01 9.62456107e-01 -1.71680589e-01 -1.17928937e+01] [ 7.09651509e-01 -2.94560702e-02 7.03936841e-01 1.78526211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:232.39, Y:-11.80, Z:178.54 [[ 6.69625638e-01 -2.50607875e-01 -6.99140328e-01 2.32386029e+02] [ 2.12308754e-01 9.66660083e-01 -1.43154730e-01 -1.17958063e+01] [ 7.11706750e-01 -5.25735345e-02 7.00506621e-01 1.78537381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78999999999996 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:232.40, Y:-11.79, Z:178.56 [[ 6.64714331e-01 -2.57807392e-01 -7.01206251e-01 2.32398074e+02] [ 2.18000528e-01 9.64659354e-01 -1.48013851e-01 -1.17863275e+01] [ 7.14584234e-01 -5.44764049e-02 6.97425045e-01 1.78564345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:232.38, Y:-11.76, Z:178.57 [[ 6.55079318e-01 -2.79573734e-01 -7.01932770e-01 2.32380660e+02] [ 2.36533250e-01 9.58208142e-01 -1.60901148e-01 -1.17635589e+01] [ 7.17581430e-01 -6.06274252e-02 6.93830820e-01 1.78569869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84999999999997 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:232.40, Y:-11.75, Z:178.63 [[ 6.64066822e-01 -3.23667989e-01 -6.73983894e-01 2.32397475e+02] [ 2.24461377e-01 9.46163912e-01 -2.33218655e-01 -1.17515855e+01] [ 7.13184651e-01 3.58941764e-03 7.00967025e-01 1.78629253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:232.42, Y:-11.76, Z:178.61 [[ 6.52422968e-01 -2.80472348e-01 -7.04045121e-01 2.32420715e+02] [ 2.48242743e-01 9.56835130e-01 -1.51135950e-01 -1.17563290e+01] [ 7.16044560e-01 -7.61695272e-02 6.93886440e-01 1.78605323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90999999999997 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:232.43, Y:-11.73, Z:178.67 [[ 6.65797619e-01 -3.57639280e-01 -6.54834082e-01 2.32428360e+02] [ 2.38289348e-01 9.33597501e-01 -2.67607723e-01 -1.17298133e+01] [ 7.07058496e-01 2.21325982e-02 7.06808624e-01 1.78674313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:232.47, Y:-11.76, Z:178.63 [[ 6.50865407e-01 -2.58967564e-01 -7.13659598e-01 2.32472191e+02] [ 2.56187759e-01 9.59804824e-01 -1.14640885e-01 -1.17562679e+01] [ 7.14662196e-01 -1.08215067e-01 6.91048077e-01 1.78632480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96999999999997 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:232.46, Y:-11.72, Z:178.71 [[ 6.63192219e-01 -3.63807128e-01 -6.54079854e-01 2.32464525e+02] [ 2.45452137e-01 9.31301538e-01 -2.69129510e-01 -1.17171819e+01] [ 7.07056808e-01 1.79392988e-02 7.06929170e-01 1.78713331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:232.51, Y:-11.74, Z:178.67 [[ 6.47946411e-01 -2.64408570e-01 -7.14320346e-01 2.32508779e+02] [ 2.64670438e-01 9.57534273e-01 -1.14357666e-01 -1.17440442e+01] [ 7.14223360e-01 -1.14961840e-01 6.90412028e-01 1.78671171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:232.47, Y:-11.70, Z:178.73 [[ 6.44263211e-01 -3.53944056e-01 -6.77973834e-01 2.32470931e+02] [ 2.64343912e-01 9.34887903e-01 -2.36868962e-01 -1.17011085e+01] [ 7.17667897e-01 -2.66122979e-02 6.95876839e-01 1.78730915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:232.49, Y:-11.69, Z:178.75 [[ 6.43923510e-01 -3.54888715e-01 -6.77802709e-01 2.32489355e+02] [ 2.65631256e-01 9.34504779e-01 -2.36940614e-01 -1.16946559e+01] [ 7.17497421e-01 -2.74739534e-02 6.96019133e-01 1.78750575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:232.53, Y:-11.69, Z:178.80 [[ 6.59974302e-01 -3.82207799e-01 -6.46800679e-01 2.32533681e+02] [ 2.56799888e-01 9.23831904e-01 -2.83881014e-01 -1.16850628e+01] [ 7.06036641e-01 2.12558323e-02 7.07856236e-01 1.78796948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:232.62, Y:-11.72, Z:178.78 [[ 6.61505000e-01 -2.84679074e-01 -6.93807581e-01 2.32617536e+02] [ 2.58993435e-01 9.54949267e-01 -1.44894094e-01 -1.17207224e+01] [ 7.03799357e-01 -8.38434413e-02 7.05433726e-01 1.78776637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:232.64, Y:-11.72, Z:178.79 [[ 6.62267336e-01 -2.79623000e-01 -6.95135205e-01 2.32635819e+02] [ 2.58289783e-01 9.56085755e-01 -1.38515040e-01 -1.17168971e+01] [ 7.03340859e-01 -8.78123352e-02 7.05408131e-01 1.78791674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:232.64, Y:-11.70, Z:178.82 [[ 6.54487740e-01 -2.91539162e-01 -6.97603552e-01 2.32642732e+02] [ 2.63941582e-01 9.52720420e-01 -1.50527880e-01 -1.17049630e+01] [ 7.08505921e-01 -8.56079335e-02 7.00493142e-01 1.78821413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:232.66, Y:-11.69, Z:178.84 [[ 6.57589377e-01 -3.10064164e-01 -6.86612282e-01 2.32658687e+02] [ 2.65635409e-01 9.48274463e-01 -1.73819941e-01 -1.16890934e+01] [ 7.04992228e-01 -6.80863873e-02 7.05939235e-01 1.78844697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:232.68, Y:-11.69, Z:178.86 [[ 6.50116042e-01 -2.83318973e-01 -7.05038645e-01 2.32683370e+02] [ 2.66890867e-01 9.53906809e-01 -1.37226327e-01 -1.16917563e+01] [ 7.11419986e-01 -9.89553393e-02 6.95765366e-01 1.78859359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:232.69, Y:-11.67, Z:178.88 [[ 6.54420902e-01 -3.17268489e-01 -6.86348300e-01 2.32686356e+02] [ 2.62982257e-01 9.46544888e-01 -1.86796968e-01 -1.16678458e+01] [ 7.08924267e-01 -5.82535848e-02 7.02874743e-01 1.78884207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:232.71, Y:-11.66, Z:178.91 [[ 6.52722610e-01 -3.13385122e-01 -6.89741226e-01 2.32713026e+02] [ 2.67964634e-01 9.47081393e-01 -1.76725181e-01 -1.16612230e+01] [ 7.08624124e-01 -6.94737336e-02 7.02157569e-01 1.78907658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:232.74, Y:-11.66, Z:178.92 [[ 6.53847251e-01 -2.93832568e-01 -6.97241848e-01 2.32740375e+02] [ 2.65580631e-01 9.52007816e-01 -1.52144821e-01 -1.16593395e+01] [ 7.08484793e-01 -8.56944568e-02 7.00503932e-01 1.78918310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:232.75, Y:-11.65, Z:178.94 [[ 6.52387179e-01 -2.96690167e-01 -6.97399393e-01 2.32751460e+02] [ 2.63850623e-01 9.51537396e-01 -1.57985548e-01 -1.16508683e+01] [ 7.10474361e-01 -8.09415184e-02 6.99052682e-01 1.78936791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:232.74, Y:-11.64, Z:178.94 [[ 6.37649283e-01 -2.85261158e-01 -7.15562341e-01 2.32736084e+02] [ 2.77840362e-01 9.51549597e-01 -1.31750131e-01 -1.16375468e+01] [ 7.18476252e-01 -1.14801724e-01 6.86011982e-01 1.78935230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41999999999996 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:232.72, Y:-11.60, Z:179.02 [[ 6.46783029e-01 -3.93837483e-01 -6.53118481e-01 2.32724854e+02] [ 2.72156734e-01 9.19157684e-01 -2.84745262e-01 -1.15957512e+01] [ 7.12462228e-01 6.41781028e-03 7.01681114e-01 1.79020836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:232.80, Y:-11.62, Z:179.00 [[ 6.48926045e-01 -3.06380547e-01 -6.96438044e-01 2.32802320e+02] [ 2.73607322e-01 9.48076610e-01 -1.62141219e-01 -1.16239265e+01] [ 7.09953535e-01 -8.53328886e-02 6.99059566e-01 1.79002721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47999999999996 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:232.82, Y:-11.62, Z:179.02 [[ 6.49206049e-01 -3.09251913e-01 -6.94906296e-01 2.32820447e+02] [ 2.76947289e-01 9.47008743e-01 -1.62710297e-01 -1.16152528e+01] [ 7.08400808e-01 -8.68199058e-02 7.00450283e-01 1.79024371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:232.84, Y:-11.61, Z:179.05 [[ 6.47315570e-01 -3.11360756e-01 -6.95727700e-01 2.32838210e+02] [ 2.80960156e-01 9.45958560e-01 -1.61937622e-01 -1.16081888e+01] [ 7.08550594e-01 -9.06470189e-02 6.99813671e-01 1.79047416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53999999999996 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:232.85, Y:-11.60, Z:179.07 [[ 6.44239667e-01 -3.16472893e-01 -6.96275922e-01 2.32851517e+02] [ 2.83585892e-01 9.44324448e-01 -1.66824395e-01 -1.15965648e+01] [ 7.10305775e-01 -8.99791358e-02 6.98118515e-01 1.79066308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:232.87, Y:-11.59, Z:179.09 [[ 6.46524649e-01 -3.23334168e-01 -6.90985451e-01 2.32871402e+02] [ 2.85870539e-01 9.42427903e-01 -1.73515653e-01 -1.15868607e+01] [ 7.07307509e-01 -8.53502366e-02 7.01734582e-01 1.79090245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59999999999997 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:232.90, Y:-11.59, Z:179.10 [[ 6.44369302e-01 -3.10528941e-01 -6.98827575e-01 2.32895169e+02] [ 2.88684731e-01 9.45001692e-01 -1.53730047e-01 -1.15852884e+01] [ 7.08130869e-01 -1.02681927e-01 6.98575045e-01 1.79104998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:232.91, Y:-11.57, Z:179.13 [[ 6.44075773e-01 -3.25858813e-01 -6.92085567e-01 2.32906904e+02] [ 2.90737978e-01 9.41116708e-01 -1.72542084e-01 -1.15696203e+01] [ 7.07557649e-01 -9.00853820e-02 7.00890004e-01 1.79129941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65999999999997 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:232.93, Y:-11.56, Z:179.15 [[ 6.43408398e-01 -3.21308700e-01 -6.94828290e-01 2.32928610e+02] [ 2.92191759e-01 9.42010761e-01 -1.65044548e-01 -1.15638834e+01] [ 7.07565975e-01 -9.68320516e-02 6.99981388e-01 1.79148452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:232.95, Y:-11.55, Z:179.17 [[ 6.43393095e-01 -3.25727645e-01 -6.92781948e-01 2.32946449e+02] [ 2.94012324e-01 9.40699043e-01 -1.69239665e-01 -1.15542986e+01] [ 7.06825353e-01 -9.47987984e-02 7.01007210e-01 1.79168990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71999999999997 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:232.96, Y:-11.55, Z:179.19 [[ 6.38618487e-01 -3.13058412e-01 -7.02965759e-01 2.32963427e+02] [ 2.96873515e-01 9.43019855e-01 -1.50265331e-01 -1.15523205e+01] [ 7.09952494e-01 -1.12729698e-01 6.95168664e-01 1.79186170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:232.97, Y:-11.53, Z:179.21 [[ 6.40316079e-01 -3.43139930e-01 -6.87204706e-01 2.32972019e+02] [ 2.98877242e-01 9.35465343e-01 -1.88618628e-01 -1.15302240e+01] [ 7.07578768e-01 -8.46143063e-02 7.01550216e-01 1.79214755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:233.00, Y:-11.53, Z:179.23 [[ 6.35204592e-01 -3.22472810e-01 -7.01802261e-01 2.32995402e+02] [ 3.01385020e-01 9.40119532e-01 -1.59192759e-01 -1.15320382e+01] [ 7.11113349e-01 -1.10392717e-01 6.94356718e-01 1.79230026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:233.00, Y:-11.52, Z:179.26 [[ 6.32679076e-01 -3.38584129e-01 -6.96475394e-01 2.33002711e+02] [ 3.03674846e-01 9.35796895e-01 -1.79069148e-01 -1.15176675e+01] [ 7.12389482e-01 -9.82087554e-02 6.94878598e-01 1.79255938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:233.02, Y:-11.50, Z:179.28 [[ 6.33235989e-01 -3.49970565e-01 -6.90313542e-01 2.33019037e+02] [ 3.06506371e-01 9.32398567e-01 -1.91537874e-01 -1.15045730e+01] [ 7.10679975e-01 -9.02968239e-02 6.97696536e-01 1.79276540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:233.04, Y:-11.50, Z:179.29 [[ 6.33297154e-01 -3.42233297e-01 -6.94126131e-01 2.33043690e+02] [ 3.07764797e-01 9.34308088e-01 -1.79858908e-01 -1.15007879e+01] [ 7.10081365e-01 -9.97234533e-02 6.97022014e-01 1.79293696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:233.05, Y:-11.50, Z:179.31 [[ 6.29678315e-01 -3.31871865e-01 -7.02400374e-01 2.33053968e+02] [ 3.04536361e-01 9.37239500e-01 -1.69822629e-01 -1.14975985e+01] [ 7.14676727e-01 -1.06972827e-01 6.91226439e-01 1.79306805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:233.05, Y:-11.47, Z:179.35 [[ 6.29491903e-01 -3.81223490e-01 -6.77058783e-01 2.33053337e+02] [ 3.10225628e-01 9.22213598e-01 -2.30829242e-01 -1.14677265e+01] [ 7.12390345e-01 -6.47358471e-02 6.98791289e-01 1.79350469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:233.09, Y:-11.48, Z:179.35 [[ 6.32526186e-01 -3.40937732e-01 -6.95465374e-01 2.33090306e+02] [ 3.06021946e-01 9.34859285e-01 -1.79968571e-01 -1.14767294e+01] [ 7.11520339e-01 -9.89928336e-02 6.95657406e-01 1.79348430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:233.10, Y:-11.46, Z:179.38 [[ 6.25939671e-01 -3.61840914e-01 -6.90847799e-01 2.33095383e+02] [ 3.13664040e-01 9.27847119e-01 -2.01778575e-01 -1.14608265e+01] [ 7.14012884e-01 -9.03928965e-02 6.94272804e-01 1.79384307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:233.11, Y:-11.45, Z:179.39 [[ 6.29981895e-01 -3.60735328e-01 -6.87744746e-01 2.33107524e+02] [ 3.06929374e-01 9.29127639e-01 -2.06194545e-01 -1.14512199e+01] [ 7.13384308e-01 -8.11902344e-02 6.96053859e-01 1.79394480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:233.12, Y:-11.44, Z:179.42 [[ 6.28872455e-01 -3.73422902e-01 -6.81963908e-01 2.33115621e+02] [ 3.08494584e-01 9.24957661e-01 -2.22000939e-01 -1.14381060e+01] [ 7.13687976e-01 -7.07718967e-02 6.96879338e-01 1.79419184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:233.13, Y:-11.43, Z:179.44 [[ 6.28002364e-01 -3.77087546e-01 -6.80748128e-01 2.33133055e+02] [ 3.08437974e-01 9.23727558e-01 -2.27141838e-01 -1.14287685e+01] [ 7.14478164e-01 -6.73229620e-02 6.96411209e-01 1.79442808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:233.15, Y:-11.42, Z:179.46 [[ 6.25757011e-01 -3.70625924e-01 -6.86341451e-01 2.33150173e+02] [ 3.10562676e-01 9.25535942e-01 -2.16642666e-01 -1.14225508e+01] [ 7.15527069e-01 -7.75863701e-02 6.94263184e-01 1.79458696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:233.16, Y:-11.41, Z:179.49 [[ 6.18249145e-01 -3.74482087e-01 -6.91036295e-01 2.33164243e+02] [ 3.19216048e-01 9.23058563e-01 -2.14625265e-01 -1.14125940e+01] [ 7.18240287e-01 -8.78979887e-02 6.90220859e-01 1.79489166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16999999999996 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:233.19, Y:-11.40, Z:179.51 [[ 6.21970724e-01 -3.83759396e-01 -6.82554865e-01 2.33185982e+02] [ 3.18712869e-01 9.20270669e-01 -2.26988994e-01 -1.14014055e+01] [ 7.15244382e-01 -7.63585100e-02 6.94690472e-01 1.79510552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:233.21, Y:-11.40, Z:179.52 [[ 6.17103381e-01 -3.62311652e-01 -6.98508185e-01 2.33209125e+02] [ 3.23522550e-01 9.26014760e-01 -1.94498906e-01 -1.14012514e+01] [ 7.17298109e-01 -1.05957217e-01 6.88662828e-01 1.79523323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22999999999996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:233.19, Y:-11.39, Z:179.53 [[ 6.16687651e-01 -3.75032780e-01 -6.92132036e-01 2.33191389e+02] [ 3.14503336e-01 9.23383441e-01 -2.20115133e-01 -1.13869781e+01] [ 7.21653651e-01 -8.19355502e-02 6.87388226e-01 1.79528374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:233.17, Y:-11.36, Z:179.57 [[ 6.15309115e-01 -4.24915381e-01 -6.63959044e-01 2.33173017e+02] [ 3.12103559e-01 9.04771271e-01 -2.89793574e-01 -1.13619387e+01] [ 7.23868815e-01 -2.89113532e-02 6.89331613e-01 1.79571988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28999999999996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:233.19, Y:-11.35, Z:179.59 [[ 6.15749714e-01 -4.24133947e-01 -6.64050212e-01 2.33190615e+02] [ 3.10776576e-01 9.05171950e-01 -2.89968380e-01 -1.13543610e+01] [ 7.24065059e-01 -2.78233041e-02 6.89170265e-01 1.79591630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:233.21, Y:-11.35, Z:179.61 [[ 6.17154867e-01 -4.22262198e-01 -6.63938631e-01 2.33207518e+02] [ 3.07746172e-01 9.06123164e-01 -2.90229400e-01 -1.13464796e+01] [ 7.24163078e-01 -2.52080853e-02 6.89167896e-01 1.79610948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34999999999997 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:233.22, Y:-11.34, Z:179.63 [[ 6.18459759e-01 -4.20615515e-01 -6.63769625e-01 2.33224837e+02] [ 3.05255868e-01 9.06945219e-01 -2.90291620e-01 -1.13381331e+01] [ 7.24103847e-01 -2.30858883e-02 6.89304476e-01 1.79631661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:233.24, Y:-11.33, Z:179.65 [[ 6.19642844e-01 -4.19519566e-01 -6.63359692e-01 2.33240910e+02] [ 3.03490316e-01 9.07494869e-01 -2.90425019e-01 -1.13297565e+01] [ 7.23834494e-01 -2.13634578e-02 6.89642826e-01 1.79651319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40999999999997 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:233.27, Y:-11.33, Z:179.67 [[ 6.24190823e-01 -4.09909351e-01 -6.65101602e-01 2.33270477e+02] [ 2.97047475e-01 9.11889617e-01 -2.83231573e-01 -1.13277909e+01] [ 7.22598515e-01 -2.07762023e-02 6.90955668e-01 1.79673717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:233.28, Y:-11.32, Z:179.69 [[ 6.23792089e-01 -4.07299542e-01 -6.67076093e-01 2.33282390e+02] [ 2.99370809e-01 9.12906274e-01 -2.77451353e-01 -1.13166067e+01] [ 7.21983760e-01 -2.66311502e-02 6.91397305e-01 1.79686162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46999999999997 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:233.29, Y:-11.31, Z:179.71 [[ 6.25663023e-01 -4.14821235e-01 -6.60658099e-01 2.33293730e+02] [ 2.96776907e-01 9.09787284e-01 -2.90190567e-01 -1.13056606e+01] [ 7.21435547e-01 -1.45065599e-02 6.92329626e-01 1.79710877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:233.31, Y:-11.30, Z:179.73 [[ 6.26692778e-01 -4.13300472e-01 -6.60635210e-01 2.33311835e+02] [ 2.94259977e-01 9.10510896e-01 -2.90484034e-01 -1.12982842e+01] [ 7.21572746e-01 -1.23542560e-02 6.92228391e-01 1.79731199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:233.33, Y:-11.29, Z:179.75 [[ 6.27522460e-01 -4.12469192e-01 -6.60367116e-01 2.33329247e+02] [ 2.92836656e-01 9.10905518e-01 -2.90685105e-01 -1.12912327e+01] [ 7.21430700e-01 -1.09682658e-02 6.92399770e-01 1.79749921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:233.35, Y:-11.28, Z:179.77 [[ 6.27611218e-01 -4.11775814e-01 -6.60715399e-01 2.33347167e+02] [ 2.91532525e-01 9.11230321e-01 -2.90977817e-01 -1.12833574e+01] [ 7.21881532e-01 -9.99908670e-03 6.91944414e-01 1.79770107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:233.36, Y:-11.28, Z:179.79 [[ 6.28873224e-01 -4.09788432e-01 -6.60751019e-01 2.33364961e+02] [ 2.88317572e-01 9.12151240e-01 -2.91295541e-01 -1.12754831e+01] [ 7.22074405e-01 -7.31816324e-03 6.91776697e-01 1.79790378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:233.38, Y:-11.27, Z:179.81 [[ 6.30677206e-01 -4.07302735e-01 -6.60568501e-01 2.33383275e+02] [ 2.84476593e-01 9.13284183e-01 -2.91521989e-01 -1.12674618e+01] [ 7.22024467e-01 -4.06000268e-03 6.91855611e-01 1.79810059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:233.40, Y:-11.26, Z:179.83 [[ 6.31112762e-01 -4.06657072e-01 -6.60550307e-01 2.33400015e+02] [ 2.83215966e-01 9.13576284e-01 -2.91834012e-01 -1.12593484e+01] [ 7.22139459e-01 -2.89822367e-03 6.91741427e-01 1.79829655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:233.42, Y:-11.25, Z:179.85 [[ 6.31961449e-01 -4.05411221e-01 -6.60504708e-01 2.33417936e+02] [ 2.81288383e-01 9.14133513e-01 -2.91953362e-01 -1.12516511e+01] [ 7.22150658e-01 -1.28903198e-03 6.91734606e-01 1.79849928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:233.44, Y:-11.24, Z:179.87 [[ 6.33371593e-01 -4.03784167e-01 -6.60150567e-01 2.33436157e+02] [ 2.78782361e-01 9.14853762e-01 -2.92100993e-01 -1.12442068e+01] [ 7.21886985e-01 9.70137400e-04 6.92010288e-01 1.79870233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:233.45, Y:-11.24, Z:179.89 [[ 6.34518887e-01 -4.02819552e-01 -6.59637925e-01 2.33454333e+02] [ 2.77313232e-01 9.15276096e-01 -2.92176384e-01 -1.12366937e+01] [ 7.21445184e-01 2.46510935e-03 6.92467161e-01 1.79889970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:233.47, Y:-11.23, Z:179.91 [[ 6.35601480e-01 -4.01965096e-01 -6.59116697e-01 2.33471412e+02] [ 2.76006043e-01 9.15646957e-01 -2.92252143e-01 -1.12295186e+01] [ 7.20993358e-01 3.83570367e-03 6.92931357e-01 1.79909572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:233.49, Y:-11.22, Z:179.93 [[ 6.42921580e-01 -4.12179320e-01 -6.45569555e-01 2.33492481e+02] [ 2.71696413e-01 9.10773270e-01 -3.10922995e-01 -1.12173767e+01] [ 7.16123524e-01 2.45001707e-02 6.97543433e-01 1.79934308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:233.52, Y:-11.22, Z:179.94 [[ 6.38583586e-01 -3.73402706e-01 -6.72890350e-01 2.33524756e+02] [ 2.72036681e-01 9.27469613e-01 -2.56507623e-01 -1.12214483e+01] [ 7.19865993e-01 -1.92492996e-02 6.93846105e-01 1.79938450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:233.52, Y:-11.21, Z:179.97 [[ 6.39412438e-01 -3.99125107e-01 -6.57153623e-01 2.33523368e+02] [ 2.72081143e-01 9.16861674e-01 -2.92124156e-01 -1.12058308e+01] [ 7.19113055e-01 7.98870996e-03 6.94847173e-01 1.79970728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:233.54, Y:-11.20, Z:179.99 [[ 6.39650152e-01 -3.98621821e-01 -6.57227759e-01 2.33540222e+02] [ 2.71182111e-01 9.17073769e-01 -2.92294314e-01 -1.11977445e+01] [ 7.19241229e-01 8.73769084e-03 6.94705482e-01 1.79990438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91999999999996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:233.56, Y:-11.19, Z:180.01 [[ 6.39701410e-01 -3.98052021e-01 -6.57523152e-01 2.33558350e+02] [ 2.70085157e-01 9.17312996e-01 -2.92559184e-01 -1.11898578e+01] [ 7.19608306e-01 9.56327865e-03 6.94314359e-01 1.80010121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:233.58, Y:-11.18, Z:180.03 [[ 6.39479086e-01 -3.98223515e-01 -6.57635560e-01 2.33576137e+02] [ 2.69959174e-01 9.17236288e-01 -2.92915750e-01 -1.11825082e+01] [ 7.19853140e-01 9.77874370e-03 6.94057515e-01 1.80029414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97999999999996 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:233.59, Y:-11.18, Z:180.05 [[ 6.39489240e-01 -3.97594345e-01 -6.58006268e-01 2.33594876e+02] [ 2.68660825e-01 9.17498031e-01 -2.93289489e-01 -1.11750126e+01] [ 7.20329697e-01 1.07749665e-02 6.93548144e-01 1.80048377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:233.61, Y:-11.17, Z:180.07 [[ 6.39243246e-01 -3.98174115e-01 -6.57894708e-01 2.33612244e+02] [ 2.69220019e-01 9.17249369e-01 -2.93554385e-01 -1.11678988e+01] [ 7.20339263e-01 1.05342322e-02 6.93541907e-01 1.80068089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03999999999996 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:233.63, Y:-11.16, Z:180.09 [[ 6.39201590e-01 -3.98320645e-01 -6.57846480e-01 2.33630002e+02] [ 2.69312088e-01 9.17185591e-01 -2.93669187e-01 -1.11606800e+01] [ 7.20341812e-01 1.05478022e-02 6.93539053e-01 1.80087254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:233.65, Y:-11.15, Z:180.11 [[ 6.38767793e-01 -3.99256369e-01 -6.57700585e-01 2.33647780e+02] [ 2.70587039e-01 9.16788385e-01 -2.93737486e-01 -1.11541858e+01] [ 7.20248819e-01 9.66479118e-03 6.93648492e-01 1.80107082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09999999999997 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:233.67, Y:-11.15, Z:180.13 [[ 6.38173726e-01 -4.00106448e-01 -6.57760690e-01 2.33665485e+02] [ 2.71456000e-01 9.16423318e-01 -2.94074722e-01 -1.11459393e+01] [ 7.20448427e-01 9.11767534e-03 6.93448579e-01 1.80126901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:233.68, Y:-11.14, Z:180.15 [[ 6.37592483e-01 -4.01483574e-01 -6.57485183e-01 2.33683235e+02] [ 2.73239745e-01 9.15831537e-01 -2.94266268e-01 -1.11383996e+01] [ 7.20288739e-01 7.97087680e-03 6.93628573e-01 1.80146967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15999999999997 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:233.70, Y:-11.13, Z:180.17 [[ 6.40171411e-01 -4.06818387e-01 -6.51674278e-01 2.33701730e+02] [ 2.71587082e-01 9.13346594e-01 -3.03378405e-01 -1.11278284e+01] [ 7.18624395e-01 1.72278659e-02 6.95184996e-01 1.80168988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:233.73, Y:-11.12, Z:180.18 [[ 6.37520950e-01 -3.89359010e-01 -6.64805686e-01 2.33726307e+02] [ 2.72421611e-01 9.21078473e-01 -2.78210194e-01 -1.11242022e+01] [ 7.20661852e-01 -3.74260860e-03 6.93276632e-01 1.80181998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21999999999997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:233.74, Y:-11.11, Z:180.21 [[ 6.37805064e-01 -4.02120468e-01 -6.56889511e-01 2.33735857e+02] [ 2.73630229e-01 9.15549437e-01 -2.94780811e-01 -1.11125778e+01] [ 7.19952219e-01 8.26786613e-03 6.93974383e-01 1.80208384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:233.75, Y:-11.10, Z:180.23 [[ 6.38383502e-01 -4.02035854e-01 -6.56379217e-01 2.33751832e+02] [ 2.73435524e-01 9.15582053e-01 -2.94860167e-01 -1.11042589e+01] [ 7.19513390e-01 8.75647051e-03 6.94423362e-01 1.80228084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:233.77, Y:-11.10, Z:180.25 [[ 6.38121519e-01 -4.02660179e-01 -6.56251253e-01 2.33768891e+02] [ 2.74254542e-01 9.15312584e-01 -2.94936128e-01 -1.10959107e+01] [ 7.19434064e-01 8.22520314e-03 6.94512040e-01 1.80248253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:233.79, Y:-11.09, Z:180.27 [[ 6.37716098e-01 -4.03809035e-01 -6.55939358e-01 2.33786115e+02] [ 2.75738021e-01 9.14813994e-01 -2.95099813e-01 -1.10882868e+01] [ 7.19226475e-01 7.32248057e-03 6.94737115e-01 1.80268873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:233.80, Y:-11.08, Z:180.29 [[ 6.37325238e-01 -4.04516677e-01 -6.55883221e-01 2.33802523e+02] [ 2.76457420e-01 9.14504339e-01 -2.95386372e-01 -1.10797935e+01] [ 7.19296765e-01 6.93340696e-03 6.94668332e-01 1.80288052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:233.82, Y:-11.07, Z:180.31 [[ 6.37131133e-01 -4.05114970e-01 -6.55702509e-01 2.33820013e+02] [ 2.77262882e-01 9.14243124e-01 -2.95440019e-01 -1.10712301e+01] [ 7.19158685e-01 6.43206696e-03 6.94816102e-01 1.80308549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:233.84, Y:-11.06, Z:180.33 [[ 6.36376925e-01 -4.06176829e-01 -6.55778005e-01 2.33837499e+02] [ 2.78431035e-01 9.13777089e-01 -2.95783013e-01 -1.10637713e+01] [ 7.19375123e-01 5.64053576e-03 6.94598889e-01 1.80328237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:233.86, Y:-11.06, Z:180.35 [[ 6.35130848e-01 -4.08727060e-01 -6.55401401e-01 2.33855342e+02] [ 2.82056384e-01 9.12651650e-01 -2.95822856e-01 -1.10563884e+01] [ 7.19063976e-01 3.02607224e-03 6.94937293e-01 1.80347906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:233.87, Y:-11.05, Z:180.37 [[ 6.33939273e-01 -4.10306527e-01 -6.55568114e-01 2.33872977e+02] [ 2.83924990e-01 9.11946183e-01 -2.96210668e-01 -1.10485909e+01] [ 7.19380010e-01 1.64740559e-03 6.94614776e-01 1.80368658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:233.89, Y:-11.04, Z:180.39 [[ 6.32807481e-01 -4.11980935e-01 -6.55611472e-01 2.33890442e+02] [ 2.85981865e-01 9.11192450e-01 -2.96551330e-01 -1.10407678e+01] [ 7.19561717e-01 1.66909192e-04 6.94428475e-01 1.80388323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:233.91, Y:-11.03, Z:180.41 [[ 6.31935389e-01 -4.13592287e-01 -6.55438086e-01 2.33907466e+02] [ 2.88049228e-01 9.10461354e-01 -2.96795832e-01 -1.10333430e+01] [ 7.19503514e-01 -1.24264472e-03 6.94487688e-01 1.80407739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:233.93, Y:-11.03, Z:180.43 [[ 6.31827307e-01 -4.13840167e-01 -6.55385818e-01 2.33925314e+02] [ 2.88286686e-01 9.10348567e-01 -2.96911221e-01 -1.10251153e+01] [ 7.19503329e-01 -1.34238824e-03 6.94487694e-01 1.80428185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:233.94, Y:-11.02, Z:180.45 [[ 6.29918862e-01 -4.16905009e-01 -6.55280429e-01 2.33942801e+02] [ 2.92447232e-01 9.08939177e-01 -2.97160208e-01 -1.10183529e+01] [ 7.19497633e-01 -4.44812734e-03 6.94480648e-01 1.80447499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:233.96, Y:-11.01, Z:180.47 [[ 6.28906798e-01 -4.18612027e-01 -6.55164262e-01 2.33961005e+02] [ 2.94822523e-01 9.08143880e-01 -2.97244635e-01 -1.10107142e+01] [ 7.19413594e-01 -6.21800864e-03 6.94554114e-01 1.80467536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:233.98, Y:-11.00, Z:180.49 [[ 6.27955867e-01 -4.20138030e-01 -6.55099584e-01 2.33978609e+02] [ 2.96725117e-01 9.07428840e-01 -2.97535049e-01 -1.10036011e+01] [ 7.19462045e-01 -7.54562117e-03 6.94490770e-01 1.80487074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66999999999996 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:234.00, Y:-11.00, Z:180.51 [[ 6.25994722e-01 -4.22811657e-01 -6.55256371e-01 2.33995740e+02] [ 3.00378068e-01 9.06157461e-01 -2.97744305e-01 -1.09968860e+01] [ 7.19655213e-01 -1.04382789e-02 6.94253136e-01 1.80506260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:234.01, Y:-10.99, Z:180.53 [[ 6.25127202e-01 -4.23898027e-01 -6.55382670e-01 2.34012633e+02] [ 3.01752614e-01 9.05636734e-01 -2.97938696e-01 -1.09893348e+01] [ 7.19834246e-01 -1.15138499e-02 6.94050495e-01 1.80525760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72999999999996 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:234.03, Y:-10.98, Z:180.55 [[ 6.24230408e-01 -4.25009514e-01 -6.55517590e-01 2.34029881e+02] [ 3.03161690e-01 9.05100878e-01 -2.98136529e-01 -1.09815294e+01] [ 7.20020407e-01 -1.26219330e-02 6.93838093e-01 1.80545856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:234.05, Y:-10.97, Z:180.57 [[ 6.27311638e-01 -4.37653367e-01 -6.44158086e-01 2.34046469e+02] [ 3.03780675e-01 8.99141647e-01 -3.15058090e-01 -1.09687948e+01] [ 7.17075596e-01 1.95682828e-03 6.96992655e-01 1.80569499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78999999999996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:234.08, Y:-10.97, Z:180.58 [[ 6.26865317e-01 -4.21778707e-01 -6.55089763e-01 2.34076287e+02] [ 3.05217653e-01 9.06536637e-01 -2.91605059e-01 -1.09662737e+01] [ 7.16855675e-01 -1.71478624e-02 6.97010683e-01 1.80580597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:234.09, Y:-10.96, Z:180.60 [[ 6.25384544e-01 -4.24055184e-01 -6.55035398e-01 2.34094065e+02] [ 3.06055553e-01 9.05483808e-01 -2.93988219e-01 -1.09573099e+01] [ 7.17791175e-01 -1.66215323e-02 6.96060022e-01 1.80602469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84999999999997 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:234.11, Y:-10.95, Z:180.62 [[ 6.24613485e-01 -4.23357102e-01 -6.56221577e-01 2.34113327e+02] [ 3.06668965e-01 9.05772531e-01 -2.92455583e-01 -1.09487247e+01] [ 7.18200627e-01 -1.85710907e-02 6.95588222e-01 1.80622467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:234.13, Y:-10.94, Z:180.64 [[ 6.23709894e-01 -4.27767753e-01 -6.54217638e-01 2.34125847e+02] [ 3.05514811e-01 9.03795854e-01 -2.99689430e-01 -1.09394414e+01] [ 7.19476663e-01 -1.29539159e-02 6.94395801e-01 1.80642720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90999999999997 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:234.15, Y:-10.94, Z:180.66 [[ 6.19524083e-01 -4.04757470e-01 -6.72578101e-01 2.34151431e+02] [ 3.10089143e-01 9.13316058e-01 -2.64004737e-01 -1.09404695e+01] [ 7.21134269e-01 -4.50018743e-02 6.91332190e-01 1.80656220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:234.15, Y:-10.92, Z:180.69 [[ 6.17970641e-01 -4.32380618e-01 -6.56627206e-01 2.34150029e+02] [ 3.10999203e-01 9.01506722e-01 -3.00940403e-01 -1.09233460e+01] [ 7.22074638e-01 -1.82382040e-02 6.91574715e-01 1.80689898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96999999999997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:234.17, Y:-10.92, Z:180.71 [[ 6.17153029e-01 -4.33623383e-01 -6.56576652e-01 2.34166655e+02] [ 3.12503631e-01 9.00888031e-01 -3.01234521e-01 -1.09154390e+01] [ 7.22124380e-01 -1.92747905e-02 6.91494659e-01 1.80709411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:234.18, Y:-10.91, Z:180.73 [[ 6.16846360e-01 -4.34268694e-01 -6.56438321e-01 2.34183778e+02] [ 3.13361520e-01 9.00564848e-01 -3.01309660e-01 -1.09075307e+01] [ 7.22014630e-01 -1.98407428e-02 6.91593247e-01 1.80729355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:234.20, Y:-10.90, Z:180.75 [[ 6.16753541e-01 -4.34635208e-01 -6.56282947e-01 2.34200944e+02] [ 3.13638829e-01 9.00387734e-01 -3.01550349e-01 -1.08997560e+01] [ 7.21973514e-01 -1.98535692e-02 6.91635801e-01 1.80749288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:234.22, Y:-10.89, Z:180.77 [[ 6.16685994e-01 -4.35502833e-01 -6.55771048e-01 2.34217571e+02] [ 3.14805001e-01 8.99955458e-01 -3.01625570e-01 -1.08926065e+01] [ 7.21523524e-01 -2.04317409e-02 6.92088397e-01 1.80769197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:234.24, Y:-10.88, Z:180.79 [[ 6.21828767e-01 -4.48683123e-01 -6.41881951e-01 2.34235653e+02] [ 3.13937124e-01 8.93688279e-01 -3.20569402e-01 -1.08795339e+01] [ 7.17476457e-01 -2.17129744e-03 6.96579370e-01 1.80793697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:234.27, Y:-10.88, Z:180.80 [[ 6.21802158e-01 -4.29249512e-01 -6.55062541e-01 2.34268234e+02] [ 3.14700219e-01 9.02866573e-01 -2.92909072e-01 -1.08782938e+01] [ 7.17165147e-01 -2.40168320e-02 6.96489299e-01 1.80804260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:234.29, Y:-10.88, Z:180.82 [[ 6.14612090e-01 -4.12661188e-01 -6.72281729e-01 2.34287091e+02] [ 3.17014388e-01 9.09614426e-01 -2.68520899e-01 -1.08763505e+01] [ 7.22325312e-01 -4.80867902e-02 6.89879557e-01 1.80819685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:234.29, Y:-10.86, Z:180.85 [[ 6.13367651e-01 -4.38069197e-01 -6.57172355e-01 2.34286765e+02] [ 3.16553708e-01 8.98676621e-01 -3.03601848e-01 -1.08596869e+01] [ 7.23584048e-01 -2.18107934e-02 6.89891596e-01 1.80852046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:234.30, Y:-10.85, Z:180.87 [[ 6.12936440e-01 -4.38381129e-01 -6.57366646e-01 2.34303524e+02] [ 3.16589358e-01 8.98525362e-01 -3.04012091e-01 -1.08517603e+01] [ 7.23933767e-01 -2.17751957e-02 6.89525737e-01 1.80871198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:234.32, Y:-10.84, Z:180.89 [[ 6.12316992e-01 -4.38628677e-01 -6.57778675e-01 2.34321074e+02] [ 3.16623499e-01 8.98401179e-01 -3.04343361e-01 -1.08432573e+01] [ 7.24442863e-01 -2.19135747e-02 6.88986454e-01 1.80891314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:234.34, Y:-10.83, Z:180.91 [[ 6.12373112e-01 -4.38520918e-01 -6.57798280e-01 2.34336504e+02] [ 3.16113526e-01 8.98467070e-01 -3.04678786e-01 -1.08348079e+01] [ 7.24618114e-01 -2.13618373e-02 6.88819469e-01 1.80911568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:234.35, Y:-10.83, Z:180.93 [[ 6.12109881e-01 -4.38768368e-01 -6.57878266e-01 2.34352497e+02] [ 3.16291906e-01 8.98343553e-01 -3.04857821e-01 -1.08266391e+01] [ 7.24762668e-01 -2.14750863e-02 6.88663849e-01 1.80931574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:234.37, Y:-10.82, Z:180.95 [[ 6.11910763e-01 -4.39064963e-01 -6.57865622e-01 2.34369064e+02] [ 3.16584772e-01 8.98194624e-01 -3.04992621e-01 -1.08185151e+01] [ 7.24802939e-01 -2.16419709e-02 6.88616239e-01 1.80952710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:234.39, Y:-10.81, Z:180.97 [[ 6.11830807e-01 -4.39539033e-01 -6.57623373e-01 2.34386387e+02] [ 3.17061506e-01 8.97959336e-01 -3.05190158e-01 -1.08101924e+01] [ 7.24662035e-01 -2.17823159e-02 6.88760093e-01 1.80973403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:234.40, Y:-10.80, Z:180.99 [[ 6.12192976e-01 -4.39880267e-01 -6.57057921e-01 2.34402916e+02] [ 3.17466580e-01 8.97793778e-01 -3.05256127e-01 -1.08021234e+01] [ 7.24178660e-01 -2.17182742e-02 6.89270328e-01 1.80993399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41999999999996 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:234.42, Y:-10.79, Z:181.01 [[ 6.12586702e-01 -4.40021927e-01 -6.56595945e-01 2.34420549e+02] [ 3.17727273e-01 8.97725620e-01 -3.05185338e-01 -1.07939621e+01] [ 7.23731243e-01 -2.16659592e-02 6.89741745e-01 1.81013819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:234.44, Y:-10.79, Z:181.03 [[ 6.13080726e-01 -4.40419983e-01 -6.55867565e-01 2.34438533e+02] [ 3.18288471e-01 8.97530580e-01 -3.05174226e-01 -1.07860874e+01] [ 7.23066023e-01 -2.16586488e-02 6.90439302e-01 1.81033768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47999999999996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:234.46, Y:-10.78, Z:181.05 [[ 6.13075422e-01 -4.40555957e-01 -6.55781195e-01 2.34456332e+02] [ 3.18184028e-01 8.97470313e-01 -3.05460246e-01 -1.07782279e+01] [ 7.23116485e-01 -2.13889326e-02 6.90394860e-01 1.81053604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:234.47, Y:-10.77, Z:181.07 [[ 6.12873835e-01 -4.40881071e-01 -6.55751130e-01 2.34474123e+02] [ 3.18327348e-01 8.97311785e-01 -3.05776488e-01 -1.07703315e+01] [ 7.23224282e-01 -2.13411094e-02 6.90283416e-01 1.81073503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53999999999996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:234.49, Y:-10.76, Z:181.09 [[ 6.12397308e-01 -4.41767603e-01 -6.55599666e-01 2.34491498e+02] [ 3.19344784e-01 8.96861068e-01 -3.06037797e-01 -1.07629990e+01] [ 7.23179401e-01 -2.19456105e-02 6.90311484e-01 1.81092921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:234.51, Y:-10.76, Z:181.11 [[ 6.11379659e-01 -4.42803680e-01 -6.55850451e-01 2.34509461e+02] [ 3.20600097e-01 8.96323544e-01 -3.06299989e-01 -1.07552491e+01] [ 7.23484962e-01 -2.30001353e-02 6.89956885e-01 1.81113220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59999999999997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:234.53, Y:-10.75, Z:181.13 [[ 6.10645849e-01 -4.43806906e-01 -6.55855988e-01 2.34527222e+02] [ 3.21725328e-01 8.95807316e-01 -3.06630176e-01 -1.07478231e+01] [ 7.23605183e-01 -2.37630388e-02 6.89804942e-01 1.81132728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:234.55, Y:-10.74, Z:181.15 [[ 6.09334521e-01 -4.45554990e-01 -6.55890381e-01 2.34545260e+02] [ 3.23931719e-01 8.94893794e-01 -3.06974493e-01 -1.07413497e+01] [ 7.23726249e-01 -2.54135433e-02 6.89619075e-01 1.81152263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65999999999997 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:234.56, Y:-10.73, Z:181.17 [[ 6.08803692e-01 -4.46516368e-01 -6.55729516e-01 2.34563043e+02] [ 3.25263686e-01 8.94387205e-01 -3.07042444e-01 -1.07337110e+01] [ 7.23575566e-01 -2.63564256e-02 6.89741791e-01 1.81172025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:234.58, Y:-10.73, Z:181.19 [[ 6.08467724e-01 -4.47513741e-01 -6.55361336e-01 2.34580751e+02] [ 3.26549124e-01 8.93866645e-01 -3.07193899e-01 -1.07260332e+01] [ 7.23279129e-01 -2.70900977e-02 6.90024223e-01 1.81191985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71999999999997 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:234.60, Y:-10.72, Z:181.21 [[ 6.08094205e-01 -4.48281750e-01 -6.55183112e-01 2.34597993e+02] [ 3.27411135e-01 8.93467268e-01 -3.07438108e-01 -1.07186584e+01] [ 7.23203558e-01 -2.75629140e-02 6.90084704e-01 1.81211395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:234.62, Y:-10.71, Z:181.23 [[ 6.07300535e-01 -4.49192420e-01 -6.55295529e-01 2.34615567e+02] [ 3.28550856e-01 8.92981267e-01 -3.07634184e-01 -1.07105198e+01] [ 7.23353575e-01 -2.84715026e-02 6.89890555e-01 1.81231800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:234.63, Y:-10.70, Z:181.25 [[ 6.06691988e-01 -4.50098429e-01 -6.55237541e-01 2.34632986e+02] [ 3.29563931e-01 8.92503999e-01 -3.07935427e-01 -1.07027234e+01] [ 7.23403378e-01 -2.91207037e-02 6.89811233e-01 1.81252103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:234.65, Y:-10.69, Z:181.27 [[ 6.06373620e-01 -4.50663235e-01 -6.55144016e-01 2.34650015e+02] [ 3.30093578e-01 8.92210962e-01 -3.08217179e-01 -1.06946180e+01] [ 7.23428823e-01 -2.93640660e-02 6.89774231e-01 1.81271624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:234.67, Y:-10.69, Z:181.29 [[ 6.06275757e-01 -4.50767647e-01 -6.55162754e-01 2.34667760e+02] [ 3.30089483e-01 8.92160128e-01 -3.08368675e-01 -1.06865681e+01] [ 7.23512708e-01 -2.93058830e-02 6.89688717e-01 1.81290889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:234.68, Y:-10.68, Z:181.31 [[ 6.06039711e-01 -4.51021735e-01 -6.55206275e-01 2.34684945e+02] [ 3.30104030e-01 8.92035391e-01 -3.08713769e-01 -1.06781265e+01] [ 7.23703805e-01 -2.91934287e-02 6.89492963e-01 1.81310142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:234.70, Y:-10.67, Z:181.33 [[ 6.06581107e-01 -4.50936018e-01 -6.54764132e-01 2.34702073e+02] [ 3.29937299e-01 8.92092691e-01 -3.08726431e-01 -1.06687139e+01] [ 7.23326164e-01 -2.87634886e-02 6.89907183e-01 1.81330248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:234.72, Y:-10.66, Z:181.35 [[ 6.06964154e-01 -4.50657854e-01 -6.54600652e-01 2.34718760e+02] [ 3.29262434e-01 8.92257488e-01 -3.08970590e-01 -1.06594765e+01] [ 7.23312356e-01 -2.80013313e-02 6.89953013e-01 1.81350796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:234.74, Y:-10.65, Z:181.37 [[ 6.07485557e-01 -4.50116763e-01 -6.54489265e-01 2.34735066e+02] [ 3.28169737e-01 8.92563849e-01 -3.09248120e-01 -1.06505216e+01] [ 7.23371220e-01 -2.69198038e-02 6.89934346e-01 1.81370742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:234.75, Y:-10.64, Z:181.39 [[ 6.07384110e-01 -4.54019534e-01 -6.51882509e-01 2.34746591e+02] [ 3.24883123e-01 8.90793060e-01 -3.17708484e-01 -1.06401827e+01] [ 7.24938273e-01 -1.88145407e-02 6.88556834e-01 1.81392860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:234.77, Y:-10.63, Z:181.41 [[ 6.10332988e-01 -4.46941330e-01 -6.54016125e-01 2.34768855e+02] [ 3.24124733e-01 8.94251623e-01 -3.08637639e-01 -1.06304637e+01] [ 7.22797898e-01 -2.36110693e-02 6.90656004e-01 1.81411553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:234.79, Y:-10.62, Z:181.43 [[ 6.10861785e-01 -4.46339598e-01 -6.53933363e-01 2.34786670e+02] [ 3.22261838e-01 8.94602144e-01 -3.09571175e-01 -1.06210254e+01] [ 7.23184062e-01 -2.16325668e-02 6.90316482e-01 1.81430151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:234.81, Y:-10.62, Z:181.44 [[ 6.05493065e-01 -4.48133547e-01 -6.57688736e-01 2.34813086e+02] [ 3.22855165e-01 8.93654620e-01 -3.11682472e-01 -1.06176417e+01] [ 7.27421948e-01 -2.36166300e-02 6.85783905e-01 1.81444205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:234.83, Y:-10.61, Z:181.46 [[ 6.04422254e-01 -4.49984023e-01 -6.57410160e-01 2.34831572e+02] [ 3.25362941e-01 8.92675611e-01 -3.11880122e-01 -1.06107597e+01] [ 7.27195088e-01 -2.53896169e-02 6.85961130e-01 1.81463887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:234.84, Y:-10.60, Z:181.49 [[ 6.08010978e-01 -4.47462679e-01 -6.55819946e-01 2.34842366e+02] [ 3.22018308e-01 8.94036398e-01 -3.11453253e-01 -1.05997476e+01] [ 7.25690609e-01 -2.18190322e-02 6.87675119e-01 1.81488160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16999999999996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:234.85, Y:-10.59, Z:181.51 [[ 6.09788911e-01 -4.46514487e-01 -6.54814704e-01 2.34854720e+02] [ 3.20738911e-01 8.94548466e-01 -3.11303055e-01 -1.05892415e+01] [ 7.24764813e-01 -2.01954043e-02 6.88700306e-01 1.81511071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:234.87, Y:-10.58, Z:181.53 [[ 6.12016955e-01 -4.46262337e-01 -6.52905180e-01 2.34867351e+02] [ 3.20915442e-01 8.94692540e-01 -3.10706513e-01 -1.05784227e+01] [ 7.22806008e-01 -1.93697005e-02 6.90779479e-01 1.81534313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22999999999996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:234.89, Y:-10.56, Z:181.56 [[ 6.22749949e-01 -4.63118992e-01 -6.30637217e-01 2.34885052e+02] [ 3.16761735e-01 8.86231046e-01 -3.38018545e-01 -1.05621350e+01] [ 7.15433089e-01 1.07392931e-02 6.98598714e-01 1.81562865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:234.93, Y:-10.57, Z:181.56 [[ 6.14448421e-01 -4.08716375e-01 -6.74836323e-01 2.34930954e+02] [ 3.19991555e-01 9.10943928e-01 -2.60358532e-01 -1.05741101e+01] [ 7.21150846e-01 -5.59650350e-02 6.90513847e-01 1.81556094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28999999999996 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:234.93, Y:-10.56, Z:181.59 [[ 6.12464594e-01 -4.46999154e-01 -6.51980734e-01 2.34925124e+02] [ 3.21270947e-01 8.94337534e-01 -3.11360489e-01 -1.05557945e+01] [ 7.22268717e-01 -1.87651923e-02 6.91357916e-01 1.81591999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:234.94, Y:-10.55, Z:181.61 [[ 6.11371269e-01 -4.49064340e-01 -6.51587592e-01 2.34943953e+02] [ 3.24120325e-01 8.93258503e-01 -3.11504835e-01 -1.05488185e+01] [ 7.21921870e-01 -2.07476751e-02 6.91663464e-01 1.81610713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34999999999997 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:234.96, Y:-10.54, Z:181.63 [[ 6.07581056e-01 -4.51702962e-01 -6.53306738e-01 2.34960959e+02] [ 3.26966849e-01 8.91853345e-01 -3.12554459e-01 -1.05414358e+01] [ 7.23835575e-01 -2.37074770e-02 6.89565092e-01 1.81631711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:234.98, Y:-10.53, Z:181.65 [[ 6.06153499e-01 -4.53088102e-01 -6.53673549e-01 2.34977476e+02] [ 3.28490166e-01 8.91116158e-01 -3.13059425e-01 -1.05325629e+01] [ 7.24342562e-01 -2.49632664e-02 6.88988163e-01 1.81652809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40999999999997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:234.99, Y:-10.52, Z:181.67 [[ 6.05542891e-01 -4.54060020e-01 -6.53565074e-01 2.34994241e+02] [ 3.29621847e-01 8.90600639e-01 -3.13336783e-01 -1.05244431e+01] [ 7.24339179e-01 -2.56904651e-02 6.88964988e-01 1.81673258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:235.01, Y:-10.52, Z:181.69 [[ 6.05029418e-01 -4.55060687e-01 -6.53344606e-01 2.35011360e+02] [ 3.30847046e-01 8.90067680e-01 -3.13559815e-01 -1.05169746e+01] [ 7.24209662e-01 -2.64442201e-02 6.89072615e-01 1.81693403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46999999999997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:235.03, Y:-10.51, Z:181.71 [[ 6.04943450e-01 -4.55357236e-01 -6.53217583e-01 2.35028938e+02] [ 3.30998183e-01 8.89918267e-01 -3.13824283e-01 -1.05083061e+01] [ 7.24212417e-01 -2.63678882e-02 6.89072644e-01 1.81713969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:235.05, Y:-10.50, Z:181.73 [[ 6.04531894e-01 -4.56755695e-01 -6.52621961e-01 2.35047239e+02] [ 3.33107617e-01 8.89159984e-01 -3.13741676e-01 -1.05009248e+01] [ 7.23588629e-01 -2.77264967e-02 6.89674370e-01 1.81734127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:235.07, Y:-10.49, Z:181.75 [[ 6.04435552e-01 -4.58234071e-01 -6.51674151e-01 2.35065306e+02] [ 3.35362536e-01 8.88358651e-01 -3.13609434e-01 -1.04939576e+01] [ 7.22626898e-01 -2.89904041e-02 6.90630091e-01 1.81754054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:235.08, Y:-10.49, Z:181.77 [[ 6.04198933e-01 -4.60776727e-01 -6.50098805e-01 2.35083644e+02] [ 3.39451958e-01 8.86958376e-01 -3.13172806e-01 -1.04878898e+01] [ 7.20913322e-01 -3.14586372e-02 6.92310867e-01 1.81774853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:235.10, Y:-10.48, Z:181.79 [[ 6.03835072e-01 -4.61785700e-01 -6.49720842e-01 2.35099846e+02] [ 3.40749913e-01 8.86407005e-01 -3.13324304e-01 -1.04803416e+01] [ 7.20605789e-01 -3.21961164e-02 6.92597075e-01 1.81794862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:235.12, Y:-10.47, Z:181.81 [[ 6.03705426e-01 -4.62645441e-01 -6.49229509e-01 2.35117456e+02] [ 3.42073899e-01 8.85929573e-01 -3.13231925e-01 -1.04720169e+01] [ 7.20086944e-01 -3.29846569e-02 6.93099420e-01 1.81814936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:235.13, Y:-10.46, Z:181.84 [[ 6.02992895e-01 -4.63628968e-01 -6.49190072e-01 2.35133925e+02] [ 3.43196494e-01 8.85386865e-01 -3.13538300e-01 -1.04637866e+01] [ 7.20149801e-01 -3.37383894e-02 6.92997825e-01 1.81835429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:235.15, Y:-10.46, Z:181.86 [[ 6.01402630e-01 -4.65044411e-01 -6.49652655e-01 2.35151304e+02] [ 3.44734841e-01 8.84592746e-01 -3.14091647e-01 -1.04553384e+01] [ 7.20744591e-01 -3.50623623e-02 6.92313415e-01 1.81855509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:235.17, Y:-10.45, Z:181.87 [[ 6.00204458e-01 -4.66403358e-01 -6.49786516e-01 2.35168324e+02] [ 3.46329358e-01 8.83827792e-01 -3.14490714e-01 -1.04471615e+01] [ 7.20978907e-01 -3.62814185e-02 6.92006557e-01 1.81874940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:235.19, Y:-10.44, Z:181.89 [[ 5.98857630e-01 -4.67586119e-01 -6.50179022e-01 2.35185433e+02] [ 3.47753558e-01 8.83148918e-01 -3.14826065e-01 -1.04395325e+01] [ 7.21413197e-01 -3.75660765e-02 6.91485205e-01 1.81894126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:235.22, Y:-10.43, Z:181.93 [[ 6.07495027e-01 -4.76555760e-01 -6.35487529e-01 2.35218908e+02] [ 3.42597332e-01 8.78994300e-01 -3.31656582e-01 -1.04311197e+01] [ 7.16642771e-01 -1.62366076e-02 6.97251398e-01 1.81925610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:235.25, Y:-10.44, Z:181.91 [[ 5.99003041e-01 -4.21827766e-01 -6.80629630e-01 2.35253803e+02] [ 3.52134759e-01 9.02159036e-01 -2.49219151e-01 -1.04383628e+01] [ 7.19163729e-01 -9.03903217e-02 6.88936224e-01 1.81912318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:235.23, Y:-10.41, Z:181.96 [[ 5.94671482e-01 -4.75357641e-01 -6.48383330e-01 2.35234669e+02] [ 3.50494439e-01 8.79090101e-01 -3.23039073e-01 -1.04108469e+01] [ 7.23546458e-01 -3.51526272e-02 6.89380023e-01 1.81957701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:235.26, Y:-10.41, Z:181.97 [[ 5.96368699e-01 -4.65583471e-01 -6.53893268e-01 2.35258065e+02] [ 3.51242683e-01 8.83837779e-01 -3.08964978e-01 -1.04056573e+01] [ 7.21784561e-01 -4.54181843e-02 6.90625975e-01 1.81971860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:235.27, Y:-10.39, Z:181.99 [[ 5.95738026e-01 -4.71190158e-01 -6.50442956e-01 2.35269803e+02] [ 3.51130908e-01 8.81137076e-01 -3.16708917e-01 -1.03946593e+01] [ 7.22359529e-01 -3.97150807e-02 6.90376291e-01 1.81994571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91999999999996 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:235.31, Y:-10.39, Z:182.03 [[ 6.04132105e-01 -4.73269597e-01 -6.41124237e-01 2.35308061e+02] [ 3.44583075e-01 8.80580289e-01 -3.25331921e-01 -1.03902278e+01] [ 7.18531074e-01 -2.43771026e-02 6.95067517e-01 1.82026104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:235.35, Y:-10.39, Z:182.03 [[ 6.03942915e-01 -4.38426983e-01 -6.65608546e-01 2.35352910e+02] [ 3.47369781e-01 8.96415782e-01 -2.75268925e-01 -1.03923449e+01] [ 7.17347329e-01 -6.49655774e-02 6.93680245e-01 1.82032938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97999999999996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:235.37, Y:-10.39, Z:182.05 [[ 6.03089243e-01 -4.31273762e-01 -6.71033760e-01 2.35374783e+02] [ 3.48510617e-01 8.99161185e-01 -2.64668686e-01 -1.03856184e+01] [ 7.17512171e-01 -7.42435526e-02 6.92577923e-01 1.82049527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:235.39, Y:-10.38, Z:182.07 [[ 6.02178889e-01 -4.33773223e-01 -6.70239791e-01 2.35388257e+02] [ 3.45641117e-01 8.98412100e-01 -2.70902042e-01 -1.03762645e+01] [ 7.19661590e-01 -6.85309396e-02 6.90934661e-01 1.82068272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03999999999996 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:235.41, Y:-10.37, Z:182.09 [[ 5.98350304e-01 -4.28416453e-01 -6.77079210e-01 2.35407047e+02] [ 3.48757885e-01 9.00051548e-01 -2.61295137e-01 -1.03701417e+01] [ 7.21349327e-01 -7.97906883e-02 6.87959734e-01 1.82090270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:235.42, Y:-10.34, Z:182.12 [[ 6.06030819e-01 -4.66647607e-01 -6.44179057e-01 2.35415373e+02] [ 3.50104787e-01 8.83660614e-01 -3.10758038e-01 -1.03438837e+01] [ 7.14250156e-01 -3.72012231e-02 6.98901126e-01 1.82120725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09999999999997 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:235.46, Y:-10.35, Z:182.12 [[ 6.05435713e-01 -4.19492517e-01 -6.76367966e-01 2.35463154e+02] [ 3.50092206e-01 9.03557394e-01 -2.47021221e-01 -1.03525659e+01] [ 7.14760830e-01 -8.72356838e-02 6.93906976e-01 1.82122872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:235.47, Y:-10.34, Z:182.14 [[ 6.02672140e-01 -4.19376323e-01 -6.78903374e-01 2.35474508e+02] [ 3.49191043e-01 9.03586598e-01 -2.48187178e-01 -1.03442059e+01] [ 7.17531816e-01 -8.74914793e-02 6.91008924e-01 1.82144338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15999999999997 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:235.45, Y:-10.32, Z:182.15 [[ 5.89431475e-01 -4.33534745e-01 -6.81629049e-01 2.35453698e+02] [ 3.58783204e-01 8.96495843e-01 -2.59941949e-01 -1.03246780e+01] [ 7.23771476e-01 -9.13390875e-02 6.83967852e-01 1.82154424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:235.43, Y:-10.30, Z:182.20 [[ 5.87707833e-01 -4.84707509e-01 -6.47810261e-01 2.35432586e+02] [ 3.54673985e-01 8.73994093e-01 -3.32175690e-01 -1.02984948e+01] [ 7.27190393e-01 -3.45391921e-02 6.85566318e-01 1.82198297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21999999999997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:235.47, Y:-10.29, Z:182.24 [[ 6.02879000e-01 -4.99038138e-01 -6.22493251e-01 2.35472028e+02] [ 3.47260237e-01 8.66580018e-01 -3.58398381e-01 -1.02865452e+01] [ 7.18294674e-01 -9.62961906e-05 6.95738997e-01 1.82237837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:235.55, Y:-10.30, Z:182.23 [[ 6.07943171e-01 -4.26376056e-01 -6.69782472e-01 2.35547781e+02] [ 3.46327539e-01 9.01498916e-01 -2.59532157e-01 -1.03017622e+01] [ 7.14466470e-01 -7.41833127e-02 6.95725880e-01 1.82226467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:235.57, Y:-10.30, Z:182.24 [[ 6.03945773e-01 -4.14207582e-01 -6.80941688e-01 2.35565719e+02] [ 3.48141001e-01 9.05637838e-01 -2.42111441e-01 -1.02975160e+01] [ 7.16970953e-01 -9.08415393e-02 6.91158786e-01 1.82241832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:235.55, Y:-10.28, Z:182.25 [[ 5.91310206e-01 -4.16482283e-01 -6.90575665e-01 2.35548171e+02] [ 3.53712446e-01 9.03499134e-01 -2.42026487e-01 -1.02845397e+01] [ 7.24734259e-01 -1.01152475e-01 6.81563226e-01 1.82246436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:235.55, Y:-10.25, Z:182.32 [[ 6.04508440e-01 -4.87774887e-01 -6.29797749e-01 2.35548040e+02] [ 3.43997474e-01 8.72936807e-01 -3.45900373e-01 -1.02545259e+01] [ 7.18495152e-01 -7.54913965e-03 6.95490997e-01 1.82315253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:235.61, Y:-10.28, Z:182.30 [[ 6.02122339e-01 -4.01951722e-01 -6.89843099e-01 2.35613173e+02] [ 3.42951562e-01 9.10466307e-01 -2.31160830e-01 -1.02754362e+01] [ 7.20994393e-01 -9.73956686e-02 6.86062074e-01 1.82303307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:235.61, Y:-10.25, Z:182.33 [[ 6.02864473e-01 -4.30126435e-01 -6.71971486e-01 2.35608782e+02] [ 3.38035603e-01 9.00606349e-01 -2.73203471e-01 -1.02525964e+01] [ 7.22693821e-01 -6.24456196e-02 6.88341620e-01 1.82334987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:235.63, Y:-10.24, Z:182.36 [[ 6.11364825e-01 -4.28533981e-01 -6.65275640e-01 2.35629408e+02] [ 3.33509481e-01 9.01906266e-01 -2.74474979e-01 -1.02401080e+01] [ 7.17638124e-01 -5.40713860e-02 6.94313912e-01 1.82355914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:235.65, Y:-10.23, Z:182.37 [[ 6.14601469e-01 -4.17759785e-01 -6.69135111e-01 2.35651189e+02] [ 3.30542218e-01 9.06580411e-01 -2.62400077e-01 -1.02326568e+01] [ 7.16244983e-01 -5.99059305e-02 6.95272899e-01 1.82371287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:235.67, Y:-10.22, Z:182.39 [[ 6.15391885e-01 -4.14190746e-01 -6.70625718e-01 2.35668267e+02] [ 3.26501846e-01 9.08333778e-01 -2.61392985e-01 -1.02226079e+01] [ 7.17418548e-01 -5.81014128e-02 6.94215279e-01 1.82390005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:235.68, Y:-10.21, Z:182.41 [[ 6.18093206e-01 -4.11923193e-01 -6.69537207e-01 2.35684966e+02] [ 3.24141092e-01 9.09488393e-01 -2.60314071e-01 -1.02132697e+01] [ 7.16165722e-01 -5.61261628e-02 6.95669830e-01 1.82409608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:235.70, Y:-10.20, Z:182.43 [[ 6.18970056e-01 -4.14922480e-01 -6.66869857e-01 2.35697927e+02] [ 3.20628331e-01 9.08584019e-01 -2.67717301e-01 -1.02013849e+01] [ 7.16989221e-01 -4.81083765e-02 6.95422203e-01 1.82430745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:235.72, Y:-10.20, Z:182.45 [[ 6.15065775e-01 -4.01010518e-01 -6.78884863e-01 2.35715947e+02] [ 3.18283364e-01 9.14015750e-01 -2.51537094e-01 -1.01972014e+01] [ 7.21380477e-01 -6.13659002e-02 6.89814782e-01 1.82450778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:235.72, Y:-10.18, Z:182.48 [[ 6.15953167e-01 -4.16761411e-01 -6.68514489e-01 2.35718589e+02] [ 3.13191846e-01 9.08205664e-01 -2.77620855e-01 -1.01823398e+01] [ 7.22850305e-01 -3.83718424e-02 6.89938431e-01 1.82475966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:235.73, Y:-10.17, Z:182.50 [[ 6.18111206e-01 -4.20506936e-01 -6.64162972e-01 2.35733169e+02] [ 3.10788777e-01 9.06782315e-01 -2.84879218e-01 -1.01703190e+01] [ 7.22044925e-01 -3.03273608e-02 6.91181147e-01 1.82497828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66999999999996 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:235.75, Y:-10.16, Z:182.52 [[ 6.21705908e-01 -4.19208173e-01 -6.61623965e-01 2.35751028e+02] [ 3.06853528e-01 9.07551761e-01 -2.86689229e-01 -1.01589093e+01] [ 7.20640462e-01 -2.47852608e-02 6.92865799e-01 1.82515852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:235.77, Y:-10.15, Z:182.53 [[ 6.26656338e-01 -4.10527393e-01 -6.62396477e-01 2.35768165e+02] [ 2.98252921e-01 9.11621686e-01 -2.82826974e-01 -1.01494641e+01] [ 7.19963214e-01 -2.03263678e-02 6.93714502e-01 1.82532623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72999999999996 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:235.78, Y:-10.14, Z:182.55 [[ 6.27948347e-01 -4.09344187e-01 -6.61904986e-01 2.35779672e+02] [ 2.94441937e-01 9.12239056e-01 -2.84822491e-01 -1.01392832e+01] [ 7.20406010e-01 -1.60387741e-02 6.93367102e-01 1.82553414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:235.79, Y:-10.13, Z:182.58 [[ 6.28471006e-01 -4.18524257e-01 -6.55638346e-01 2.35789761e+02] [ 2.95640106e-01 9.08173885e-01 -2.96339539e-01 -1.01251797e+01] [ 7.19458909e-01 -7.59218174e-03 6.94493511e-01 1.82579219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78999999999996 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:235.81, Y:-10.12, Z:182.60 [[ 6.31491015e-01 -4.14771146e-01 -6.55121359e-01 2.35807104e+02] [ 2.91429860e-01 9.09914509e-01 -2.95168128e-01 -1.01163752e+01] [ 7.18531652e-01 -4.52590487e-03 6.95479533e-01 1.82596688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:235.82, Y:-10.11, Z:182.62 [[ 6.33213129e-01 -4.17088024e-01 -6.51980608e-01 2.35824121e+02] [ 2.90554405e-01 9.08866095e-01 -2.99233286e-01 -1.01051079e+01] [ 7.17369689e-01 4.26078206e-05 6.96692707e-01 1.82618304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84999999999997 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:235.84, Y:-10.10, Z:182.63 [[ 6.30612818e-01 -4.10028286e-01 -6.58941787e-01 2.35841142e+02] [ 2.90009557e-01 9.12035607e-01 -2.89975012e-01 -1.00976398e+01] [ 7.19876330e-01 -8.23745613e-03 6.94053466e-01 1.82634620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:235.85, Y:-10.08, Z:182.66 [[ 6.32301159e-01 -4.24740062e-01 -6.47912899e-01 2.35845984e+02] [ 2.87392287e-01 9.05239972e-01 -3.12963681e-01 -1.00833046e+01] [ 7.19444868e-01 1.16821281e-02 6.94451302e-01 1.82656999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90999999999997 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:235.84, Y:-10.06, Z:182.67 [[ 6.26140359e-01 -4.37036829e-01 -6.45714381e-01 2.35842972e+02] [ 2.94882390e-01 8.99367625e-01 -3.22772755e-01 -1.00637532e+01] [ 7.21798190e-01 1.16912484e-02 6.92004832e-01 1.82669456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:235.84, Y:-10.05, Z:182.70 [[ 6.26827354e-01 -4.57532555e-01 -6.30675375e-01 2.35844294e+02] [ 2.94968551e-01 8.88532749e-01 -3.51430089e-01 -1.00473537e+01] [ 7.21166432e-01 3.42565913e-02 6.91914347e-01 1.82699953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96999999999997 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:235.88, Y:-10.04, Z:182.73 [[ 6.30068728e-01 -4.49599573e-01 -6.33145815e-01 2.35882729e+02] [ 2.92694655e-01 8.92706944e-01 -3.42642890e-01 -1.00447541e+01] [ 7.19265763e-01 3.05701743e-02 6.94062120e-01 1.82730581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:235.92, Y:-10.04, Z:182.74 [[ 6.31434922e-01 -4.31111200e-01 -6.44540978e-01 2.35915169e+02] [ 2.89956543e-01 9.02177817e-01 -3.19374999e-01 -1.00396326e+01] [ 7.19176711e-01 1.47756534e-02 6.94670093e-01 1.82736537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:235.92, Y:-10.03, Z:182.75 [[ 6.23985117e-01 -4.29523788e-01 -6.52803101e-01 2.35918152e+02] [ 2.96273855e-01 9.03055315e-01 -3.10986977e-01 -1.00269657e+01] [ 7.23093615e-01 6.42753927e-04 6.90749746e-01 1.82746064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:235.91, Y:-10.01, Z:182.78 [[ 6.25530149e-01 -4.60360240e-01 -6.29905137e-01 2.35910485e+02] [ 2.97097764e-01 8.87086716e-01 -3.53284697e-01 -1.00076396e+01] [ 7.21418707e-01 3.38468217e-02 6.91671484e-01 1.82780614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:235.93, Y:-10.00, Z:182.80 [[ 6.24576065e-01 -4.61921853e-01 -6.29708616e-01 2.35925484e+02] [ 2.99293542e-01 8.86335733e-01 -3.53316211e-01 -9.99794836e+00] [ 7.21337726e-01 3.22051264e-02 6.91834311e-01 1.82801429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:235.94, Y:-9.99, Z:182.82 [[ 6.23792943e-01 -4.63775992e-01 -6.29121764e-01 2.35941251e+02] [ 3.01961423e-01 8.85429874e-01 -3.53317475e-01 -9.98833210e+00] [ 7.20903366e-01 3.04264446e-02 6.92367365e-01 1.82820923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:235.97, Y:-9.98, Z:182.85 [[ 6.30602386e-01 -4.69138003e-01 -6.18263832e-01 2.35969325e+02] [ 2.99929574e-01 8.82042436e-01 -3.63377753e-01 -9.97956110e+00] [ 7.15809250e-01 4.37112704e-02 6.96926426e-01 1.82848715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:235.99, Y:-9.98, Z:182.85 [[ 6.20858469e-01 -4.39013897e-01 -6.49462516e-01 2.35994711e+02] [ 3.04351604e-01 8.98479430e-01 -3.16393449e-01 -9.97648469e+00] [ 7.22429833e-01 -1.22940656e-03 6.91443147e-01 1.82849138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:235.99, Y:-9.96, Z:182.88 [[ 6.21213335e-01 -4.68298184e-01 -6.28323805e-01 2.35989043e+02] [ 3.06411425e-01 8.83121456e-01 -3.55258402e-01 -9.95804031e+00] [ 7.21253098e-01 2.81656640e-02 6.92098738e-01 1.82882546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:236.01, Y:-9.95, Z:182.90 [[ 6.20399279e-01 -4.69420400e-01 -6.28290715e-01 2.36006201e+02] [ 3.07879391e-01 8.82560617e-01 -3.55382946e-01 -9.94911565e+00] [ 7.21328645e-01 2.70415611e-02 6.92064837e-01 1.82901976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:236.02, Y:-9.94, Z:182.92 [[ 6.19700752e-01 -4.70900548e-01 -6.27872321e-01 2.36023533e+02] [ 3.09920943e-01 8.81812107e-01 -3.55466478e-01 -9.94013969e+00] [ 7.21054774e-01 2.56920615e-02 6.92401568e-01 1.82921786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:236.04, Y:-9.93, Z:182.94 [[ 6.19728243e-01 -4.71104466e-01 -6.27692192e-01 2.36040349e+02] [ 3.09994485e-01 8.81698680e-01 -3.55683648e-01 -9.93049688e+00] [ 7.20999532e-01 2.58460842e-02 6.92453360e-01 1.82941879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:236.06, Y:-9.92, Z:182.96 [[ 6.18865398e-01 -4.71784853e-01 -6.28032382e-01 2.36056051e+02] [ 3.10403045e-01 8.81344912e-01 -3.56203728e-01 -9.92109350e+00] [ 7.21564667e-01 2.54989978e-02 6.91877324e-01 1.82961149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:236.07, Y:-9.91, Z:182.98 [[ 6.18790620e-01 -4.72010060e-01 -6.27936838e-01 2.36073054e+02] [ 3.10553180e-01 8.81223947e-01 -3.56372105e-01 -9.91125101e+00] [ 7.21564198e-01 2.55119334e-02 6.91877337e-01 1.82981673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:236.09, Y:-9.90, Z:183.00 [[ 6.18397893e-01 -4.72716951e-01 -6.27791948e-01 2.36089608e+02] [ 3.11443182e-01 8.80861556e-01 -3.56491322e-01 -9.90183124e+00] [ 7.21517283e-01 2.49319611e-02 6.91947402e-01 1.83002203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41999999999996 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:236.11, Y:-9.89, Z:183.02 [[ 6.18251209e-01 -4.73325745e-01 -6.27477634e-01 2.36105943e+02] [ 3.12159786e-01 8.80543165e-01 -3.56651093e-01 -9.89241694e+00] [ 7.21333286e-01 2.46266852e-02 6.92150140e-01 1.83022609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:236.12, Y:-9.88, Z:183.04 [[ 6.17922164e-01 -4.73413515e-01 -6.27735488e-01 2.36122633e+02] [ 3.11766866e-01 8.80486180e-01 -3.57135139e-01 -9.88309363e+00] [ 7.21785024e-01 2.49745928e-02 6.91666574e-01 1.83043118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47999999999996 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:236.14, Y:-9.87, Z:183.06 [[ 6.18240256e-01 -4.72953513e-01 -6.27769034e-01 2.36138875e+02] [ 3.10740904e-01 8.80705443e-01 -3.57488480e-01 -9.87402098e+00] [ 7.21955038e-01 2.59402518e-02 6.91453561e-01 1.83062307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:236.16, Y:-9.86, Z:183.08 [[ 6.18479496e-01 -4.72491107e-01 -6.27881571e-01 2.36155294e+02] [ 3.09856609e-01 8.80931633e-01 -3.57698670e-01 -9.86434148e+00] [ 7.22130179e-01 2.66760389e-02 6.91242645e-01 1.83081984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53999999999996 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:236.17, Y:-9.85, Z:183.10 [[ 6.18865077e-01 -4.72232805e-01 -6.27695941e-01 2.36171717e+02] [ 3.09267348e-01 8.81048572e-01 -3.57920552e-01 -9.85474435e+00] [ 7.22052439e-01 2.73786707e-02 6.91296379e-01 1.83102173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:236.19, Y:-9.84, Z:183.12 [[ 6.19646508e-01 -4.71117509e-01 -6.27763090e-01 2.36188434e+02] [ 3.07293662e-01 8.81590201e-01 -3.58286650e-01 -9.84494774e+00] [ 7.22224903e-01 2.91034528e-02 6.91045714e-01 1.83122197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59999999999997 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:236.21, Y:-9.84, Z:183.14 [[ 6.20223851e-01 -4.70582323e-01 -6.27594337e-01 2.36205509e+02] [ 3.06295597e-01 8.81841337e-01 -3.58523169e-01 -9.83567076e+00] [ 7.22153296e-01 3.01352386e-02 6.91076324e-01 1.83142227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:236.22, Y:-9.83, Z:183.16 [[ 6.22975107e-01 -4.67351656e-01 -6.27283385e-01 2.36221395e+02] [ 3.01564910e-01 8.83406568e-01 -3.58680137e-01 -9.82607715e+00] [ 7.21776019e-01 3.42821389e-02 6.91277161e-01 1.83162083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65999999999997 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:236.24, Y:-9.82, Z:183.18 [[ 6.23928922e-01 -4.66223389e-01 -6.27174977e-01 2.36237795e+02] [ 2.99885952e-01 8.83943897e-01 -3.58763994e-01 -9.81694250e+00] [ 7.21651658e-01 3.57622667e-02 6.91332007e-01 1.83182257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:236.25, Y:-9.81, Z:183.20 [[ 6.25811348e-01 -4.64290754e-01 -6.26733000e-01 2.36254668e+02] [ 2.97108810e-01 8.84851921e-01 -3.58836220e-01 -9.80724951e+00] [ 7.21170238e-01 3.83558823e-02 6.91695247e-01 1.83202664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71999999999997 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:236.27, Y:-9.80, Z:183.22 [[ 6.26767793e-01 -4.63557728e-01 -6.26319700e-01 2.36270762e+02] [ 2.96006913e-01 8.85182651e-01 -3.58931165e-01 -9.79785821e+00] [ 7.20792648e-01 3.95715330e-02 6.92020269e-01 1.83222863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:236.29, Y:-9.79, Z:183.24 [[ 6.28699593e-01 -4.61329027e-01 -6.26029033e-01 2.36286567e+02] [ 2.92714298e-01 8.86209847e-01 -3.59096710e-01 -9.78867270e+00] [ 7.20454830e-01 4.25163063e-02 6.92197372e-01 1.83243222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:236.30, Y:-9.78, Z:183.26 [[ 6.28891579e-01 -4.60861390e-01 -6.26180614e-01 2.36303260e+02] [ 2.91800877e-01 8.86417220e-01 -3.59328208e-01 -9.77879893e+00] [ 7.20657776e-01 4.32584316e-02 6.91940083e-01 1.83263817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:236.32, Y:-9.77, Z:183.28 [[ 6.29289354e-01 -4.59927116e-01 -6.26467842e-01 2.36319659e+02] [ 2.89944406e-01 8.86826264e-01 -3.59821372e-01 -9.76866774e+00] [ 7.21059741e-01 4.47909128e-02 6.91423621e-01 1.83284452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:236.34, Y:-9.76, Z:183.31 [[ 6.34018813e-01 -4.64238042e-01 -6.18468419e-01 2.36342443e+02] [ 2.87878827e-01 8.83967655e-01 -3.68411408e-01 -9.75768460e+00] [ 7.17736669e-01 5.55358006e-02 6.94096426e-01 1.83307364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:236.37, Y:-9.75, Z:183.32 [[ 6.28136093e-01 -4.44238801e-01 -6.38824652e-01 2.36366331e+02] [ 2.89935702e-01 8.95505321e-01 -3.37649980e-01 -9.75424633e+00] [ 7.22068098e-01 2.68720648e-02 6.91299902e-01 1.83316668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:236.37, Y:-9.74, Z:183.35 [[ 6.28651655e-01 -4.61505986e-01 -6.25946740e-01 2.36370057e+02] [ 2.91544986e-01 8.86039520e-01 -3.60465659e-01 -9.73946588e+00] [ 7.20970608e-01 4.41156997e-02 6.91559966e-01 1.83345268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:236.39, Y:-9.73, Z:183.37 [[ 6.28077612e-01 -4.62739120e-01 -6.25612516e-01 2.36386858e+02] [ 2.93182764e-01 8.85448101e-01 -3.60590525e-01 -9.72965299e+00] [ 7.20806757e-01 4.30600290e-02 6.91797263e-01 1.83365350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:236.40, Y:-9.72, Z:183.39 [[ 6.26963205e-01 -4.64306474e-01 -6.25569051e-01 2.36403407e+02] [ 2.95086833e-01 8.84693959e-01 -3.60888292e-01 -9.71967874e+00] [ 7.20999931e-01 4.16664899e-02 6.91681287e-01 1.83385806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:236.42, Y:-9.71, Z:183.41 [[ 6.25675243e-01 -4.65956568e-01 -6.25631655e-01 2.36418724e+02] [ 2.97020885e-01 8.83893566e-01 -3.61262727e-01 -9.70987718e+00] [ 7.21324535e-01 4.02074768e-02 6.91429153e-01 1.83406043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:236.43, Y:-9.70, Z:183.43 [[ 6.24317397e-01 -4.67966179e-01 -6.25488164e-01 2.36434752e+02] [ 2.99719113e-01 8.82921953e-01 -3.61410126e-01 -9.69996338e+00] [ 7.21384946e-01 3.81638719e-02 6.91481943e-01 1.83426188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:236.45, Y:-9.69, Z:183.45 [[ 6.23000754e-01 -4.70240061e-01 -6.25095468e-01 2.36450188e+02] [ 3.02855098e-01 8.81807596e-01 -3.61516464e-01 -9.69079005e+00] [ 7.21213456e-01 3.59116807e-02 6.91781397e-01 1.83445850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:236.47, Y:-9.68, Z:183.47 [[ 6.20158724e-01 -4.74007876e-01 -6.25075748e-01 2.36465733e+02] [ 3.08056538e-01 8.79949007e-01 -3.61650265e-01 -9.67938489e+00] [ 7.21459858e-01 3.17218959e-02 6.91729279e-01 1.83466710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:236.48, Y:-9.67, Z:183.49 [[ 6.18634734e-01 -4.76282877e-01 -6.24856533e-01 2.36481680e+02] [ 3.11093494e-01 8.78798350e-01 -3.61848446e-01 -9.66906418e+00] [ 7.21465109e-01 2.94632156e-02 6.91823688e-01 1.83486455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:236.50, Y:-9.66, Z:183.51 [[ 6.17294576e-01 -4.78321459e-01 -6.24624678e-01 2.36498202e+02] [ 3.13806731e-01 8.77754997e-01 -3.62037982e-01 -9.65838539e+00] [ 7.21437968e-01 2.74726546e-02 6.91933892e-01 1.83506442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16999999999996 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:236.51, Y:-9.65, Z:183.53 [[ 6.14798666e-01 -4.82092048e-01 -6.24187359e-01 2.36514676e+02] [ 3.19114416e-01 8.75806917e-01 -3.62116326e-01 -9.64848721e+00] [ 7.21241007e-01 2.34414496e-02 6.92287446e-01 1.83526888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:236.53, Y:-9.64, Z:183.55 [[ 6.13767472e-01 -4.83534785e-01 -6.24086214e-01 2.36530661e+02] [ 3.20890283e-01 8.75044600e-01 -3.62389811e-01 -9.63847321e+00] [ 7.21331350e-01 2.21598764e-02 6.92235526e-01 1.83546671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22999999999996 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:236.55, Y:-9.63, Z:183.57 [[ 6.12598680e-01 -4.84954182e-01 -6.24133238e-01 2.36547257e+02] [ 3.22733604e-01 8.74295110e-01 -3.62561832e-01 -9.62798452e+00] [ 7.21502514e-01 2.06761305e-02 6.92103041e-01 1.83567127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:236.56, Y:-9.62, Z:183.59 [[ 6.11349220e-01 -4.86580313e-01 -6.24092726e-01 2.36563305e+02] [ 3.24740805e-01 8.73425524e-01 -3.62865353e-01 -9.61786222e+00] [ 7.21661653e-01 1.91690757e-02 6.91980495e-01 1.83587455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28999999999996 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:236.58, Y:-9.61, Z:183.61 [[ 6.10024098e-01 -4.88422662e-01 -6.23950241e-01 2.36580196e+02] [ 3.27127368e-01 8.72433830e-01 -3.63107281e-01 -9.60781776e+00] [ 7.21705123e-01 1.73929915e-02 6.91982080e-01 1.83607432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:236.60, Y:-9.60, Z:183.63 [[ 6.08518980e-01 -4.90064957e-01 -6.24132189e-01 2.36596873e+02] [ 3.29007152e-01 8.71541175e-01 -3.63552299e-01 -9.59766148e+00] [ 7.22121143e-01 1.58845204e-02 6.91584222e-01 1.83627972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34999999999997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:236.61, Y:-9.59, Z:183.65 [[ 6.06257653e-01 -4.92199834e-01 -6.24652689e-01 2.36613317e+02] [ 3.31382459e-01 8.70372906e-01 -3.64193177e-01 -9.58838376e+00] [ 7.22936597e-01 1.37959569e-02 6.90776627e-01 1.83647058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:236.63, Y:-9.58, Z:183.67 [[ 6.05435883e-01 -4.92857265e-01 -6.24931282e-01 2.36629960e+02] [ 3.31907813e-01 8.70008311e-01 -3.64585714e-01 -9.57871385e+00] [ 7.23384127e-01 1.33136985e-02 6.90317427e-01 1.83666930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40999999999997 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:236.65, Y:-9.57, Z:183.69 [[ 6.05067600e-01 -4.93217147e-01 -6.25004036e-01 2.36646626e+02] [ 3.32027123e-01 8.69804409e-01 -3.64963394e-01 -9.56854895e+00] [ 7.23637471e-01 1.33092331e-02 6.90051937e-01 1.83686556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:236.66, Y:-9.56, Z:183.71 [[ 6.04829933e-01 -4.93610956e-01 -6.24923177e-01 2.36662626e+02] [ 3.32284813e-01 8.69581622e-01 -3.65259641e-01 -9.55880529e+00] [ 7.23717870e-01 1.32674832e-02 6.89968418e-01 1.83705811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46999999999997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:236.68, Y:-9.55, Z:183.73 [[ 6.05010407e-01 -4.93856427e-01 -6.24554430e-01 2.36678009e+02] [ 3.32717590e-01 8.69444092e-01 -3.65193067e-01 -9.54981211e+00] [ 7.23368103e-01 1.31453611e-02 6.90337445e-01 1.83725420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:236.69, Y:-9.54, Z:183.75 [[ 6.04866744e-01 -4.93990412e-01 -6.24587620e-01 2.36693854e+02] [ 3.32733233e-01 8.69367544e-01 -3.65361011e-01 -9.53919046e+00] [ 7.23481042e-01 1.31736670e-02 6.90218543e-01 1.83745722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:236.71, Y:-9.53, Z:183.77 [[ 6.04224357e-01 -4.94863177e-01 -6.24518504e-01 2.36710338e+02] [ 3.33671785e-01 8.68880144e-01 -3.65664375e-01 -9.52923885e+00] [ 7.23585562e-01 1.25591177e-02 6.90120426e-01 1.83765802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:236.73, Y:-9.52, Z:183.79 [[ 6.02520508e-01 -4.96651365e-01 -6.24745115e-01 2.36726910e+02] [ 3.35740787e-01 8.67882251e-01 -3.66140031e-01 -9.51960214e+00] [ 7.24049143e-01 1.08544605e-02 6.89662975e-01 1.83786320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:236.74, Y:-9.51, Z:183.81 [[ 5.99722188e-01 -4.99086906e-01 -6.25496250e-01 2.36743807e+02] [ 3.38408913e-01 8.66511394e-01 -3.66929709e-01 -9.50937247e+00] [ 7.25129441e-01 8.38238242e-03 6.88561566e-01 1.83806248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:236.76, Y:-9.50, Z:183.83 [[ 5.98897471e-01 -4.99809170e-01 -6.25709688e-01 2.36759785e+02] [ 3.38953143e-01 8.66099075e-01 -3.67400545e-01 -9.49931834e+00] [ 7.25556743e-01 7.94899211e-03 6.88116434e-01 1.83826079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:236.78, Y:-9.49, Z:183.85 [[ 5.98781271e-01 -5.00251529e-01 -6.25467344e-01 2.36776436e+02] [ 3.39587058e-01 8.65846803e-01 -3.67409776e-01 -9.48915681e+00] [ 7.25356202e-01 7.59747725e-03 6.88331794e-01 1.83845507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:236.79, Y:-9.48, Z:183.87 [[ 5.98693332e-01 -5.01772354e-01 -6.24332282e-01 2.36791234e+02] [ 3.42145305e-01 8.64977795e-01 -3.67083104e-01 -9.48002452e+00] [ 7.24225714e-01 6.15784802e-03 6.89535493e-01 1.83865631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:236.81, Y:-9.47, Z:183.89 [[ 5.98681192e-01 -5.02051476e-01 -6.24119497e-01 2.36806127e+02] [ 3.42439240e-01 8.64816180e-01 -3.67189790e-01 -9.46958237e+00] [ 7.24096815e-01 6.10661519e-03 6.89671307e-01 1.83886197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:236.82, Y:-9.46, Z:183.91 [[ 5.98757004e-01 -5.02833627e-01 -6.23416710e-01 2.36821673e+02] [ 3.43662340e-01 8.64365308e-01 -3.67108718e-01 -9.45948288e+00] [ 7.23454385e-01 5.56407025e-03 6.90349762e-01 1.83906392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:236.84, Y:-9.45, Z:183.93 [[ 5.98320223e-01 -5.03333543e-01 -6.23432639e-01 2.36837716e+02] [ 3.44016309e-01 8.64075414e-01 -3.67459465e-01 -9.44918863e+00] [ 7.23647490e-01 5.38743352e-03 6.90148742e-01 1.83927353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:236.85, Y:-9.44, Z:183.95 [[ 5.97317560e-01 -5.04561311e-01 -6.23401649e-01 2.36853330e+02] [ 3.45446624e-01 8.63364987e-01 -3.67787342e-01 -9.43902483e+00] [ 7.23794420e-01 4.33384252e-03 6.90002069e-01 1.83947469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:236.87, Y:-9.43, Z:183.97 [[ 5.96688791e-01 -5.05637184e-01 -6.23132029e-01 2.36869163e+02] [ 3.46805848e-01 8.62739275e-01 -3.67976423e-01 -9.42954297e+00] [ 7.23663036e-01 3.46157536e-03 6.90144787e-01 1.83967084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:236.89, Y:-9.42, Z:183.99 [[ 5.96161805e-01 -5.06158628e-01 -6.23213083e-01 2.36885341e+02] [ 3.47349452e-01 8.62435112e-01 -3.68176637e-01 -9.41901414e+00] [ 7.23836626e-01 3.02012545e-03 6.89964795e-01 1.83987078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:236.90, Y:-9.41, Z:184.01 [[ 5.95543198e-01 -5.06926988e-01 -6.23180012e-01 2.36901902e+02] [ 3.48116467e-01 8.61985307e-01 -3.68505434e-01 -9.40881187e+00] [ 7.23977364e-01 2.52168059e-03 6.89819119e-01 1.84007613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91999999999996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:236.92, Y:-9.40, Z:184.03 [[ 5.95104424e-01 -5.07721040e-01 -6.22952704e-01 2.36918681e+02] [ 3.49039012e-01 8.61519223e-01 -3.68722656e-01 -9.39903053e+00] [ 7.23893979e-01 1.99368748e-03 6.89908350e-01 1.84028119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:236.93, Y:-9.39, Z:184.05 [[ 5.94881380e-01 -5.08040455e-01 -6.22905322e-01 2.36933999e+02] [ 3.49161649e-01 8.61330783e-01 -3.69046644e-01 -9.38929547e+00] [ 7.24018154e-01 2.04432775e-03 6.89777887e-01 1.84047654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97999999999996 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:236.95, Y:-9.38, Z:184.07 [[ 5.94264579e-01 -5.08870034e-01 -6.22816907e-01 2.36950346e+02] [ 3.50257772e-01 8.60842488e-01 -3.69147267e-01 -9.37969830e+00] [ 7.23995237e-01 1.22468313e-03 6.89803883e-01 1.84067331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:236.97, Y:-9.37, Z:184.09 [[ 5.93615606e-01 -5.08657297e-01 -6.23609065e-01 2.36965869e+02] [ 3.49292522e-01 8.60967441e-01 -3.69769928e-01 -9.36941297e+00] [ 7.24993273e-01 1.67921701e-03 6.88753900e-01 1.84088066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03999999999996 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:236.98, Y:-9.36, Z:184.11 [[ 5.93489206e-01 -5.09091918e-01 -6.23374672e-01 2.36982535e+02] [ 3.49705333e-01 8.60710707e-01 -3.69977376e-01 -9.35956952e+00] [ 7.24897747e-01 1.58013186e-03 6.88854673e-01 1.84108457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:237.00, Y:-9.34, Z:184.14 [[ 6.04955020e-01 -5.30125882e-01 -5.94134642e-01 2.36997747e+02] [ 3.48228301e-01 8.47159199e-01 -4.01320747e-01 -9.34067695e+00] [ 7.16077143e-01 3.58865038e-02 6.97098045e-01 1.84136651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09999999999997 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:237.05, Y:-9.35, Z:184.13 [[ 5.93687039e-01 -4.68180436e-01 -6.54479014e-01 2.37046745e+02] [ 3.48151900e-01 8.82705481e-01 -3.15628403e-01 -9.35071953e+00] [ 7.25483256e-01 -4.04736197e-02 6.87048711e-01 1.84129475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:237.03, Y:-9.33, Z:184.17 [[ 5.94729060e-01 -5.07879423e-01 -6.23182026e-01 2.37031062e+02] [ 3.46894399e-01 8.61416656e-01 -3.70979272e-01 -9.32942832e+00] [ 7.25232115e-01 4.45379913e-03 6.88490045e-01 1.84169734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15999999999997 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:237.05, Y:-9.31, Z:184.20 [[ 6.06133293e-01 -5.24361596e-01 -5.98036243e-01 2.37049015e+02] [ 3.44494789e-01 8.50796173e-01 -3.96823906e-01 -9.31269939e+00] [ 7.16886164e-01 3.45078110e-02 6.96335723e-01 1.84196689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:237.09, Y:-9.31, Z:184.20 [[ 6.06977005e-01 -4.90557289e-01 -6.25245920e-01 2.37093723e+02] [ 3.42943702e-01 8.71407624e-01 -3.50768256e-01 -9.31124908e+00] [ 7.16915987e-01 -1.51588482e-03 6.97157923e-01 1.84200332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21999999999997 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:237.11, Y:-9.31, Z:184.21 [[ 5.96097407e-01 -4.66703166e-01 -6.53342205e-01 2.37110494e+02] [ 3.42891563e-01 8.83752460e-01 -3.18444604e-01 -9.31003905e+00] [ 7.26011885e-01 -3.42015271e-02 6.86831128e-01 1.84212043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:237.10, Y:-9.29, Z:184.25 [[ 5.97498452e-01 -5.05173975e-01 -6.22731768e-01 2.37095960e+02] [ 3.41686886e-01 8.62963932e-01 -3.72214083e-01 -9.28998360e+00] [ 7.25427923e-01 9.61806002e-03 6.88230936e-01 1.84252395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:237.11, Y:-9.28, Z:184.27 [[ 5.97365311e-01 -5.05522263e-01 -6.22576844e-01 2.37112632e+02] [ 3.41920030e-01 8.62759807e-01 -3.72473098e-01 -9.27979577e+00] [ 7.25427721e-01 9.63101448e-03 6.88230968e-01 1.84272945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:237.13, Y:-9.27, Z:184.29 [[ 5.99066389e-01 -5.03702611e-01 -6.22417177e-01 2.37128794e+02] [ 3.39051859e-01 8.63790345e-01 -3.72706422e-01 -9.27087482e+00] [ 7.25371146e-01 1.22441895e-02 6.88249069e-01 1.84292424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:237.15, Y:-9.26, Z:184.32 [[ 6.09319755e-01 -5.15462723e-01 -6.02517732e-01 2.37149241e+02] [ 3.35840810e-01 8.56113614e-01 -3.92785476e-01 -9.25582375e+00] [ 7.18289904e-01 3.69819069e-02 6.94760356e-01 1.84318364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:237.19, Y:-9.26, Z:184.32 [[ 5.99301574e-01 -4.70449189e-01 -6.47699919e-01 2.37187058e+02] [ 3.35887886e-01 8.82205122e-01 -3.29990076e-01 -9.25936637e+00] [ 7.26647750e-01 -1.97909841e-02 6.86725102e-01 1.84317335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:237.18, Y:-9.24, Z:184.35 [[ 6.02307435e-01 -4.99709665e-01 -6.22507834e-01 2.37177631e+02] [ 3.32389853e-01 8.66004081e-01 -3.73569161e-01 -9.24086536e+00] [ 7.25770445e-01 1.80881959e-02 6.87699119e-01 1.84353554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:237.19, Y:-9.23, Z:184.37 [[ 6.03363683e-01 -4.98704459e-01 -6.22291031e-01 2.37192957e+02] [ 3.30931386e-01 8.66553273e-01 -3.73590474e-01 -9.23102571e+00] [ 7.25559566e-01 1.94752910e-02 6.87883733e-01 1.84372918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:237.21, Y:-9.22, Z:184.39 [[ 6.04148181e-01 -4.97868611e-01 -6.22199181e-01 2.37209241e+02] [ 3.29636297e-01 8.67006320e-01 -3.73684296e-01 -9.22056754e+00] [ 7.25496304e-01 2.06612540e-02 6.87915856e-01 1.84393359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:237.23, Y:-9.21, Z:184.41 [[ 6.04744256e-01 -4.97485709e-01 -6.21926326e-01 2.37225444e+02] [ 3.28904037e-01 8.67204674e-01 -3.73869211e-01 -9.20983422e+00] [ 7.25332006e-01 2.15411785e-02 6.88062104e-01 1.84413999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:237.24, Y:-9.20, Z:184.43 [[ 6.03533783e-01 -4.98802210e-01 -6.22047689e-01 2.37241346e+02] [ 3.30345784e-01 8.66475621e-01 -3.74288206e-01 -9.20076592e+00] [ 7.25684942e-01 2.04047460e-02 6.87724517e-01 1.84433190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:237.26, Y:-9.19, Z:184.45 [[ 6.02273100e-01 -5.00000117e-01 -6.22307799e-01 2.37257608e+02] [ 3.31730492e-01 8.65813121e-01 -3.74596478e-01 -9.19089356e+00] [ 7.26100540e-01 1.91709100e-02 6.87321237e-01 1.84453038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:237.28, Y:-9.17, Z:184.48 [[ 6.12954267e-01 -5.21893533e-01 -5.93223573e-01 2.37275251e+02] [ 3.31947350e-01 8.51425539e-01 -4.06060968e-01 -9.17151012e+00] [ 7.17006293e-01 5.19778099e-02 6.95126092e-01 1.84480689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:237.32, Y:-9.18, Z:184.47 [[ 5.98326694e-01 -4.61445159e-01 -6.55037047e-01 2.37322931e+02] [ 3.34293886e-01 8.86729194e-01 -3.19310091e-01 -9.18102400e+00] [ 7.28184568e-01 -2.79231283e-02 6.84812042e-01 1.84473123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:237.31, Y:-9.15, Z:184.52 [[ 6.08545075e-01 -5.22109682e-01 -5.97557003e-01 2.37309502e+02] [ 3.36638448e-01 8.51787767e-01 -4.01412700e-01 -9.15345635e+00] [ 7.18573202e-01 4.31170597e-02 6.94113443e-01 1.84517710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66999999999996 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:237.35, Y:-9.16, Z:184.52 [[ 5.96213377e-01 -4.74379703e-01 -6.47683184e-01 2.37349207e+02] [ 3.40867796e-01 8.80004693e-01 -3.30758047e-01 -9.15894677e+00] [ 7.26869145e-01 -2.35719674e-02 6.86371334e-01 1.84517945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:237.34, Y:-9.14, Z:184.55 [[ 5.96157583e-01 -5.08686020e-01 -6.21155914e-01 2.37338709e+02] [ 3.43202407e-01 8.60885049e-01 -3.75618210e-01 -9.14010355e+00] [ 7.25815572e-01 1.07454394e-02 6.87805417e-01 1.84554141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72999999999996 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:237.35, Y:-9.13, Z:184.57 [[ 5.94028231e-01 -5.11535461e-01 -6.20855807e-01 2.37354498e+02] [ 3.47359367e-01 8.59229878e-01 -3.75586857e-01 -9.12937598e+00] [ 7.25583855e-01 7.44911636e-03 6.88093438e-01 1.84574237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:237.37, Y:-9.12, Z:184.59 [[ 5.92655282e-01 -5.13106753e-01 -6.20871305e-01 2.37370328e+02] [ 3.49270700e-01 8.58304209e-01 -3.75930662e-01 -9.11865818e+00] [ 7.25789016e-01 5.94513676e-03 6.87891678e-01 1.84594837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78999999999996 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:237.39, Y:-9.11, Z:184.62 [[ 5.91280305e-01 -5.14715022e-01 -6.20851067e-01 2.37386042e+02] [ 3.51248620e-01 8.57350011e-01 -3.76265020e-01 -9.10782651e+00] [ 7.25955927e-01 4.40501511e-03 6.87727117e-01 1.84615123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:237.40, Y:-9.10, Z:184.63 [[ 5.89858418e-01 -5.17051234e-01 -6.20262097e-01 2.37402090e+02] [ 3.54651696e-01 8.55952206e-01 -3.76255226e-01 -9.09863982e+00] [ 7.25457939e-01 1.96030794e-03 6.88263711e-01 1.84634027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84999999999997 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:237.42, Y:-9.09, Z:184.65 [[ 5.87718193e-01 -5.19531820e-01 -6.20220939e-01 2.37418786e+02] [ 3.58120674e-01 8.54450622e-01 -3.76382410e-01 -9.08886526e+00] [ 7.25490805e-01 -9.07150810e-04 6.88231261e-01 1.84653751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:237.44, Y:-9.08, Z:184.67 [[ 5.83823214e-01 -5.24041046e-01 -6.20105989e-01 2.37436175e+02] [ 3.64399881e-01 8.51671401e-01 -3.76654420e-01 -9.07951544e+00] [ 7.25508912e-01 -6.06695451e-03 6.88186029e-01 1.84673110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90999999999997 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:237.45, Y:-9.07, Z:184.70 [[ 5.80539819e-01 -5.30234833e-01 -6.17919525e-01 2.37449480e+02] [ 3.66998198e-01 8.47838426e-01 -3.82730096e-01 -9.06876567e+00] [ 7.26832746e-01 -4.58529166e-03 6.86799195e-01 1.84695213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:237.47, Y:-9.06, Z:184.71 [[ 5.80213608e-01 -5.23888045e-01 -6.23613250e-01 2.37471781e+02] [ 3.70228298e-01 8.51643797e-01 -3.70990365e-01 -9.06047670e+00] [ 7.25453773e-01 -1.56256138e-02 6.88093499e-01 1.84711378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96999999999997 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:237.48, Y:-9.05, Z:184.73 [[ 5.78558612e-01 -5.30312047e-01 -6.19708855e-01 2.37484117e+02] [ 3.72911697e-01 8.47705534e-01 -3.77269393e-01 -9.04902600e+00] [ 7.25401130e-01 -1.28242242e-02 6.88206902e-01 1.84734590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:237.50, Y:-9.04, Z:184.75 [[ 5.76856312e-01 -5.32237415e-01 -6.19645164e-01 2.37498572e+02] [ 3.75404311e-01 8.46465637e-01 -3.77581154e-01 -9.03767363e+00] [ 7.25471157e-01 -1.48073942e-02 6.88093266e-01 1.84754266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:237.52, Y:-9.03, Z:184.77 [[ 5.75903755e-01 -5.33709286e-01 -6.19265099e-01 2.37516715e+02] [ 3.77635066e-01 8.45507987e-01 -3.77502319e-01 -9.02820455e+00] [ 7.25070080e-01 -1.64512136e-02 6.88478566e-01 1.84773837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:237.53, Y:-9.02, Z:184.79 [[ 5.74792866e-01 -5.35192657e-01 -6.19016948e-01 2.37534381e+02] [ 3.79601720e-01 8.44540704e-01 -3.77695026e-01 -9.01945483e+00] [ 7.24924613e-01 -1.78834913e-02 6.88596025e-01 1.84793810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:237.55, Y:-9.01, Z:184.81 [[ 5.73923976e-01 -5.35921450e-01 -6.19192595e-01 2.37549913e+02] [ 3.80205639e-01 8.44067452e-01 -3.78145221e-01 -9.00986850e+00] [ 7.25296452e-01 -1.83939073e-02 6.88190905e-01 1.84813188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:237.57, Y:-8.99, Z:184.85 [[ 5.88498954e-01 -5.62890308e-01 -5.80364956e-01 2.37569439e+02] [ 3.76377618e-01 8.26041857e-01 -4.19517268e-01 -8.98905487e+00] [ 7.15547951e-01 2.84490936e-02 6.97984083e-01 1.84847053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:237.63, Y:-8.99, Z:184.84 [[ 5.88174593e-01 -5.04444862e-01 -6.32128175e-01 2.37634566e+02] [ 3.75497164e-01 8.62608131e-01 -3.38982436e-01 -8.99442522e+00] [ 7.16276852e-01 -3.79814808e-02 6.96781802e-01 1.84839747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:237.65, Y:-8.99, Z:184.85 [[ 5.72777395e-01 -4.77587534e-01 -6.66210329e-01 2.37645559e+02] [ 3.81588434e-01 8.74655835e-01 -2.98943871e-01 -8.99491309e+00] [ 7.25476618e-01 -8.29898646e-02 6.83224970e-01 1.84846150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:237.61, Y:-8.97, Z:184.90 [[ 5.71667294e-01 -5.40364547e-01 -6.17416117e-01 2.37612023e+02] [ 3.78447325e-01 8.41330025e-01 -3.85929283e-01 -8.96698944e+00] [ 7.27993219e-01 -1.30363286e-02 6.85460376e-01 1.84897739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:237.63, Y:-8.96, Z:184.92 [[ 5.73491787e-01 -5.34773691e-01 -6.20583814e-01 2.37633368e+02] [ 3.79277083e-01 8.44784079e-01 -3.77476826e-01 -8.95822803e+00] [ 7.26124001e-01 -1.88933592e-02 6.87304137e-01 1.84915754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:237.65, Y:-8.95, Z:184.94 [[ 5.74637298e-01 -5.36987877e-01 -6.17605048e-01 2.37647154e+02] [ 3.79323137e-01 8.43444385e-01 -3.80414940e-01 -8.94798308e+00] [ 7.25193721e-01 -1.56712711e-02 6.88366529e-01 1.84936425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:237.66, Y:-8.94, Z:184.96 [[ 5.74344657e-01 -5.37387049e-01 -6.17530059e-01 2.37663180e+02] [ 3.79796433e-01 8.43184200e-01 -3.80519480e-01 -8.93793791e+00] [ 7.25177829e-01 -1.59863833e-02 6.88376025e-01 1.84957014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:237.68, Y:-8.93, Z:184.98 [[ 5.73613636e-01 -5.38321884e-01 -6.17395292e-01 2.37679204e+02] [ 3.80884841e-01 8.42573174e-01 -3.80784958e-01 -8.92803410e+00] [ 7.25185587e-01 -1.67330633e-02 6.88350107e-01 1.84976894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:237.70, Y:-8.91, Z:185.01 [[ 5.83901896e-01 -5.58315608e-01 -5.89357496e-01 2.37704728e+02] [ 3.77591852e-01 8.29437051e-01 -4.11653462e-01 -8.91148554e+00] [ 7.18667496e-01 1.78286484e-02 6.95125290e-01 1.85009500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:237.75, Y:-8.92, Z:184.99 [[ 5.69994409e-01 -4.87725546e-01 -6.61233821e-01 2.37754166e+02] [ 3.85430455e-01 8.69442280e-01 -3.09052562e-01 -8.92271971e+00] [ 7.25637470e-01 -7.87014202e-02 6.83561518e-01 1.84991109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41999999999996 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:237.73, Y:-8.90, Z:185.04 [[ 5.67852635e-01 -5.43012165e-01 -6.18612297e-01 2.37726986e+02] [ 3.85495728e-01 8.39462700e-01 -3.83008380e-01 -8.89801886e+00] [ 7.27280159e-01 -2.09800797e-02 6.86019976e-01 1.85037491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:237.74, Y:-8.89, Z:185.06 [[ 5.66625297e-01 -5.44235026e-01 -6.18663082e-01 2.37743530e+02] [ 3.87106587e-01 8.38634784e-01 -3.83197325e-01 -8.88844287e+00] [ 7.27381786e-01 -2.23592558e-02 6.85868647e-01 1.85057268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47999999999996 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:237.76, Y:-8.88, Z:185.08 [[ 5.65278285e-01 -5.45889131e-01 -6.18437965e-01 2.37760280e+02] [ 3.89317950e-01 8.37512613e-01 -3.83411211e-01 -8.87883332e+00] [ 7.27249609e-01 -2.40349684e-02 6.85952131e-01 1.85077847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:237.78, Y:-8.87, Z:185.10 [[ 5.64139595e-01 -5.47504081e-01 -6.18049996e-01 2.37777266e+02] [ 3.91572704e-01 8.36409764e-01 -3.83522521e-01 -8.86923273e+00] [ 7.26923197e-01 -2.56512688e-02 6.86239519e-01 1.85097814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53999999999996 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:237.79, Y:-8.86, Z:185.12 [[ 5.62893959e-01 -5.48869821e-01 -6.17974360e-01 2.37794003e+02] [ 3.93273042e-01 8.35472340e-01 -3.83825850e-01 -8.85979841e+00] [ 7.26970911e-01 -2.69794040e-02 6.86138038e-01 1.85118449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:237.81, Y:-8.85, Z:185.14 [[ 5.61883443e-01 -5.50426303e-01 -6.17509417e-01 2.37810510e+02] [ 3.95490634e-01 8.34396514e-01 -3.83887505e-01 -8.85039905e+00] [ 7.26549485e-01 -2.85191579e-02 6.86522034e-01 1.85138817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59999999999997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:237.83, Y:-8.84, Z:185.16 [[ 5.61712307e-01 -5.51029072e-01 -6.17127416e-01 2.37826375e+02] [ 3.96241565e-01 8.33987773e-01 -3.84001324e-01 -8.84035124e+00] [ 7.26272612e-01 -2.88332631e-02 6.86801817e-01 1.85159080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:237.84, Y:-8.83, Z:185.18 [[ 5.61838893e-01 -5.51448192e-01 -6.16637616e-01 2.37841851e+02] [ 3.96783892e-01 8.33708432e-01 -3.84047905e-01 -8.82978348e+00] [ 7.25878503e-01 -2.88988237e-02 6.87215583e-01 1.85180206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65999999999997 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:237.86, Y:-8.82, Z:185.20 [[ 5.62066664e-01 -5.51589444e-01 -6.16303619e-01 2.37856837e+02] [ 3.96810232e-01 8.33624996e-01 -3.84201777e-01 -8.81968080e+00] [ 7.25687746e-01 -2.86085711e-02 6.87429156e-01 1.85200531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:237.89, Y:-8.82, Z:185.22 [[ 5.64237912e-01 -5.32993390e-01 -6.30518537e-01 2.37892221e+02] [ 3.90152173e-01 8.45179290e-01 -3.65312538e-01 -8.81882039e+00] [ 7.27610377e-01 -3.98749939e-02 6.84830727e-01 1.85222198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71999999999997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:237.89, Y:-8.80, Z:185.24 [[ 5.63475003e-01 -5.46874440e-01 -6.19212620e-01 2.37890540e+02] [ 3.94627581e-01 8.36664680e-01 -3.79817438e-01 -8.79912306e+00] [ 7.25785777e-01 -3.03407459e-02 6.87251370e-01 1.85238735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:237.90, Y:-8.79, Z:185.26 [[ 5.64173181e-01 -5.49675414e-01 -6.16088924e-01 2.37903938e+02] [ 3.92743850e-01 8.35017266e-01 -3.85354946e-01 -8.78741135e+00] [ 7.26265028e-01 -2.45582104e-02 6.86975985e-01 1.85260872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:237.92, Y:-8.78, Z:185.28 [[ 5.65797050e-01 -5.48255917e-01 -6.15864553e-01 2.37920463e+02] [ 3.90415133e-01 8.36013430e-01 -3.85561368e-01 -8.77694364e+00] [ 7.26257339e-01 -2.22933569e-02 6.87061339e-01 1.85280813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:237.94, Y:-8.77, Z:185.30 [[ 5.67974283e-01 -5.46439264e-01 -6.15474894e-01 2.37937286e+02] [ 3.87602257e-01 8.37271477e-01 -3.85669502e-01 -8.76644679e+00] [ 7.26064532e-01 -1.95090997e-02 6.87349759e-01 1.85301043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:237.95, Y:-8.76, Z:185.32 [[ 5.70116604e-01 -5.44565560e-01 -6.15154784e-01 2.37953760e+02] [ 3.84667609e-01 8.38552690e-01 -3.85824074e-01 -8.75609441e+00] [ 7.25946202e-01 -1.66654094e-02 6.87549545e-01 1.85321426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:237.97, Y:-8.75, Z:185.34 [[ 5.72671806e-01 -5.42652860e-01 -6.14471217e-01 2.37969701e+02] [ 3.81917521e-01 8.39844174e-01 -3.85747029e-01 -8.74607954e+00] [ 7.25386800e-01 -1.37708759e-02 6.88203715e-01 1.85341564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:237.99, Y:-8.74, Z:185.36 [[ 5.74996045e-01 -5.40991336e-01 -6.13765365e-01 2.37985776e+02] [ 3.79562342e-01 8.40953425e-01 -3.85654983e-01 -8.73622452e+00] [ 7.24784090e-01 -1.12121293e-02 6.88884832e-01 1.85362505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:238.00, Y:-8.73, Z:185.38 [[ 5.79751441e-01 -5.36954055e-01 -6.12836528e-01 2.37999706e+02] [ 3.73899563e-01 8.43592302e-01 -3.85423332e-01 -8.72689009e+00] [ 7.23938798e-01 -5.68957750e-03 6.89840739e-01 1.85383615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:238.02, Y:-8.72, Z:185.40 [[ 5.83900034e-01 -5.32455469e-01 -6.12822914e-01 2.38015530e+02] [ 3.67214488e-01 8.46458011e-01 -3.85567576e-01 -8.71825224e+00] [ 7.24026430e-01 9.54678877e-05 6.89772224e-01 1.85403519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:238.06, Y:-8.73, Z:185.42 [[ 5.79517369e-01 -4.87976599e-01 -6.52716215e-01 2.38060429e+02] [ 3.57321010e-01 8.71971675e-01 -3.34644729e-01 -8.72791335e+00] [ 7.32448848e-01 -3.92967842e-02 6.79687022e-01 1.85417365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:238.03, Y:-8.69, Z:185.46 [[ 5.87814452e-01 -5.59306576e-01 -5.84508618e-01 2.38027435e+02] [ 3.61376645e-01 8.27953884e-01 -4.28834802e-01 -8.69308277e+00] [ 7.23796305e-01 4.08475311e-02 6.88803592e-01 1.85459035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:238.07, Y:-8.69, Z:185.46 [[ 5.89298932e-01 -5.26571404e-01 -6.12739198e-01 2.38070104e+02] [ 3.57913046e-01 8.50089874e-01 -3.86322996e-01 -8.69133928e+00] [ 7.24310030e-01 8.35237635e-03 6.89423830e-01 1.85462049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:238.09, Y:-8.68, Z:185.48 [[ 5.91412494e-01 -5.23946149e-01 -6.12953257e-01 2.38086383e+02] [ 3.53636558e-01 8.51667022e-01 -3.86787369e-01 -8.68089632e+00] [ 7.24687827e-01 1.19882025e-02 6.88973030e-01 1.85482384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:238.10, Y:-8.67, Z:185.50 [[ 5.93606725e-01 -5.21193156e-01 -6.13179216e-01 2.38102073e+02] [ 3.49148741e-01 8.53292436e-01 -3.87281778e-01 -8.67096941e+00] [ 7.25069799e-01 1.58023164e-02 6.88494062e-01 1.85501892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:238.13, Y:-8.67, Z:185.53 [[ 5.99285122e-01 -5.10848192e-01 -6.16353362e-01 2.38131572e+02] [ 3.39965251e-01 8.59455166e-01 -3.81785864e-01 -8.66598907e+00] [ 7.24762699e-01 1.92598630e-02 6.88729328e-01 1.85527156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16999999999996 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:238.16, Y:-8.66, Z:185.54 [[ 5.98558279e-01 -4.98412172e-01 -6.27146948e-01 2.38158007e+02] [ 3.40387566e-01 8.66928706e-01 -3.64102902e-01 -8.65871065e+00] [ 7.25165010e-01 4.46378319e-03 6.88560661e-01 1.85540994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:238.16, Y:-8.64, Z:185.55 [[ 6.00995256e-01 -4.99323589e-01 -6.24083853e-01 2.38160989e+02] [ 3.34666174e-01 8.66302290e-01 -3.70835400e-01 -8.64303486e+00] [ 7.25812134e-01 1.40105610e-02 6.87750282e-01 1.85554939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22999999999996 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:238.17, Y:-8.63, Z:185.58 [[ 6.04432209e-01 -5.08754388e-01 -6.13050306e-01 2.38166711e+02] [ 3.29582063e-01 8.60276820e-01 -3.88972308e-01 -8.62966789e+00] [ 7.25284337e-01 3.30570068e-02 6.87655339e-01 1.85581546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:238.20, Y:-8.63, Z:185.61 [[ 6.03915451e-01 -4.91345776e-01 -6.27587011e-01 2.38197251e+02] [ 3.22564674e-01 8.70692155e-01 -3.71277796e-01 -8.62769839e+00] [ 7.28860864e-01 2.17829981e-02 6.84315236e-01 1.85605846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28999999999996 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:238.20, Y:-8.61, Z:185.62 [[ 6.14130704e-01 -4.96922506e-01 -6.13116221e-01 2.38199625e+02] [ 3.15459169e-01 8.66682792e-01 -3.86453685e-01 -8.60810605e+00] [ 7.23414812e-01 4.39199401e-02 6.89015274e-01 1.85622268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:238.21, Y:-8.60, Z:185.64 [[ 6.16569704e-01 -4.96279184e-01 -6.11186365e-01 2.38212826e+02] [ 3.12271047e-01 8.66786504e-01 -3.88803228e-01 -8.59669280e+00] [ 7.22723041e-01 4.88684853e-02 6.89407918e-01 1.85643799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34999999999997 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:238.23, Y:-8.59, Z:185.66 [[ 6.18420712e-01 -4.94319433e-01 -6.10904347e-01 2.38226952e+02] [ 3.09367052e-01 8.67750080e-01 -3.88975355e-01 -8.58646631e+00] [ 7.22390372e-01 5.15567387e-02 6.89560768e-01 1.85663863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:238.25, Y:-8.58, Z:185.69 [[ 6.12512369e-01 -4.78230974e-01 -6.29383613e-01 2.38254033e+02] [ 3.06818697e-01 8.77633963e-01 -3.68267450e-01 -8.58473410e+00] [ 7.28485336e-01 3.24617087e-02 6.84291862e-01 1.85689411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40999999999997 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:238.26, Y:-8.57, Z:185.71 [[ 6.21382364e-01 -4.94757082e-01 -6.07535503e-01 2.38256936e+02] [ 3.04843209e-01 8.66973256e-01 -3.94243568e-01 -8.56556641e+00] [ 7.21771831e-01 5.97729275e-02 6.89545228e-01 1.85706911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:238.28, Y:-8.56, Z:185.72 [[ 6.21925843e-01 -4.88990551e-01 -6.11634276e-01 2.38277724e+02] [ 3.00560827e-01 8.70303266e-01 -3.90173569e-01 -8.55828464e+00] [ 7.23098496e-01 5.88257223e-02 6.88235497e-01 1.85724157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46999999999997 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:238.30, Y:-8.55, Z:185.75 [[ 6.28403567e-01 -4.96068601e-01 -5.99186866e-01 2.38297965e+02] [ 2.97561761e-01 8.64984759e-01 -4.04052427e-01 -8.54731096e+00] [ 7.18725230e-01 7.56128873e-02 6.91170555e-01 1.85750983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:238.33, Y:-8.55, Z:185.75 [[ 6.20177867e-01 -4.64926679e-01 -6.31840642e-01 2.38329131e+02] [ 2.97202002e-01 8.84656767e-01 -3.59239995e-01 -8.54598389e+00] [ 7.25982358e-01 3.50083904e-02 6.86821686e-01 1.85753221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:238.33, Y:-8.53, Z:185.79 [[ 6.22239944e-01 -4.88251930e-01 -6.11904817e-01 2.38326739e+02] [ 2.98457694e-01 8.70584513e-01 -3.91159316e-01 -8.53089707e+00] [ 7.23699148e-01 6.07672500e-02 6.87435004e-01 1.85785902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:238.34, Y:-8.52, Z:185.81 [[ 6.22013477e-01 -4.88373567e-01 -6.12037984e-01 2.38343566e+02] [ 2.98171775e-01 8.70494849e-01 -3.91576697e-01 -8.52351860e+00] [ 7.24011621e-01 6.10735304e-02 6.87078741e-01 1.85807654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:238.36, Y:-8.51, Z:185.83 [[ 6.21164386e-01 -4.89334741e-01 -6.12132597e-01 2.38359793e+02] [ 2.99082244e-01 8.70001577e-01 -3.91978402e-01 -8.51498177e+00] [ 7.24364974e-01 6.04050330e-02 6.86765328e-01 1.85827972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:238.38, Y:-8.51, Z:185.85 [[ 6.24217532e-01 -4.90736471e-01 -6.07889948e-01 2.38381980e+02] [ 2.98024470e-01 8.68833152e-01 -3.95361062e-01 -8.50608300e+00] [ 7.22173032e-01 6.56252265e-02 6.88592363e-01 1.85851020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:238.40, Y:-8.50, Z:185.86 [[ 6.18619231e-01 -4.80021921e-01 -6.22004183e-01 2.38403012e+02] [ 3.00476309e-01 8.76025533e-01 -3.77217778e-01 -8.50011206e+00] [ 7.25964348e-01 4.64566506e-02 6.86161457e-01 1.85862740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:238.41, Y:-8.49, Z:185.89 [[ 6.20797785e-01 -4.92606550e-01 -6.09876133e-01 2.38414636e+02] [ 3.00945795e-01 8.68071820e-01 -3.94820142e-01 -8.48856873e+00] [ 7.23907272e-01 6.15638115e-02 6.87144932e-01 1.85890641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:238.44, Y:-8.48, Z:185.91 [[ 6.20970655e-01 -4.91411976e-01 -6.10663340e-01 2.38435498e+02] [ 3.02535909e-01 8.68964176e-01 -3.91629014e-01 -8.47891723e+00] [ 7.23095754e-01 5.84425366e-02 6.88271023e-01 1.85907926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:238.46, Y:-8.47, Z:185.93 [[ 6.17386571e-01 -4.85176935e-01 -6.19223032e-01 2.38457547e+02] [ 3.04729400e-01 8.73198565e-01 -3.80347550e-01 -8.47303148e+00] [ 7.25240522e-01 4.61260068e-02 6.86948744e-01 1.85925886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:238.47, Y:-8.46, Z:185.95 [[ 6.13981888e-01 -4.87851536e-01 -6.20505536e-01 2.38468890e+02] [ 3.06797359e-01 8.71812628e-01 -3.81861392e-01 -8.46417591e+00] [ 7.27256229e-01 4.40865189e-02 6.84948726e-01 1.85947044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:238.48, Y:-8.45, Z:185.97 [[ 6.13519791e-01 -4.98198913e-01 -6.12691855e-01 2.38478089e+02] [ 3.09066425e-01 8.65470552e-01 -3.94257109e-01 -8.45237849e+00] [ 7.26685221e-01 5.25220575e-02 6.84959869e-01 1.85971490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:238.49, Y:-8.44, Z:185.99 [[ 6.12777723e-01 -4.99335111e-01 -6.12509518e-01 2.38494522e+02] [ 3.10220737e-01 8.64856109e-01 -3.94698625e-01 -8.44326235e+00] [ 7.26819480e-01 5.18493710e-02 6.84868663e-01 1.85991020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:238.51, Y:-8.43, Z:186.01 [[ 6.11615783e-01 -5.00520649e-01 -6.12703203e-01 2.38511001e+02] [ 3.11485867e-01 8.64234077e-01 -3.95064571e-01 -8.43393647e+00] [ 7.27256962e-01 5.07793387e-02 6.84484309e-01 1.86011168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:238.53, Y:-8.42, Z:186.03 [[ 6.09791926e-01 -5.01960662e-01 -6.13342727e-01 2.38527384e+02] [ 3.12645168e-01 8.63466270e-01 -3.95826983e-01 -8.42497498e+00] [ 7.28290330e-01 4.96134585e-02 6.83470335e-01 1.86032203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91999999999996 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:238.54, Y:-8.42, Z:186.05 [[ 6.08980888e-01 -5.02999569e-01 -6.13297409e-01 2.38543162e+02] [ 3.13780619e-01 8.62907592e-01 -3.96146704e-01 -8.41514221e+00] [ 7.28480611e-01 4.88049308e-02 6.83325748e-01 1.86052336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:238.56, Y:-8.40, Z:186.07 [[ 6.08294173e-01 -5.04252441e-01 -6.12949977e-01 2.38559764e+02] [ 3.15460215e-01 8.62238611e-01 -3.96269391e-01 -8.40496133e+00] [ 7.28328944e-01 4.76870300e-02 6.83566307e-01 1.86072823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97999999999996 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:238.57, Y:-8.39, Z:186.10 [[ 6.16152924e-01 -5.24853709e-01 -5.87268386e-01 2.38573189e+02] [ 3.19046466e-01 8.48024907e-01 -4.23158492e-01 -8.38549236e+00] [ 7.20114523e-01 7.33644392e-02 6.89965748e-01 1.86098071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:238.61, Y:-8.39, Z:186.10 [[ 6.02977614e-01 -4.79115788e-01 -6.37860533e-01 2.38614498e+02] [ 3.20271405e-01 8.77686819e-01 -3.56499755e-01 -8.39323930e+00] [ 7.30646443e-01 1.06728823e-02 6.82672590e-01 1.86100510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03999999999996 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:238.60, Y:-8.36, Z:186.14 [[ 6.15158622e-01 -5.33768059e-01 -5.80234029e-01 2.38603027e+02] [ 3.25301727e-01 8.42234995e-01 -4.29905803e-01 -8.36317238e+00] [ 7.18163391e-01 7.57091300e-02 6.91743790e-01 1.86140827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:238.65, Y:-8.37, Z:186.14 [[ 6.00925468e-01 -4.76379840e-01 -6.41833958e-01 2.38651592e+02] [ 3.24024744e-01 8.79237574e-01 -3.49212333e-01 -8.37306127e+00] [ 7.30682248e-01 1.88050032e-03 6.82715106e-01 1.86139403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09999999999997 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:238.64, Y:-8.35, Z:186.18 [[ 6.02024214e-01 -5.13230626e-01 -6.11687150e-01 2.38640278e+02] [ 3.27735718e-01 8.57390013e-01 -3.96826997e-01 -8.35211690e+00] [ 7.28118222e-01 3.84277340e-02 6.84373556e-01 1.86175722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:238.66, Y:-8.34, Z:186.20 [[ 6.01420614e-01 -5.14226782e-01 -6.11444243e-01 2.38655676e+02] [ 3.28970584e-01 8.56828438e-01 -3.97018113e-01 -8.34041168e+00] [ 7.28060162e-01 3.76277078e-02 6.84479770e-01 1.86196313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15999999999997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:238.67, Y:-8.33, Z:186.22 [[ 6.00948377e-01 -5.15261111e-01 -6.11037671e-01 2.38670675e+02] [ 3.30380569e-01 8.56244261e-01 -3.97107599e-01 -8.32860899e+00] [ 7.27811602e-01 3.67661936e-02 6.84790858e-01 1.86216006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:238.69, Y:-8.32, Z:186.24 [[ 5.99699350e-01 -5.16328574e-01 -6.11363634e-01 2.38686088e+02] [ 3.31487021e-01 8.55645868e-01 -3.97475162e-01 -8.31709717e+00] [ 7.28338551e-01 3.57064860e-02 6.84286492e-01 1.86236528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21999999999997 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:238.70, Y:-8.31, Z:186.26 [[ 5.98763264e-01 -5.17463570e-01 -6.11321526e-01 2.38701168e+02] [ 3.32761979e-01 8.54998751e-01 -3.97802215e-01 -8.30539121e+00] [ 7.28527295e-01 3.47647920e-02 6.84134044e-01 1.86256037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:238.72, Y:-8.29, Z:186.28 [[ 5.97812925e-01 -5.18663006e-01 -6.11235138e-01 2.38716630e+02] [ 3.34375507e-01 8.54322649e-01 -3.97901787e-01 -8.29326148e+00] [ 7.28568959e-01 3.34887714e-02 6.84153327e-01 1.86276179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:238.73, Y:-8.28, Z:186.30 [[ 5.95770078e-01 -5.21206505e-01 -6.11066112e-01 2.38730433e+02] [ 3.37766860e-01 8.52874473e-01 -3.98144047e-01 -8.27902308e+00] [ 7.28677955e-01 3.08044284e-02 6.84163376e-01 1.86296223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:238.75, Y:-8.27, Z:186.32 [[ 5.94806207e-01 -5.22537372e-01 -6.10868457e-01 2.38745063e+02] [ 3.39446037e-01 8.52102585e-01 -3.98368638e-01 -8.26645096e+00] [ 7.28685093e-01 2.95952616e-02 6.84209146e-01 1.86316227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:238.76, Y:-8.25, Z:186.34 [[ 5.94002759e-01 -5.23874278e-01 -6.10505089e-01 2.38759187e+02] [ 3.41259304e-01 8.51323322e-01 -3.98485495e-01 -8.25351526e+00] [ 7.28493521e-01 2.83609417e-02 6.84465373e-01 1.86336194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:238.77, Y:-8.24, Z:186.36 [[ 5.93208401e-01 -5.25095397e-01 -6.10228333e-01 2.38773461e+02] [ 3.42840186e-01 8.50606108e-01 -3.98660076e-01 -8.24066587e+00] [ 7.28398517e-01 2.72777107e-02 6.84610492e-01 1.86356206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:238.79, Y:-8.23, Z:186.38 [[ 5.91712046e-01 -5.27210782e-01 -6.09857071e-01 2.38785651e+02] [ 3.45778172e-01 8.49364285e-01 -3.98770319e-01 -8.22528526e+00] [ 7.28226827e-01 2.50819382e-02 6.84877059e-01 1.86375307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:238.80, Y:-8.21, Z:186.40 [[ 5.91103907e-01 -5.28242475e-01 -6.09553984e-01 2.38800276e+02] [ 3.47320881e-01 8.48754929e-01 -3.98727070e-01 -8.21203541e+00] [ 7.27986522e-01 2.39783017e-02 6.85171996e-01 1.86395534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:238.81, Y:-8.20, Z:186.41 [[ 5.90061507e-01 -5.29571690e-01 -6.09410570e-01 2.38813918e+02] [ 3.48955220e-01 8.47959439e-01 -3.98992538e-01 -8.19872439e+00] [ 7.28050597e-01 2.27731388e-02 6.85145030e-01 1.86414875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:238.83, Y:-8.19, Z:186.43 [[ 5.89159281e-01 -5.30861378e-01 -6.09161341e-01 2.38827923e+02] [ 3.50733741e-01 8.47186787e-01 -3.99074417e-01 -8.18503450e+00] [ 7.27926634e-01 2.14649606e-02 6.85318955e-01 1.86434970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:238.84, Y:-8.17, Z:186.45 [[ 5.87801164e-01 -5.32616052e-01 -6.08941650e-01 2.38842622e+02] [ 3.53045621e-01 8.46127328e-01 -3.99283527e-01 -8.17175469e+00] [ 7.27906986e-01 1.97151394e-02 6.85392393e-01 1.86454276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:238.86, Y:-8.16, Z:186.47 [[ 5.85162465e-01 -5.36581941e-01 -6.08000584e-01 2.38858550e+02] [ 3.59070263e-01 8.43711707e-01 -3.99022685e-01 -8.16048653e+00] [ 7.27085577e-01 1.51781681e-02 6.86379040e-01 1.86474776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:238.87, Y:-8.15, Z:186.49 [[ 5.79260983e-01 -5.43566432e-01 -6.07447321e-01 2.38873818e+02] [ 3.69186327e-01 8.39338013e-01 -3.99015232e-01 -8.14873933e+00] [ 7.26744913e-01 6.87271017e-03 6.86873057e-01 1.86494589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:238.89, Y:-8.14, Z:186.51 [[ 5.75670792e-01 -5.47229881e-01 -6.07571063e-01 2.38889298e+02] [ 3.74041126e-01 8.36978011e-01 -3.99450931e-01 -8.13754991e+00] [ 7.27115105e-01 2.69566905e-03 6.86510275e-01 1.86514315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:238.91, Y:-8.13, Z:186.53 [[ 5.72434726e-01 -5.50572630e-01 -6.07608644e-01 2.38905381e+02] [ 3.78503650e-01 8.34786536e-01 -3.99832998e-01 -8.12637948e+00] [ 7.27360620e-01 -1.10379652e-03 6.86254552e-01 1.86534782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66999999999996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:238.92, Y:-8.12, Z:186.55 [[ 5.69491022e-01 -5.53684584e-01 -6.07547000e-01 2.38920844e+02] [ 3.82711715e-01 8.32713583e-01 -4.00149762e-01 -8.11559796e+00] [ 7.27469394e-01 -4.63365766e-03 6.86124486e-01 1.86554364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:238.94, Y:-8.11, Z:186.57 [[ 5.65063837e-01 -5.58765517e-01 -6.07028795e-01 2.38938161e+02] [ 3.90342136e-01 8.29253483e-01 -3.99964595e-01 -8.10502520e+00] [ 7.26867166e-01 -1.09433880e-02 6.86690880e-01 1.86573965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72999999999996 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:238.95, Y:-8.10, Z:186.59 [[ 5.62885205e-01 -5.60907578e-01 -6.07077371e-01 2.38954071e+02] [ 3.93074074e-01 8.27772051e-01 -4.00357594e-01 -8.09558374e+00] [ 7.27085290e-01 -1.32710088e-02 6.86418868e-01 1.86593060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:238.97, Y:-8.08, Z:186.61 [[ 5.60271085e-01 -5.62724265e-01 -6.07813880e-01 2.38969594e+02] [ 3.95088605e-01 8.26499892e-01 -4.01002397e-01 -8.08492650e+00] [ 7.28011885e-01 -1.54702899e-02 6.85389936e-01 1.86613449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78999999999996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:238.99, Y:-8.07, Z:186.63 [[ 5.59662113e-01 -5.63132450e-01 -6.07996845e-01 2.38986047e+02] [ 3.95187304e-01 8.26219801e-01 -4.01482048e-01 -8.07454489e+00] [ 7.28426602e-01 -1.55783428e-02 6.84946714e-01 1.86633739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:239.00, Y:-8.06, Z:186.65 [[ 5.59966832e-01 -5.62982349e-01 -6.07855264e-01 2.39001077e+02] [ 3.94675423e-01 8.26333901e-01 -4.01750661e-01 -8.06392883e+00] [ 7.28469943e-01 -1.49384891e-02 6.84914874e-01 1.86652778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84999999999997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:239.02, Y:-8.05, Z:186.67 [[ 5.60409503e-01 -5.62625969e-01 -6.07777268e-01 2.39016398e+02] [ 3.94033691e-01 8.26588228e-01 -4.01857377e-01 -8.05373784e+00] [ 7.28476931e-01 -1.42800270e-02 6.84921486e-01 1.86672642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:239.03, Y:-8.04, Z:186.69 [[ 5.62345966e-01 -5.61840495e-01 -6.06714326e-01 2.39031647e+02] [ 3.93427986e-01 8.27143056e-01 -4.01308841e-01 -8.04263875e+00] [ 7.27311099e-01 -1.30239879e-02 6.86184334e-01 1.86692576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90999999999997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:239.05, Y:-8.03, Z:186.71 [[ 5.63268633e-01 -5.61349957e-01 -6.06312356e-01 2.39046860e+02] [ 3.92603031e-01 8.27492310e-01 -4.01396734e-01 -8.03204590e+00] [ 7.27042851e-01 -1.19458795e-02 6.86488156e-01 1.86712593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:239.06, Y:-8.02, Z:186.73 [[ 5.63975757e-01 -5.60908666e-01 -6.06063374e-01 2.39062819e+02] [ 3.91959302e-01 8.27802200e-01 -4.01386875e-01 -8.02138551e+00] [ 7.26841971e-01 -1.11797111e-02 6.86713742e-01 1.86732876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96999999999997 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:239.08, Y:-8.01, Z:186.75 [[ 5.64320124e-01 -5.60811948e-01 -6.05832284e-01 2.39079662e+02] [ 3.91599733e-01 8.27875098e-01 -4.01587440e-01 -8.01037063e+00] [ 7.26768496e-01 -1.06198864e-02 6.86800387e-01 1.86752838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:239.10, Y:-8.00, Z:186.77 [[ 5.64594239e-01 -5.60450719e-01 -6.05911163e-01 2.39096338e+02] [ 3.90639958e-01 8.28130629e-01 -4.01995130e-01 -7.99977662e+00] [ 7.27072052e-01 -9.72897702e-03 6.86492227e-01 1.86772729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:239.11, Y:-7.99, Z:186.79 [[ 5.64879834e-01 -5.60192105e-01 -6.05884129e-01 2.39112910e+02] [ 3.89895084e-01 8.28314292e-01 -4.02339729e-01 -7.99044715e+00] [ 7.27250023e-01 -8.95764368e-03 6.86314188e-01 1.86791203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:239.13, Y:-7.98, Z:186.81 [[ 5.64879193e-01 -5.59648872e-01 -6.06386541e-01 2.39128151e+02] [ 3.88585243e-01 8.28690431e-01 -4.02832072e-01 -7.97975426e+00] [ 7.27951239e-01 -8.08140608e-03 6.85581275e-01 1.86812330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:239.14, Y:-7.97, Z:186.83 [[ 5.64778821e-01 -5.59930288e-01 -6.06220220e-01 2.39144283e+02] [ 3.88729551e-01 8.28501067e-01 -4.03082271e-01 -7.96879042e+00] [ 7.27952072e-01 -8.00338424e-03 6.85581306e-01 1.86832982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:239.16, Y:-7.96, Z:186.85 [[ 5.66052806e-01 -5.58985062e-01 -6.05904218e-01 2.39159180e+02] [ 3.87322558e-01 8.29152203e-01 -4.03097829e-01 -7.95728953e+00] [ 7.27712482e-01 -6.50571441e-03 6.85851456e-01 1.86853756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:239.17, Y:-7.95, Z:186.87 [[ 5.67023196e-01 -5.58752813e-01 -6.05210699e-01 2.39174999e+02] [ 3.87080050e-01 8.29314272e-01 -4.02997362e-01 -7.94652602e+00] [ 7.27085779e-01 -5.75613586e-03 6.86522495e-01 1.86873841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:239.19, Y:-7.94, Z:186.89 [[ 5.67711977e-01 -5.57163101e-01 -6.06030024e-01 2.39189850e+02] [ 3.83802760e-01 8.30396541e-01 -4.03902248e-01 -7.93634274e+00] [ 7.28284665e-01 -3.29585215e-03 6.85266798e-01 1.86894575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:239.21, Y:-7.92, Z:186.91 [[ 5.68865304e-01 -5.57823595e-01 -6.04338566e-01 2.39206581e+02] [ 3.85784027e-01 8.29950231e-01 -4.02930886e-01 -7.92460004e+00] [ 7.26335288e-01 -3.93076536e-03 6.87329323e-01 1.86913756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:239.22, Y:-7.91, Z:186.93 [[ 5.69670703e-01 -5.57369563e-01 -6.03998726e-01 2.39222273e+02] [ 3.84982438e-01 8.30259394e-01 -4.03060617e-01 -7.91381262e+00] [ 7.26129336e-01 -2.91707688e-03 6.87551946e-01 1.86933717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:239.24, Y:-7.90, Z:186.95 [[ 5.70991546e-01 -5.57136526e-01 -6.02965626e-01 2.39238292e+02] [ 3.84987092e-01 8.30418054e-01 -4.02729184e-01 -7.90328650e+00] [ 7.25088680e-01 -2.17902370e-03 6.88652059e-01 1.86954313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:239.25, Y:-7.89, Z:186.97 [[ 5.70935100e-01 -5.57438993e-01 -6.02739480e-01 2.39253652e+02] [ 3.85209302e-01 8.30215169e-01 -4.02934941e-01 -7.89248648e+00] [ 7.25015107e-01 -2.13115310e-03 6.88729666e-01 1.86974521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:239.27, Y:-7.88, Z:186.99 [[ 5.70695475e-01 -5.58061071e-01 -6.02390667e-01 2.39268975e+02] [ 3.85981639e-01 8.29796151e-01 -4.03058957e-01 -7.88154118e+00] [ 7.24792969e-01 -2.48781400e-03 6.88962236e-01 1.86994578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:239.28, Y:-7.87, Z:187.01 [[ 5.69888261e-01 -5.58614961e-01 -6.02641432e-01 2.39283799e+02] [ 3.86236689e-01 8.29422498e-01 -4.03583373e-01 -7.87125965e+00] [ 7.25292072e-01 -2.76480515e-03 6.88435738e-01 1.87014160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:239.30, Y:-7.86, Z:187.03 [[ 5.67986157e-01 -5.60108384e-01 -6.03050847e-01 2.39300602e+02] [ 3.87963185e-01 8.28407180e-01 -4.04012514e-01 -7.86137998e+00] [ 7.25862448e-01 -4.48801167e-03 6.87825243e-01 1.87033654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41999999999996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:239.32, Y:-7.85, Z:187.05 [[ 5.67554401e-01 -5.60652688e-01 -6.02951545e-01 2.39316459e+02] [ 3.88457008e-01 8.28037377e-01 -4.04295998e-01 -7.85092429e+00] [ 7.25936054e-01 -4.76078006e-03 6.87745724e-01 1.87052799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:239.33, Y:-7.84, Z:187.07 [[ 5.66944212e-01 -5.61029609e-01 -6.03174965e-01 2.39332426e+02] [ 3.88689234e-01 8.27780255e-01 -4.04599222e-01 -7.84021591e+00] [ 7.26288469e-01 -5.06242794e-03 6.87371393e-01 1.87072451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47999999999996 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:239.35, Y:-7.83, Z:187.09 [[ 5.66588880e-01 -5.61688638e-01 -6.02895443e-01 2.39348362e+02] [ 3.89478308e-01 8.27330539e-01 -4.04760209e-01 -7.82916746e+00] [ 7.26143022e-01 -5.48206353e-03 6.87521824e-01 1.87092817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:239.36, Y:-7.82, Z:187.11 [[ 5.65726668e-01 -5.62492218e-01 -6.02955920e-01 2.39362640e+02] [ 3.90243746e-01 8.26780098e-01 -4.05147489e-01 -7.81850960e+00] [ 7.26404264e-01 -6.09703768e-03 6.87240621e-01 1.87112383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53999999999996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:239.38, Y:-7.81, Z:187.13 [[ 5.65327365e-01 -5.62769720e-01 -6.03071483e-01 2.39378071e+02] [ 3.90408532e-01 8.26589912e-01 -4.05376732e-01 -7.80748933e+00] [ 7.26626554e-01 -6.27369285e-03 6.87003997e-01 1.87132174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:239.39, Y:-7.80, Z:187.15 [[ 5.65205140e-01 -5.63081398e-01 -6.02895090e-01 2.39394057e+02] [ 3.90624743e-01 8.26377744e-01 -4.05600954e-01 -7.79624912e+00] [ 7.26605436e-01 -6.25799616e-03 6.87026475e-01 1.87152190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59999999999997 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:239.41, Y:-7.79, Z:187.17 [[ 5.65084685e-01 -5.63339592e-01 -6.02766790e-01 2.39409944e+02] [ 3.90705833e-01 8.26202581e-01 -4.05879598e-01 -7.78544156e+00] [ 7.26655525e-01 -6.14815583e-03 6.86974489e-01 1.87172237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:239.43, Y:-7.78, Z:187.19 [[ 5.65569998e-01 -5.63602699e-01 -6.02065259e-01 2.39426054e+02] [ 3.91199830e-01 8.26023935e-01 -4.05767362e-01 -7.77524774e+00] [ 7.26011894e-01 -6.03798042e-03 6.87655635e-01 1.87191401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65999999999997 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:239.44, Y:-7.76, Z:187.21 [[ 5.65760820e-01 -5.63645147e-01 -6.01846195e-01 2.39441896e+02] [ 3.91248894e-01 8.25995975e-01 -4.05776974e-01 -7.76450681e+00] [ 7.25836756e-01 -5.89894475e-03 6.87841701e-01 1.87211319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:239.46, Y:-7.75, Z:187.23 [[ 5.66056478e-01 -5.63735919e-01 -6.01483065e-01 2.39457279e+02] [ 3.91261147e-01 8.25936228e-01 -4.05886759e-01 -7.75412048e+00] [ 7.25599599e-01 -5.58212456e-03 6.88094515e-01 1.87231314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71999999999997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:239.47, Y:-7.74, Z:187.25 [[ 5.66324553e-01 -5.63600037e-01 -6.01358046e-01 2.39472874e+02] [ 3.90987728e-01 8.26031323e-01 -4.05956710e-01 -7.74312472e+00] [ 7.25537798e-01 -5.22036350e-03 6.88162518e-01 1.87251389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:239.49, Y:-7.73, Z:187.27 [[ 5.67323598e-01 -5.62493712e-01 -6.01452209e-01 2.39489065e+02] [ 3.88925322e-01 8.26794699e-01 -4.06383587e-01 -7.73191965e+00] [ 7.25865710e-01 -3.36899542e-03 6.87828192e-01 1.87271361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:239.50, Y:-7.72, Z:187.29 [[ 5.68022271e-01 -5.61966480e-01 -6.01285601e-01 2.39504434e+02] [ 3.87882333e-01 8.27156957e-01 -4.06643165e-01 -7.72176354e+00] [ 7.25877397e-01 -2.24568789e-03 6.87820443e-01 1.87290486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:239.52, Y:-7.71, Z:187.31 [[ 5.68720104e-01 -5.61502216e-01 -6.01059651e-01 2.39521226e+02] [ 3.87099523e-01 8.27474137e-01 -4.06743791e-01 -7.71138338e+00] [ 7.25748856e-01 -1.34653247e-03 6.87958418e-01 1.87310613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:239.54, Y:-7.70, Z:187.33 [[ 5.69146722e-01 -5.60994586e-01 -6.01129840e-01 2.39537001e+02] [ 3.85922912e-01 8.27819430e-01 -4.07159056e-01 -7.70097950e+00] [ 7.26040987e-01 -2.56536598e-04 6.87651379e-01 1.87330349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:239.55, Y:-7.69, Z:187.35 [[ 5.70010695e-01 -5.59811230e-01 -6.01414328e-01 2.39552939e+02] [ 3.83828836e-01 8.28618908e-01 -4.07512121e-01 -7.68984888e+00] [ 7.26473146e-01 1.44610586e-03 6.87193333e-01 1.87350945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:239.57, Y:-7.68, Z:187.37 [[ 5.71089494e-01 -5.58435125e-01 -6.01670176e-01 2.39569177e+02] [ 3.81261300e-01 8.29540219e-01 -4.08047603e-01 -7.68008428e+00] [ 7.26977724e-01 3.63814627e-03 6.86651406e-01 1.87371327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:239.58, Y:-7.67, Z:187.39 [[ 5.72425455e-01 -5.57012837e-01 -6.01719035e-01 2.39583453e+02] [ 3.78775850e-01 8.30483015e-01 -4.08444387e-01 -7.66931789e+00] [ 7.27226205e-01 5.88732546e-03 6.86372629e-01 1.87390886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:239.60, Y:-7.66, Z:187.41 [[ 5.73577282e-01 -5.55782562e-01 -6.01759790e-01 2.39598860e+02] [ 3.76793098e-01 8.31292567e-01 -4.08631410e-01 -7.65826311e+00] [ 7.27348652e-01 7.64275753e-03 6.86225565e-01 1.87411353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:239.61, Y:-7.65, Z:187.43 [[ 5.75157223e-01 -5.54546256e-01 -6.01392234e-01 2.39613981e+02] [ 3.74892926e-01 8.32097144e-01 -4.08741529e-01 -7.64785271e+00] [ 7.27082844e-01 9.63294900e-03 6.86482151e-01 1.87431508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:239.63, Y:-7.64, Z:187.45 [[ 5.79841982e-01 -5.51141198e-01 -6.00022213e-01 2.39629835e+02] [ 3.70740535e-01 8.34291933e-01 -4.08054440e-01 -7.63666929e+00] [ 7.25489305e-01 1.41545396e-02 6.88087871e-01 1.87452110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:239.65, Y:-7.63, Z:187.47 [[ 5.81734524e-01 -5.49768892e-01 -5.99449005e-01 2.39645612e+02] [ 3.68825578e-01 8.35158426e-01 -4.08017275e-01 -7.62551549e+00] [ 7.24950093e-01 1.62656096e-02 6.88609318e-01 1.87472614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:239.66, Y:-7.62, Z:187.49 [[ 5.83746301e-01 -5.48562540e-01 -5.98597858e-01 2.39661127e+02] [ 3.67366413e-01 8.35912711e-01 -4.07788988e-01 -7.61539581e+00] [ 7.24073321e-01 1.81405660e-02 6.89484406e-01 1.87491687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:239.68, Y:-7.60, Z:187.51 [[ 5.85144384e-01 -5.47473861e-01 -5.98229405e-01 2.39677099e+02] [ 3.65926950e-01 8.36592061e-01 -4.07690067e-01 -7.60442156e+00] [ 7.23673626e-01 1.96492913e-02 6.89862586e-01 1.87511797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:239.69, Y:-7.59, Z:187.53 [[ 5.86438791e-01 -5.46462980e-01 -5.97886073e-01 2.39692851e+02] [ 3.64381493e-01 8.37212570e-01 -4.07800491e-01 -7.59416315e+00] [ 7.23405607e-01 2.12914075e-02 6.90094923e-01 1.87531670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16999999999996 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:239.71, Y:-7.58, Z:187.55 [[ 5.86244078e-01 -5.46542652e-01 -5.98004189e-01 2.39707958e+02] [ 3.64033368e-01 8.37151820e-01 -4.08235885e-01 -7.58410974e+00] [ 7.23738618e-01 2.16323912e-02 6.89735059e-01 1.87551431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:239.72, Y:-7.57, Z:187.57 [[ 5.85682589e-01 -5.46739154e-01 -5.98374635e-01 2.39724091e+02] [ 3.63869801e-01 8.37024213e-01 -4.08643163e-01 -7.57314304e+00] [ 7.24275275e-01 2.16047263e-02 6.89172375e-01 1.87571437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22999999999996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:239.74, Y:-7.56, Z:187.59 [[ 5.83875413e-01 -5.48271746e-01 -5.98738336e-01 2.39742282e+02] [ 3.65398674e-01 8.36056780e-01 -4.09258928e-01 -7.56363898e+00] [ 7.24964352e-01 2.01780321e-02 6.88490766e-01 1.87590775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:239.76, Y:-7.55, Z:187.61 [[ 5.83053210e-01 -5.48839918e-01 -5.99018947e-01 2.39758203e+02] [ 3.65609276e-01 8.35689616e-01 -4.09820355e-01 -7.55322597e+00] [ 7.25519684e-01 1.99401901e-02 6.87912478e-01 1.87610337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28999999999996 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:239.77, Y:-7.54, Z:187.63 [[ 5.82666461e-01 -5.49286035e-01 -5.98986350e-01 2.39774666e+02] [ 3.66103859e-01 8.35405020e-01 -4.09959043e-01 -7.54254027e+00] [ 7.25580981e-01 1.95781707e-02 6.87858223e-01 1.87630211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:239.79, Y:-7.53, Z:187.65 [[ 5.82121483e-01 -5.49957230e-01 -5.98900346e-01 2.39790521e+02] [ 3.66750237e-01 8.34972662e-01 -4.10262011e-01 -7.53159856e+00] [ 7.25691975e-01 1.91754866e-02 6.87752469e-01 1.87650536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34999999999997 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:239.81, Y:-7.52, Z:187.67 [[ 5.82453940e-01 -5.50170859e-01 -5.98380677e-01 2.39805754e+02] [ 3.67069992e-01 8.34828694e-01 -4.10269025e-01 -7.52154716e+00] [ 7.25263421e-01 1.93152200e-02 6.88200474e-01 1.87669972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:239.82, Y:-7.51, Z:187.69 [[ 5.83398894e-01 -5.50077208e-01 -5.97545643e-01 2.39821791e+02] [ 3.67406231e-01 8.34884554e-01 -4.09854174e-01 -7.51066594e+00] [ 7.24333067e-01 1.95664786e-02 6.89172519e-01 1.87690348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40999999999997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:239.84, Y:-7.50, Z:187.71 [[ 5.83849244e-01 -5.50203963e-01 -5.96988827e-01 2.39836539e+02] [ 3.67630867e-01 8.34795280e-01 -4.09834584e-01 -7.50022624e+00] [ 7.23856067e-01 1.98100920e-02 6.89666553e-01 1.87710083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:239.85, Y:-7.49, Z:187.73 [[ 5.84226752e-01 -5.50294017e-01 -5.96536334e-01 2.39851336e+02] [ 3.67939473e-01 8.34734800e-01 -4.09680801e-01 -7.48950988e+00] [ 7.23394531e-01 1.98572194e-02 6.90149291e-01 1.87729839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46999999999997 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:239.87, Y:-7.48, Z:187.75 [[ 5.84633622e-01 -5.50316822e-01 -5.96116535e-01 2.39866796e+02] [ 3.68131025e-01 8.34716713e-01 -4.09545550e-01 -7.47847723e+00] [ 7.22968240e-01 1.99851074e-02 6.90592151e-01 1.87750356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:239.88, Y:-7.47, Z:187.77 [[ 5.85147319e-01 -5.50415473e-01 -5.95521135e-01 2.39882224e+02] [ 3.68356576e-01 8.34645359e-01 -4.09488165e-01 -7.46734927e+00] [ 7.22437574e-01 2.02467757e-02 6.91139653e-01 1.87770843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:239.90, Y:-7.46, Z:187.79 [[ 5.84916957e-01 -5.50887128e-01 -5.95311285e-01 2.39897496e+02] [ 3.68814163e-01 8.34338097e-01 -4.09702396e-01 -7.45565398e+00] [ 7.22390661e-01 2.00826450e-02 6.91193476e-01 1.87790667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:239.92, Y:-7.44, Z:187.81 [[ 5.90532684e-01 -5.56232542e-01 -5.84702068e-01 2.39918250e+02] [ 3.67318806e-01 8.30385275e-01 -4.18971585e-01 -7.44249636e+00] [ 7.18573618e-01 3.26443491e-02 6.94684318e-01 1.87812383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:239.94, Y:-7.44, Z:187.82 [[ 5.84532902e-01 -5.33210820e-01 -6.11561533e-01 2.39943942e+02] [ 3.67512228e-01 8.45981730e-01 -3.86328455e-01 -7.43797381e+00] [ 7.23364395e-01 1.06535123e-03 6.90465652e-01 1.87820330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:239.95, Y:-7.42, Z:187.85 [[ 5.90736978e-01 -5.56353262e-01 -5.84380758e-01 2.39950437e+02] [ 3.66365402e-01 8.30247590e-01 -4.20077769e-01 -7.41978030e+00] [ 7.18892353e-01 3.40585800e-02 6.94286539e-01 1.87852758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:239.98, Y:-7.42, Z:187.86 [[ 5.84278071e-01 -5.31589990e-01 -6.13213844e-01 2.39976248e+02] [ 3.65124544e-01 8.46999814e-01 -3.86361726e-01 -7.41503951e+00] [ 7.24778038e-01 1.84325875e-03 6.88979970e-01 1.87860257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:239.98, Y:-7.40, Z:187.89 [[ 5.91023984e-01 -5.55074421e-01 -5.85305935e-01 2.39981308e+02] [ 3.63974103e-01 8.31041051e-01 -4.20587237e-01 -7.39668131e+00] [ 7.19870476e-01 3.55409422e-02 6.93197907e-01 1.87892874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:240.01, Y:-7.38, Z:187.91 [[ 5.95432680e-01 -5.45865096e-01 -5.89483860e-01 2.40008609e+02] [ 3.62787046e-01 8.37348663e-01 -4.08941043e-01 -7.38485763e+00] [ 7.16830163e-01 2.96397526e-02 6.96617544e-01 1.87906635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:240.03, Y:-7.38, Z:187.92 [[ 5.91358279e-01 -5.29500787e-01 -6.08214026e-01 2.40030915e+02] [ 3.62780751e-01 8.48276477e-01 -3.85768252e-01 -7.37870616e+00] [ 7.20198245e-01 7.47890899e-03 6.93728011e-01 1.87918057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:240.04, Y:-7.37, Z:187.95 [[ 5.90251737e-01 -5.38535660e-01 -6.01317080e-01 2.40036411e+02] [ 3.62285799e-01 8.42419491e-01 -3.98846337e-01 -7.36627206e+00] [ 7.21354204e-01 1.75711050e-02 6.92343389e-01 1.87945035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:240.04, Y:-7.35, Z:187.97 [[ 5.93464224e-01 -5.52286283e-01 -5.85474232e-01 2.40042167e+02] [ 3.63104075e-01 8.32908370e-01 -4.17635100e-01 -7.35095859e+00] [ 7.18300526e-01 3.52634111e-02 6.94838720e-01 1.87971133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:240.07, Y:-7.34, Z:187.99 [[ 5.92008558e-01 -5.40554667e-01 -5.97767948e-01 2.40065719e+02] [ 3.62248692e-01 8.41038749e-01 -4.01783159e-01 -7.34264257e+00] [ 7.19931769e-01 2.13184115e-02 6.93717359e-01 1.87986881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:240.08, Y:-7.33, Z:188.01 [[ 5.91819769e-01 -5.46220596e-01 -5.92783621e-01 2.40076549e+02] [ 3.62966329e-01 8.37208200e-01 -4.09069523e-01 -7.33015215e+00] [ 7.19725506e-01 2.69349355e-02 6.93736048e-01 1.88010138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:240.09, Y:-7.32, Z:188.03 [[ 5.91595733e-01 -5.46866239e-01 -5.92411855e-01 2.40091844e+02] [ 3.63796895e-01 8.36799070e-01 -4.09168836e-01 -7.31869348e+00] [ 7.19490311e-01 2.65449440e-02 6.93994999e-01 1.88029837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91999999999996 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:240.11, Y:-7.29, Z:188.06 [[ 6.06516525e-01 -5.76093089e-01 -5.47954795e-01 2.40105016e+02] [ 3.65413021e-01 8.14067813e-01 -4.51405494e-01 -7.29372271e+00] [ 7.06123947e-01 7.35550743e-02 7.04257497e-01 1.88061243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:240.16, Y:-7.29, Z:188.06 [[ 6.03499335e-01 -5.30931988e-01 -5.94894762e-01 2.40164133e+02] [ 3.63300315e-01 8.47227922e-01 -3.87579319e-01 -7.29226154e+00] [ 7.09789711e-01 1.77784067e-02 7.04189246e-01 1.88058887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97999999999996 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:240.18, Y:-7.28, Z:188.08 [[ 6.02555648e-01 -5.26754255e-01 -5.99547034e-01 2.40184223e+02] [ 3.63182708e-01 8.49929067e-01 -3.81731453e-01 -7.28186898e+00] [ 7.10651118e-01 1.22693270e-02 7.03437596e-01 1.88078218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:240.20, Y:-7.28, Z:188.09 [[ 5.83241471e-01 -4.98344778e-01 -6.41468525e-01 2.40199859e+02] [ 3.65314054e-01 8.66249460e-01 -3.40818887e-01 -7.28426273e+00] [ 7.25517076e-01 -3.55577581e-02 6.87284961e-01 1.88088639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03999999999996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:240.17, Y:-7.26, Z:188.14 [[ 5.83657462e-01 -5.58034678e-01 -5.89865463e-01 2.40169005e+02] [ 3.69681450e-01 8.29397490e-01 -4.18850127e-01 -7.25915513e+00] [ 7.22965831e-01 2.64026822e-02 6.90379103e-01 1.88135503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:240.19, Y:-7.23, Z:188.17 [[ 6.00134026e-01 -5.88009220e-01 -5.42295406e-01 2.40186281e+02] [ 3.72541654e-01 8.05402440e-01 -4.61020202e-01 -7.23286953e+00] [ 7.07850172e-01 7.46462823e-02 7.02407336e-01 1.88168161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09999999999997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:240.26, Y:-7.25, Z:188.14 [[ 5.77972940e-01 -4.92613643e-01 -6.50599016e-01 2.40257041e+02] [ 3.72382459e-01 8.68611398e-01 -3.26872367e-01 -7.25282446e+00] [ 7.26139508e-01 -5.33482789e-02 6.85474563e-01 1.88144543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:240.22, Y:-7.22, Z:188.20 [[ 5.78789192e-01 -5.63735664e-01 -5.89241183e-01 2.40216755e+02] [ 3.77628458e-01 8.25712546e-01 -4.19041213e-01 -7.22331760e+00] [ 7.22772314e-01 2.00222860e-02 6.90796128e-01 1.88198116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15999999999997 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:240.24, Y:-7.21, Z:188.22 [[ 5.77293508e-01 -5.59386786e-01 -5.94826554e-01 2.40236331e+02] [ 3.79496959e-01 8.28825459e-01 -4.11133089e-01 -7.21352423e+00] [ 7.22989808e-01 1.16095948e-02 6.90761141e-01 1.88216221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:240.25, Y:-7.20, Z:188.24 [[ 5.76234764e-01 -5.63339220e-01 -5.92116898e-01 2.40249549e+02] [ 3.81829700e-01 8.26128134e-01 -4.14389173e-01 -7.20152586e+00] [ 7.22606101e-01 1.26976300e-02 6.91143395e-01 1.88237299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21999999999997 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:240.27, Y:-7.19, Z:188.26 [[ 5.75258618e-01 -5.65030804e-01 -5.91453898e-01 2.40265351e+02] [ 3.84373168e-01 8.24996666e-01 -4.14291888e-01 -7.18963760e+00] [ 7.22035172e-01 1.09859703e-02 6.91769122e-01 1.88257574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:240.28, Y:-7.16, Z:188.29 [[ 5.87322791e-01 -6.01891790e-01 -5.41089837e-01 2.40275531e+02] [ 3.90097131e-01 7.96285492e-01 -4.62334991e-01 -7.16186596e+00] [ 7.09137623e-01 6.04622839e-02 7.02472878e-01 1.88291289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:240.34, Y:-7.16, Z:188.28 [[ 5.81223636e-01 -5.47768190e-01 -6.01771631e-01 2.40339558e+02] [ 3.90173495e-01 8.36554661e-01 -3.84630918e-01 -7.16313193e+00] [ 7.14103444e-01 -1.12387604e-02 6.99949971e-01 1.88283710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:240.36, Y:-7.16, Z:188.29 [[ 5.65361710e-01 -5.21050926e-01 -6.39431052e-01 2.40356929e+02] [ 3.92860808e-01 8.51738984e-01 -3.46700285e-01 -7.16427302e+00] [ 7.25276859e-01 -5.51963337e-02 6.86241096e-01 1.88294124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:240.35, Y:-7.15, Z:188.33 [[ 5.67782179e-01 -5.56775876e-01 -6.06320065e-01 2.40351832e+02] [ 3.90932693e-01 8.30578462e-01 -3.96624569e-01 -7.14520860e+00] [ 7.24427378e-01 -1.18339739e-02 6.89249542e-01 1.88334249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:240.34, Y:-7.13, Z:188.36 [[ 5.60131432e-01 -5.82174593e-01 -5.89343298e-01 2.40339095e+02] [ 4.00705830e-01 8.13063698e-01 -4.22329564e-01 -7.12642627e+00] [ 7.25043183e-01 4.06767826e-04 6.88703287e-01 1.88362968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:240.37, Y:-7.12, Z:188.38 [[ 5.65863874e-01 -5.81531007e-01 -5.84482475e-01 2.40368016e+02] [ 3.99852388e-01 8.13507307e-01 -4.22284180e-01 -7.11528620e+00] [ 7.21052109e-01 5.24864863e-03 6.92860959e-01 1.88383714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:240.39, Y:-7.11, Z:188.39 [[ 5.56790850e-01 -5.65278470e-01 -6.08641275e-01 2.40387090e+02] [ 4.05747560e-01 8.24448788e-01 -3.94528977e-01 -7.10808656e+00] [ 7.24812297e-01 -2.72845876e-02 6.88405901e-01 1.88392807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:240.39, Y:-7.09, Z:188.42 [[ 5.53041988e-01 -5.85533166e-01 -5.92701840e-01 2.40389931e+02] [ 4.08323527e-01 8.10588531e-01 -4.19783434e-01 -7.09450654e+00] [ 7.26234436e-01 -9.85624101e-03 6.87376460e-01 1.88420888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:240.41, Y:-7.08, Z:188.44 [[ 5.51996418e-01 -5.86282888e-01 -5.92935351e-01 2.40405278e+02] [ 4.08860671e-01 8.10039475e-01 -4.20320118e-01 -7.08429989e+00] [ 7.26727532e-01 -1.04127452e-02 6.86846903e-01 1.88439951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:240.43, Y:-7.07, Z:188.47 [[ 5.57546723e-01 -5.90927363e-01 -5.83049315e-01 2.40429022e+02] [ 4.06756860e-01 8.06722676e-01 -4.28657650e-01 -7.07178600e+00] [ 7.23664638e-01 1.83736003e-03 6.90149343e-01 1.88466751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:240.46, Y:-7.07, Z:188.47 [[ 5.51299457e-01 -5.62676101e-01 -6.16006912e-01 2.40457471e+02] [ 4.10886314e-01 8.25707529e-01 -3.86496460e-01 -7.06819403e+00] [ 7.26113866e-01 -4.00335211e-02 6.86408021e-01 1.88467777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:240.46, Y:-7.05, Z:188.51 [[ 5.59993478e-01 -5.98270403e-01 -5.73131599e-01 2.40459095e+02] [ 4.09634413e-01 8.01238435e-01 -4.36138301e-01 -7.04783314e+00] [ 7.20143702e-01 9.46017782e-03 6.93760444e-01 1.88508553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:240.49, Y:-7.05, Z:188.51 [[ 5.51253641e-01 -5.56923039e-01 -6.21253694e-01 2.40493326e+02] [ 4.13014680e-01 8.29124549e-01 -3.76790867e-01 -7.04810001e+00] [ 7.24940203e-01 -4.88795583e-02 6.87075317e-01 1.88505872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:240.48, Y:-7.03, Z:188.54 [[ 5.49437420e-01 -5.93140853e-01 -5.88474681e-01 2.40478018e+02] [ 4.11966448e-01 8.05059661e-01 -4.26805094e-01 -7.02920661e+00] [ 7.26912765e-01 -7.92913475e-03 6.86684033e-01 1.88543990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66999999999996 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:240.50, Y:-7.01, Z:188.57 [[ 5.61155885e-01 -6.08143895e-01 -5.61484706e-01 2.40501218e+02] [ 4.11561706e-01 7.93564181e-01 -4.48188412e-01 -7.01043640e+00] [ 7.18137198e-01 2.04179612e-02 6.95601949e-01 1.88572047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:240.56, Y:-7.01, Z:188.57 [[ 5.60578307e-01 -5.58046082e-01 -6.11830476e-01 2.40560291e+02] [ 4.10254500e-01 8.28944828e-01 -3.80186424e-01 -7.01369368e+00] [ 7.19335254e-01 -3.78819437e-02 6.93629405e-01 1.88567278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72999999999996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:240.57, Y:-7.00, Z:188.59 [[ 5.56677106e-01 -5.63912579e-01 -6.10010823e-01 2.40569054e+02] [ 4.11961876e-01 8.25049349e-01 -3.86757009e-01 -7.00218888e+00] [ 7.21386175e-01 -3.60024305e-02 6.91596567e-01 1.88590901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:240.57, Y:-6.99, Z:188.61 [[ 5.46347225e-01 -5.66464977e-01 -6.16945815e-01 2.40568709e+02] [ 4.16994285e-01 8.22785748e-01 -3.86185680e-01 -6.99158645e+00] [ 7.26374886e-01 -4.62714045e-02 6.85739369e-01 1.88610606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78999999999996 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:240.56, Y:-6.97, Z:188.66 [[ 5.52708516e-01 -6.13497942e-01 -5.64033307e-01 2.40560511e+02] [ 4.17600436e-01 7.89589834e-01 -4.49619583e-01 -6.96637423e+00] [ 7.21195654e-01 1.29680173e-02 6.92610034e-01 1.88655664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:240.61, Y:-6.96, Z:188.65 [[ 5.53098087e-01 -5.76333490e-01 -6.01599713e-01 2.40607043e+02] [ 4.21187393e-01 8.16467235e-01 -3.94946116e-01 -6.96392013e+00] [ 7.18807128e-01 -3.49422738e-02 6.94330865e-01 1.88647618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84999999999997 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:240.62, Y:-6.96, Z:188.67 [[ 5.50682473e-01 -5.78531316e-01 -6.01706183e-01 2.40623301e+02] [ 4.21457066e-01 8.14929434e-01 -3.97824030e-01 -6.95527173e+00] [ 7.20501739e-01 -3.45186017e-02 6.92593467e-01 1.88673358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:240.63, Y:-6.94, Z:188.70 [[ 5.51769823e-01 -5.87615078e-01 -5.91826481e-01 2.40633614e+02] [ 4.20902382e-01 8.08827357e-01 -4.10657389e-01 -6.94123957e+00] [ 7.19993922e-01 -2.25128208e-02 6.93615113e-01 1.88696072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90999999999997 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:240.66, Y:-6.94, Z:188.71 [[ 5.47718299e-01 -5.67279997e-01 -6.14978105e-01 2.40657490e+02] [ 4.21555529e-01 8.22031913e-01 -3.82824333e-01 -6.93870219e+00] [ 7.22700215e-01 -4.95675280e-02 6.89381940e-01 1.88706893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:240.64, Y:-6.92, Z:188.74 [[ 5.43273520e-01 -5.93133211e-01 -5.94177479e-01 2.40644414e+02] [ 4.24495777e-01 8.04661387e-01 -4.15118523e-01 -6.91932094e+00] [ 7.24332256e-01 -2.67029296e-02 6.88933767e-01 1.88737772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96999999999997 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:240.67, Y:-6.91, Z:188.76 [[ 5.52255978e-01 -6.00326559e-01 -5.78464655e-01 2.40668774e+02] [ 4.23896732e-01 7.99687620e-01 -4.25219087e-01 -6.90561574e+00] [ 7.17861335e-01 -1.03794942e-02 6.96108735e-01 1.88764464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:240.70, Y:-6.90, Z:188.77 [[ 5.49060088e-01 -5.77577636e-01 -6.04100235e-01 2.40696405e+02] [ 4.22609659e-01 8.15445037e-01 -3.95538200e-01 -6.90174322e+00] [ 7.21064557e-01 -3.81243556e-02 6.91818212e-01 1.88771713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:240.70, Y:-6.89, Z:188.80 [[ 5.44607420e-01 -5.87481902e-01 -5.98554736e-01 2.40696193e+02] [ 4.25920568e-01 8.08530963e-01 -4.06041071e-01 -6.88644491e+00] [ 7.22491818e-01 -3.38037927e-02 6.90552587e-01 1.88795831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:240.70, Y:-6.87, Z:188.82 [[ 5.46737939e-01 -6.05516055e-01 -5.78297443e-01 2.40701091e+02] [ 4.24860552e-01 7.95773372e-01 -4.31553301e-01 -6.87011105e+00] [ 7.21506159e-01 -9.74920841e-03 6.92339379e-01 1.88824462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:240.72, Y:-6.86, Z:188.84 [[ 5.43556116e-01 -5.93823958e-01 -5.93228334e-01 2.40721376e+02] [ 4.23950902e-01 8.04204125e-01 -4.16558948e-01 -6.86228663e+00] [ 7.24439356e-01 -2.50765232e-02 6.88882274e-01 1.88837965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:240.73, Y:-6.85, Z:188.86 [[ 5.42490644e-01 -6.03430081e-01 -5.84445069e-01 2.40727330e+02] [ 4.22518118e-01 7.97308067e-01 -4.31020054e-01 -6.84903130e+00] [ 7.26073234e-01 -1.31142843e-02 6.87492308e-01 1.88862619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:240.74, Y:-6.84, Z:188.88 [[ 5.42050033e-01 -6.03960791e-01 -5.84305678e-01 2.40741045e+02] [ 4.20818511e-01 7.96938342e-01 -4.33360197e-01 -6.83792016e+00] [ 7.27388165e-01 -1.09837358e-02 6.86138335e-01 1.88882848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:240.77, Y:-6.83, Z:188.90 [[ 5.43908171e-01 -5.89758440e-01 -5.96949650e-01 2.40772352e+02] [ 4.24780353e-01 8.07005986e-01 -4.10247474e-01 -6.82831629e+00] [ 7.23688851e-01 -3.04355300e-02 6.89454948e-01 1.88897931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:240.78, Y:-6.82, Z:188.92 [[ 5.43078192e-01 -5.98520852e-01 -5.88930274e-01 2.40780057e+02] [ 4.25328770e-01 8.00818602e-01 -4.21645590e-01 -6.81532566e+00] [ 7.23989996e-01 -2.15024647e-02 6.89475257e-01 1.88921877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:240.80, Y:-6.80, Z:188.94 [[ 5.42753432e-01 -5.99300982e-01 -5.88436101e-01 2.40795850e+02] [ 4.26566978e-01 8.00215481e-01 -4.21539793e-01 -6.80386506e+00] [ 7.23504890e-01 -2.22152404e-02 6.89961708e-01 1.88942283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:240.81, Y:-6.79, Z:188.96 [[ 5.42195198e-01 -6.00283500e-01 -5.87949052e-01 2.40810733e+02] [ 4.27970037e-01 7.99454893e-01 -4.21560816e-01 -6.79286741e+00] [ 7.23094748e-01 -2.30563276e-02 6.90363956e-01 1.88962157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:240.83, Y:-6.78, Z:188.98 [[ 5.41010033e-01 -6.02036718e-01 -5.87247763e-01 2.40826016e+02] [ 4.30880642e-01 7.98072165e-01 -4.21215732e-01 -6.78160270e+00] [ 7.22253430e-01 -2.51517557e-02 6.91171015e-01 1.88982564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:240.84, Y:-6.77, Z:189.00 [[ 5.40597062e-01 -6.03001537e-01 -5.86637847e-01 2.40840325e+02] [ 4.32338436e-01 7.97317738e-01 -4.21150688e-01 -6.77060958e+00] [ 7.21691273e-01 -2.59532644e-02 6.91728368e-01 1.89001990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:240.86, Y:-6.76, Z:189.02 [[ 5.39881082e-01 -6.03702469e-01 -5.86576292e-01 2.40855846e+02] [ 4.33248588e-01 7.96762483e-01 -4.21266194e-01 -6.75913917e+00] [ 7.21681424e-01 -2.66997017e-02 6.91710234e-01 1.89022755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:240.87, Y:-6.75, Z:189.04 [[ 5.40094121e-01 -6.03651519e-01 -5.86432592e-01 2.40871520e+02] [ 4.32887660e-01 7.96817926e-01 -4.21532286e-01 -6.74712930e+00] [ 7.21738605e-01 -2.61923228e-02 6.91669970e-01 1.89042731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41999999999996 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:240.90, Y:-6.75, Z:189.06 [[ 5.37147245e-01 -5.82073506e-01 -6.10461522e-01 2.40901359e+02] [ 4.28926302e-01 8.11666915e-01 -3.96508571e-01 -6.74564834e+00] [ 7.26288555e-01 -4.88595168e-02 6.85651284e-01 1.89060416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:240.89, Y:-6.72, Z:189.09 [[ 5.40312219e-01 -6.20859127e-01 -5.67975923e-01 2.40887372e+02] [ 4.32375450e-01 7.83907293e-01 -4.45579203e-01 -6.71995754e+00] [ 7.21882384e-01 -4.82695713e-03 6.91998934e-01 1.89093522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47999999999996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:240.92, Y:-6.71, Z:189.10 [[ 5.41294883e-01 -6.03665080e-01 -5.85310449e-01 2.40917970e+02] [ 4.32732984e-01 7.96844352e-01 -4.21641131e-01 -6.71230729e+00] [ 7.20931352e-01 -2.50509502e-02 6.92553561e-01 1.89103527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:240.93, Y:-6.70, Z:189.12 [[ 5.41584773e-01 -6.03518740e-01 -5.85193186e-01 2.40932446e+02] [ 4.32204873e-01 7.96975099e-01 -4.21935586e-01 -6.70097200e+00] [ 7.21030431e-01 -2.44094579e-02 6.92473318e-01 1.89122922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53999999999996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:240.95, Y:-6.69, Z:189.14 [[ 5.41630040e-01 -6.03571415e-01 -5.85096955e-01 2.40947431e+02] [ 4.32179417e-01 7.96939074e-01 -4.22029695e-01 -6.69012032e+00] [ 7.21011686e-01 -2.42829004e-02 6.92497285e-01 1.89142995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:240.96, Y:-6.68, Z:189.16 [[ 5.41759357e-01 -6.03562961e-01 -5.84985941e-01 2.40962492e+02] [ 4.32078004e-01 7.96951703e-01 -4.22109679e-01 -6.67853172e+00] [ 7.20975310e-01 -2.40776896e-02 6.92542322e-01 1.89163586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59999999999997 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:240.99, Y:-6.67, Z:189.18 [[ 5.41411027e-01 -5.89222748e-01 -5.99742155e-01 2.40989144e+02] [ 4.27777688e-01 8.07154957e-01 -4.06825670e-01 -6.67373310e+00] [ 7.23795792e-01 -3.62964088e-02 6.89058939e-01 1.89183510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:240.99, Y:-6.65, Z:189.21 [[ 5.42405272e-01 -6.08695519e-01 -5.79039105e-01 2.40987493e+02] [ 4.30535305e-01 7.93247589e-01 -4.30578232e-01 -6.65374860e+00] [ 7.21412415e-01 -1.57488744e-02 6.92326586e-01 1.89207466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65999999999997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:241.01, Y:-6.64, Z:189.22 [[ 5.44107411e-01 -6.01859863e-01 -5.84561230e-01 2.41007742e+02] [ 4.28961043e-01 7.98331575e-01 -4.22680872e-01 -6.64330957e+00] [ 7.21068339e-01 -2.07702000e-02 6.92552561e-01 1.89224241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:241.04, Y:-6.64, Z:189.24 [[ 5.39471771e-01 -5.71139917e-01 -6.18683605e-01 2.41042796e+02] [ 4.24315212e-01 8.19060676e-01 -3.86129785e-01 -6.64464080e+00] [ 7.27273545e-01 -5.42107461e-02 6.84203468e-01 1.89238339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71999999999997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:241.02, Y:-6.62, Z:189.28 [[ 5.43859841e-01 -6.27356614e-01 -5.57351014e-01 2.41016224e+02] [ 4.28077287e-01 7.78655774e-01 -4.58742871e-01 -6.61522463e+00] [ 7.21779959e-01 1.09025146e-02 6.92036723e-01 1.89279233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:241.06, Y:-6.61, Z:189.28 [[ 5.44259806e-01 -6.01832378e-01 -5.84447648e-01 2.41055228e+02] [ 4.28154896e-01 7.98377236e-01 -4.23411353e-01 -6.60946926e+00] [ 7.21432359e-01 -1.97883409e-02 6.92202118e-01 1.89284824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:241.09, Y:-6.62, Z:189.30 [[ 5.35290642e-01 -5.62038071e-01 -6.30537180e-01 2.41094483e+02] [ 4.24999346e-01 8.24328486e-01 -3.73976074e-01 -6.61523629e+00] [ 7.29958550e-01 -6.77919960e-02 6.80121137e-01 1.89296786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:241.07, Y:-6.59, Z:189.34 [[ 5.35752882e-01 -6.12244245e-01 -5.81485884e-01 2.41072087e+02] [ 4.24557397e-01 7.90599345e-01 -4.41252413e-01 -6.59171836e+00] [ 7.29876610e-01 -1.04718815e-02 6.83498701e-01 1.89343802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:241.08, Y:-6.57, Z:189.36 [[ 5.38717935e-01 -6.29000004e-01 -5.60483704e-01 2.41079405e+02] [ 4.30834376e-01 7.77386357e-01 -4.58314513e-01 -6.57251913e+00] [ 7.23992215e-01 5.42660116e-03 6.89786797e-01 1.89362065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:241.14, Y:-6.58, Z:189.36 [[ 5.34281644e-01 -5.76060467e-01 -6.18625463e-01 2.41135576e+02] [ 4.28533000e-01 8.15405954e-01 -3.89194808e-01 -6.57777998e+00] [ 7.28630629e-01 -5.71617838e-02 6.82517353e-01 1.89364539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:241.13, Y:-6.56, Z:189.40 [[ 5.33944635e-01 -6.00569361e-01 -5.95163482e-01 2.41131212e+02] [ 4.28256162e-01 7.99027720e-01 -4.22079806e-01 -6.56050738e+00] [ 7.29040319e-01 -2.95151801e-02 6.83834093e-01 1.89398319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:241.13, Y:-6.54, Z:189.42 [[ 5.37534832e-01 -6.28631770e-01 -5.62030606e-01 2.41128218e+02] [ 4.33037434e-01 7.77701502e-01 -4.55696122e-01 -6.53821676e+00] [ 7.23557106e-01 1.57224650e-03 6.90262734e-01 1.89422698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:241.18, Y:-6.54, Z:189.43 [[ 5.35285195e-01 -5.82798755e-01 -6.11404425e-01 2.41180082e+02] [ 4.30726158e-01 8.10988999e-01 -3.95944213e-01 -6.54135870e+00] [ 7.26598057e-01 -5.14048039e-02 6.85137073e-01 1.89427907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:241.18, Y:-6.52, Z:189.46 [[ 5.37312082e-01 -6.07817432e-01 -5.84682560e-01 2.41176942e+02] [ 4.32392855e-01 7.93744941e-01 -4.27791291e-01 -6.52353785e+00] [ 7.24107828e-01 -2.29551324e-02 6.89304661e-01 1.89459110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:241.20, Y:-6.51, Z:189.48 [[ 5.38193925e-01 -6.02229847e-01 -5.89632521e-01 2.41197610e+02] [ 4.33801458e-01 7.97744826e-01 -4.18831097e-01 -6.51333067e+00] [ 7.22608881e-01 -3.03710950e-02 6.90589605e-01 1.89476192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:241.22, Y:-6.50, Z:189.50 [[ 5.36777864e-01 -5.93524476e-01 -5.99665091e-01 2.41219325e+02] [ 4.34074654e-01 8.03726528e-01 -4.06943316e-01 -6.50342919e+00] [ 7.23497560e-01 -4.18612533e-02 6.89056540e-01 1.89495984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:241.22, Y:-6.49, Z:189.52 [[ 5.39553164e-01 -6.11855908e-01 -5.78372484e-01 2.41223719e+02] [ 4.35518519e-01 7.90722139e-01 -4.30211713e-01 -6.48686245e+00] [ 7.20559507e-01 -1.97698366e-02 6.93111211e-01 1.89521495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:241.24, Y:-6.47, Z:189.53 [[ 5.37295706e-01 -6.05621050e-01 -5.86972290e-01 2.41241037e+02] [ 4.38703326e-01 7.95089210e-01 -4.18775048e-01 -6.47479115e+00] [ 7.20314318e-01 -3.25006612e-02 6.92885987e-01 1.89531217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:241.27, Y:-6.47, Z:189.55 [[ 5.37411489e-01 -5.95727983e-01 -5.96906241e-01 2.41267377e+02] [ 4.36369557e-01 8.02119062e-01 -4.07659932e-01 -6.46838193e+00] [ 7.21644304e-01 -4.13905805e-02 6.91025556e-01 1.89554040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16999999999996 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:241.27, Y:-6.45, Z:189.58 [[ 5.36605219e-01 -6.14214240e-01 -5.78615336e-01 2.41268051e+02] [ 4.33039186e-01 7.88963569e-01 -4.35905438e-01 -6.45218468e+00] [ 7.24245748e-01 -1.66539812e-02 6.89340803e-01 1.89579295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:241.30, Y:-6.44, Z:189.59 [[ 5.36936291e-01 -5.96278885e-01 -5.96783806e-01 2.41303563e+02] [ 4.38257039e-01 8.01613547e-01 -4.06628196e-01 -6.44360859e+00] [ 7.20853791e-01 -4.32112683e-02 6.91738823e-01 1.89591678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22999999999996 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:241.32, Y:-6.43, Z:189.61 [[ 5.33805816e-01 -5.93258031e-01 -6.02574692e-01 2.41318321e+02] [ 4.37369903e-01 8.03576952e-01 -4.03697475e-01 -6.43315171e+00] [ 7.23711903e-01 -4.80519742e-02 6.88427258e-01 1.89611687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:241.33, Y:-6.42, Z:189.64 [[ 5.36816870e-01 -6.10448063e-01 -5.82392317e-01 2.41325137e+02] [ 4.38029291e-01 7.91615484e-01 -4.25999139e-01 -6.41528163e+00] [ 7.21081125e-01 -2.64213690e-02 6.92346678e-01 1.89639242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28999999999996 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:241.36, Y:-6.41, Z:189.65 [[ 5.30785494e-01 -5.81365885e-01 -6.16668847e-01 2.41356125e+02] [ 4.38145658e-01 8.11081761e-01 -3.87523884e-01 -6.41334409e+00] [ 7.25462020e-01 -6.44987214e-02 6.85233371e-01 1.89646444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:241.35, Y:-6.39, Z:189.68 [[ 5.31350304e-01 -6.08722227e-01 -5.89172390e-01 2.41349162e+02] [ 4.37174436e-01 7.92743257e-01 -4.24778344e-01 -6.39365747e+00] [ 7.25634459e-01 -3.18650049e-02 6.87342167e-01 1.89681308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34999999999997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:241.37, Y:-6.38, Z:189.70 [[ 5.34524592e-01 -6.12184402e-01 -5.82678057e-01 2.41367302e+02] [ 4.37782612e-01 7.90289669e-01 -4.28705754e-01 -6.37773563e+00] [ 7.22931425e-01 -2.59325536e-02 6.90432950e-01 1.89701096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:241.40, Y:-6.37, Z:189.71 [[ 5.34113178e-01 -5.99445705e-01 -5.96144245e-01 2.41397095e+02] [ 4.41145095e-01 7.99155823e-01 -4.08339289e-01 -6.36799822e+00] [ 7.21189378e-01 -4.48867143e-02 6.91282189e-01 1.89714389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40999999999997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:241.41, Y:-6.36, Z:189.73 [[ 5.33338841e-01 -5.94805161e-01 -6.01461970e-01 2.41413997e+02] [ 4.40779953e-01 8.02287394e-01 -4.02551823e-01 -6.35740557e+00] [ 7.21985258e-01 -5.04158561e-02 6.90069220e-01 1.89730520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:241.42, Y:-6.34, Z:189.75 [[ 5.33766540e-01 -6.04923215e-01 -5.90898625e-01 2.41421927e+02] [ 4.43224565e-01 7.95224133e-01 -4.13727645e-01 -6.34190942e+00] [ 7.20170303e-01 -4.10668124e-02 6.92580863e-01 1.89752444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46999999999997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:241.44, Y:-6.33, Z:189.77 [[ 5.31984060e-01 -6.03811594e-01 -5.93636690e-01 2.41438737e+02] [ 4.44402023e-01 7.95853783e-01 -4.11246396e-01 -6.33063465e+00] [ 7.20763347e-01 -4.50368184e-02 6.91716620e-01 1.89770699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:241.45, Y:-6.32, Z:189.79 [[ 5.30690497e-01 -6.06078478e-01 -5.92483311e-01 2.41451437e+02] [ 4.46103911e-01 7.94116051e-01 -4.12760219e-01 -6.31742737e+00] [ 7.20665593e-01 -4.52611963e-02 6.91803821e-01 1.89791329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:241.46, Y:-6.30, Z:189.82 [[ 5.30664262e-01 -6.15032006e-01 -5.83207573e-01 2.41462138e+02] [ 4.51300486e-01 7.87464837e-01 -4.19793998e-01 -6.30002432e+00] [ 7.17442201e-01 -4.04321887e-02 6.95443690e-01 1.89816060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:241.48, Y:-6.29, Z:189.83 [[ 5.30892948e-01 -6.11185343e-01 -5.87030796e-01 2.41481573e+02] [ 4.53187193e-01 7.90096468e-01 -4.12757725e-01 -6.28662379e+00] [ 7.16082430e-01 -4.69046733e-02 6.96438013e-01 1.89834272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:241.51, Y:-6.28, Z:189.84 [[ 5.30623479e-01 -5.92946284e-01 -6.05684264e-01 2.41506686e+02] [ 4.51580571e-01 8.02485020e-01 -3.89990745e-01 -6.28110483e+00] [ 7.17296112e-01 -6.65769997e-02 6.93580414e-01 1.89843280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:241.50, Y:-6.25, Z:189.88 [[ 5.38269474e-01 -6.22906553e-01 -5.67673673e-01 2.41502023e+02] [ 4.48556779e-01 7.81995418e-01 -4.32758573e-01 -6.25354876e+00] [ 7.13486363e-01 -2.16931450e-02 7.00333219e-01 1.89880418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:241.53, Y:-6.25, Z:189.88 [[ 5.40587079e-01 -6.03073896e-01 -5.86572661e-01 2.41533086e+02] [ 4.45811393e-01 7.96639216e-01 -4.08188879e-01 -6.24610104e+00] [ 7.13454842e-01 -4.08391411e-02 6.99510081e-01 1.89883929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:241.53, Y:-6.21, Z:189.94 [[ 5.56579310e-01 -6.63801572e-01 -4.99586775e-01 2.41530784e+02] [ 4.50924166e-01 7.46423014e-01 -4.89407889e-01 -6.20939120e+00] [ 6.97772792e-01 4.71185552e-02 7.14767775e-01 1.89943408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:241.63, Y:-6.21, Z:189.92 [[ 5.57135747e-01 -5.73679793e-01 -6.00409240e-01 2.41633614e+02] [ 4.50679155e-01 8.16158302e-01 -3.61626776e-01 -6.21468533e+00] [ 6.97486960e-01 -6.91167249e-02 7.13256489e-01 1.89916446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:241.64, Y:-6.20, Z:189.93 [[ 5.55003659e-01 -5.77617649e-01 -5.98605705e-01 2.41641518e+02] [ 4.55002941e-01 8.13214861e-01 -3.62841444e-01 -6.19962649e+00] [ 6.96378677e-01 -7.09890270e-02 7.14154953e-01 1.89933738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:241.68, Y:-6.21, Z:189.93 [[ 5.49253200e-01 -5.27456444e-01 -6.48159411e-01 2.41681460e+02] [ 4.55379936e-01 8.39267468e-01 -2.97084550e-01 -6.20736868e+00] [ 7.00678269e-01 -1.31984152e-01 7.01163424e-01 1.89927950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8 meters Centerline goodness : 0.979507 Centerline is valid? [True, True] Translation: X:241.53, Y:-6.15, Z:190.02 [[ 5.24942664e-01 -6.91051660e-01 -4.96873025e-01 2.41530525e+02] [ 4.77285658e-01 7.22354280e-01 -5.00402533e-01 -6.14957929e+00] [ 7.04722357e-01 2.55322702e-02 7.09023626e-01 1.90016391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83 meters Centerline goodness : 0.986688 Centerline is valid? [True, True] Translation: X:241.65, Y:-6.14, Z:189.92 [[ 5.38436492e-01 -5.85789508e-01 -6.05753082e-01 2.41648853e+02] [ 4.85164901e-01 8.03256389e-01 -3.45534647e-01 -6.14496136e+00] [ 6.88985604e-01 -1.07841671e-01 7.16707061e-01 1.89922954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86 meters Centerline goodness : 0.986099 Centerline is valid? [True, True] Translation: X:241.62, Y:-6.12, Z:189.97 [[ 5.35196907e-01 -6.36623957e-01 -5.55224467e-01 2.41617175e+02] [ 4.85456174e-01 7.69701171e-01 -4.14599096e-01 -6.11964916e+00] [ 6.91300639e-01 -4.76449925e-02 7.20994716e-01 1.89972170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89 meters Centerline goodness : 0.167322 Centerline is valid? [True, False] Translation: X:241.63, Y:-6.14, Z:189.94 [[ 5.30803788e-01 -6.03137551e-01 -5.95375876e-01 2.41626023e+02] [ 4.85226575e-01 7.92255068e-01 -3.69982537e-01 -6.13907371e+00] [ 6.94839916e-01 -9.25040645e-02 7.13190360e-01 1.89938499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91999999999996 meters Centerline goodness : 0.169168 Centerline is valid? [False, False] Translation: X:241.63, Y:-6.15, Z:189.91 [[ 5.29518725e-01 -5.77957904e-01 -6.20946520e-01 2.41630822e+02] [ 4.84166580e-01 8.06963862e-01 -3.38218936e-01 -6.15322550e+00] [ 6.96557709e-01 -1.21548293e-01 7.07130377e-01 1.89914583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95 meters Centerline goodness : 0.171705 Centerline is valid? [False, False] Translation: X:241.63, Y:-6.17, Z:189.88 [[ 5.32176817e-01 -5.55710084e-01 -6.38728533e-01 2.41627902e+02] [ 4.82975741e-01 8.18900756e-01 -3.10058036e-01 -6.17177112e+00] [ 6.95357655e-01 -1.43484688e-01 7.04194487e-01 1.89882301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97999999999996 meters Centerline goodness : 0.171462 Centerline is valid? [False, False] Translation: X:241.63, Y:-6.19, Z:189.86 [[ 5.34734286e-01 -5.38075715e-01 -6.51562559e-01 2.41625512e+02] [ 4.82264574e-01 8.27483209e-01 -2.87562896e-01 -6.18530759e+00] [ 6.93887688e-01 -1.60455800e-01 7.01978499e-01 1.89855860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01 meters Centerline goodness : 0.238130 Centerline is valid? [False, False] Translation: X:241.63, Y:-6.19, Z:189.84 [[ 5.39133023e-01 -5.22113894e-01 -6.60857522e-01 2.41628358e+02] [ 4.78688371e-01 8.35560802e-01 -2.69621196e-01 -6.19366237e+00] [ 6.92959614e-01 -1.70983120e-01 7.00408271e-01 1.89839423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03999999999996 meters Centerline goodness : 0.271843 Centerline is valid? [False, False] Translation: X:241.63, Y:-6.20, Z:189.84 [[ 5.46594176e-01 -5.06052438e-01 -6.67192429e-01 2.41630423e+02] [ 4.68294997e-01 8.45234630e-01 -2.57445558e-01 -6.19553316e+00] [ 6.94215098e-01 -1.71724634e-01 6.98982151e-01 1.89837587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07 meters Centerline goodness : 0.310804 Centerline is valid? [False, False] Translation: X:241.63, Y:-6.20, Z:189.84 [[ 5.51148525e-01 -4.94764014e-01 -6.71895732e-01 2.41634650e+02] [ 4.61371612e-01 8.51645590e-01 -2.48668505e-01 -6.19830383e+00] [ 6.95249264e-01 -1.72940337e-01 6.97653281e-01 1.89836516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09999999999997 meters Centerline goodness : 0.311662 Centerline is valid? [False, False] Translation: X:241.64, Y:-6.20, Z:189.84 [[ 5.55276209e-01 -4.83281881e-01 -6.76835988e-01 2.41640649e+02] [ 4.54297993e-01 8.57942534e-01 -2.39891520e-01 -6.20001565e+00] [ 6.96621608e-01 -1.74279177e-01 6.95949067e-01 1.89835647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13 meters Centerline goodness : 0.320306 Centerline is valid? [False, False] Translation: X:241.65, Y:-6.20, Z:189.84 [[ 5.57735901e-01 -4.76143108e-01 -6.79866462e-01 2.41646192e+02] [ 4.49798389e-01 8.61781694e-01 -2.34550038e-01 -6.20092678e+00] [ 6.97575855e-01 -1.74985863e-01 6.94814993e-01 1.89835438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15999999999997 meters Centerline goodness : 0.331973 Centerline is valid? [False, False] Translation: X:241.66, Y:-6.20, Z:189.84 [[ 5.59982091e-01 -4.67081431e-01 -6.84291601e-01 2.41656703e+02] [ 4.44105623e-01 8.66477024e-01 -2.28008253e-01 -6.20021739e+00] [ 6.99421371e-01 -1.76217209e-01 6.92645105e-01 1.89835589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19 meters Centerline goodness : 0.345183 Centerline is valid? [False, False] Translation: X:241.66, Y:-6.20, Z:189.84 [[ 5.62263076e-01 -4.59941339e-01 -6.87251190e-01 2.41662500e+02] [ 4.39728472e-01 8.70116529e-01 -2.22567061e-01 -6.20137496e+00] [ 7.00356412e-01 -1.77062675e-01 6.91483699e-01 1.89835279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21999999999997 meters Centerline goodness : 0.345030 Centerline is valid? [False, False] Translation: X:241.67, Y:-6.20, Z:189.83 [[ 5.64248480e-01 -4.53430911e-01 -6.89944970e-01 2.41667301e+02] [ 4.35979431e-01 8.73307295e-01 -2.17385150e-01 -6.20356904e+00] [ 7.01103123e-01 -1.78142575e-01 6.90448864e-01 1.89834964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25 meters Centerline goodness : 0.322185 Centerline is valid? [False, False] Translation: X:241.67, Y:-6.21, Z:189.83 [[ 5.66372662e-01 -4.47073679e-01 -6.92348997e-01 2.41670878e+02] [ 4.32123114e-01 8.76433552e-01 -2.12447270e-01 -6.20536031e+00] [ 7.01777474e-01 -1.78855678e-01 6.89578874e-01 1.89834699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28 meters Centerline goodness : 0.333049 Centerline is valid? [False, False] Translation: X:241.67, Y:-6.21, Z:189.83 [[ 5.68490206e-01 -4.40781999e-01 -6.94643876e-01 2.41674269e+02] [ 4.28459714e-01 8.79437316e-01 -2.07394021e-01 -6.20751834e+00] [ 7.02311298e-01 -1.79725447e-01 6.88808831e-01 1.89834116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31 meters Centerline goodness : 0.333819 Centerline is valid? [False, False] Translation: X:241.68, Y:-6.21, Z:189.83 [[ 5.70497909e-01 -4.34485575e-01 -6.96960846e-01 2.41677636e+02] [ 4.24451971e-01 8.82470670e-01 -2.02696917e-01 -6.20683084e+00] [ 7.03116392e-01 -1.80188237e-01 6.87865931e-01 1.89833849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34 meters Centerline goodness : 0.348031 Centerline is valid? [False, False] Translation: X:241.68, Y:-6.21, Z:189.83 [[ 5.72429572e-01 -4.28221071e-01 -6.99250384e-01 2.41681655e+02] [ 4.20647256e-01 8.85386503e-01 -1.97855062e-01 -6.20775403e+00] [ 7.03832559e-01 -1.80879667e-01 6.86951435e-01 1.89833520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6934.91 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 ... 0%| | 0/12379 [00:00